selfdrive.car.body package

Submodules

selfdrive.car.body.bodycan module

selfdrive.car.body.bodycan.create_control(packer, torque_l, torque_r)[source]

selfdrive.car.body.carcontroller module

class selfdrive.car.body.carcontroller.CarController(dbc_name, CP, VM)[source]

Bases: CarControllerBase

static deadband_filter(torque, deadband)[source]
update(CC, CS, now_nanos)[source]

selfdrive.car.body.carstate module

class selfdrive.car.body.carstate.CarState(CP)[source]

Bases: CarStateBase

static get_can_parser(CP)[source]
update(cp)[source]

selfdrive.car.body.fingerprints module

selfdrive.car.body.interface module

class selfdrive.car.body.interface.CarInterface(CP, CarController, CarState)[source]

Bases: CarInterfaceBase

selfdrive.car.body.radar_interface module

class selfdrive.car.body.radar_interface.RadarInterface(CP)[source]

Bases: RadarInterfaceBase

selfdrive.car.body.values module

class selfdrive.car.body.values.CAR(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)[source]

Bases: Platforms

COMMA_BODY = 'COMMA_BODY'
config: PlatformConfig
class selfdrive.car.body.values.CarControllerParams(CP)[source]

Bases: object

ANGLE_DELTA_BP = [0.0, 5.0, 15.0]
ANGLE_DELTA_V = [5.0, 0.8, 0.15]
ANGLE_DELTA_VU = [5.0, 3.5, 0.4]
LKAS_MAX_TORQUE = 1
STEER_THRESHOLD = 1.0

Module contents