Source code for selfdrive.car.body.values

from cereal import car
from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarInfo
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries

Ecu = car.CarParams.Ecu

SPEED_FROM_RPM = 0.008587


[docs] class CarControllerParams: ANGLE_DELTA_BP = [0., 5., 15.] ANGLE_DELTA_V = [5., .8, .15] # windup limit ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower STEER_THRESHOLD = 1.0 def __init__(self, CP): pass
[docs] class CAR(Platforms): BODY = PlatformConfig( "COMMA BODY", CarInfo("comma body", package="All"), CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44), dbc_dict('comma_body', None), )
FW_QUERY_CONFIG = FwQueryConfig( requests=[ Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], bus=0, ), ], ) CAR_INFO = CAR.create_carinfo_map() DBC = CAR.create_dbc_map()