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disable... turnspeedcontrol..

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ajouatom 2025-02-14 07:03:47 +09:00
parent 184d5779b5
commit b278513262
1 changed files with 1 additions and 1 deletions
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selfdrive/carrot/carrot_man.py
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@ -1344,7 +1344,7 @@ class CarrotServ:
distanceTraveled = sm['selfdriveState'].distanceTraveled distanceTraveled = sm['selfdriveState'].distanceTraveled
delta_dist = distanceTraveled - self.totalDistance delta_dist = distanceTraveled - self.totalDistance
self.totalDistance = distanceTraveled self.totalDistance = distanceTraveled
steer_torque = sm['controlsState'].actuators.steer steer_torque = 0.0 #sm['controlsState'].actuators.steer
turn_speed_ratio = np.interp(abs(steer_torque), [0.7, 1.0], [1.0, 0.6]) turn_speed_ratio = np.interp(abs(steer_torque), [0.7, 1.0], [1.0, 0.6])
self.turn_speed_ratio = self.turn_speed_ratio * 0.9 + turn_speed_ratio * 0.1 self.turn_speed_ratio = self.turn_speed_ratio * 0.9 + turn_speed_ratio * 0.1
else: else: