oct 5 demo - actuator values

RetroPilot · Sep 18, 2023 · c64bc78 · c64bc78
1 parent 1344474
commit c64bc78
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/selfdrive/car/ocelot/interface.py b/selfdrive/car/ocelot/interface.py
@@ -10,7 +10,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def compute_gb(accel, speed):
+  def come_gb(accel, speed):
     return float(accel) / 3.0
 
   @staticmethod
@@ -26,7 +26,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # py
     ret.carName = "ocelot"
     ret.safetyModel = car.CarParams.SafetyModel.allOutput
 
-    ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
+    ret.steerActuatorDelay = 0. #0.12  # Default delay, Prius has larger delay
     ret.steerLimitTimer = 0.4
 
 

diff --git a/selfdrive/car/ocelot/values.py b/selfdrive/car/ocelot/values.py
@@ -6,10 +6,10 @@
 
 # Steer torque limits
 class SteerLimitParams:
-  STEER_MAX = 1500
-  STEER_DELTA_UP = 25       # 1.5s time to peak torque
-  STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
-  STEER_ERROR_MAX = 1500     # max delta between torque cmd and torque motor
+  STEER_MAX = 1024 #1500
+  STEER_DELTA_UP = 128 #25       # 1.5s time to peak torque
+  STEER_DELTA_DOWN = 128 #25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
+  STEER_ERROR_MAX = 1024 #1500     # max delta between torque cmd and torque motor
 
 class CAR:
   SMART_ROADSTER_COUPE = "SMART ROADSTER COUPE 2003-2006"