15 Commits

Author	SHA1	Message	Date
Vivek Aithal	92448012f0	[commabody] Support both self-balancing bodies and the wheeled bodies (#29118) ... * add wheeled body support * add WheeledBody param * make movement less jerky	2023-07-24 19:49:51 -07:00
Maxime Desroches	348df9c974	Fix index out of bound error for body carcontroller (#28539)	2023-06-13 20:37:17 -07:00
Shane Smiskol	8f5057ff2d	GM: enforce steering command message timing (#27250) ... * draft * bump opendbc * still draft * that's not right * superset of the changes, 33hz * cleanup * this should work * remove line * pass it in again * actually no need to check updated now * now_nanos * consistent name * fix replay * one line isn't that bad switch switch * fix CarController tests * Update ref_commit	2023-02-09 15:37:39 -08:00
Shane Smiskol	f36a3664b0	CarController: log steer sent to the car (#26743) ... * log value sent to the car * rename * bump * Update ref_commit	2022-12-10 02:03:40 -08:00
Adeeb Shihadeh	2f808985c0	body: fix integrator freezing in turn loop (#25243)	2022-07-21 21:04:31 -07:00
Adeeb Shihadeh	0ca62bf7df	let can packer handle counter (#25240) ... * let can packer handle counter * diff is expected * update refs * clean that up * bump opendbc * fix sim	2022-07-21 20:54:53 -07:00
Shane Smiskol	d2c2154a32	Clean up CarControllers (#25008) ... * do VW * Do the rest * unused * ford cc formatting * final clean ups * also just return update output	2022-06-30 17:23:12 -07:00
HaraldSchafer	f54e724b5d	Body cleanup + 100Hz locationd (#24168) ... * use PID * 100hz on the branch * Better defaults * fix int clip * More cleanup * Fix pid comments * only notcar gets 100hz * cleanup * fix tests * ignore * update refs Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2022-04-09 15:22:29 -07:00
George Hotz	7dd71cc63d	body: control with joystick (#24143) ... * control with joystick * slow it down * always joystick for not car * clean ups * not stateful * move submaster * only if we aren't in test mode * update refs * double ki speed, update ref * this ref Co-authored-by: Comma Device <device@comma.ai>	2022-04-06 11:31:31 -07:00
Adeeb Shihadeh	00ebd10b87	body: only control while engaged (#24114) ... * body: only control while engaged * bump panda * remove that * bump panda * update refs * update refs	2022-04-04 19:37:21 -07:00
Igor Biletskyy	7df1c025ae	body: add crc and counter (#24120) ... * add crc and counter for body * add msg * move counter * whitespace * .. * bump opendbc * update_refs	2022-04-04 19:19:30 -07:00
HaraldSchafer	b2b6205e25	Body leash tune (#24105) ... * Cleanup variables * Add clips * Add good standstill for localizer * Need abs * Only on startup * Cleanup more * remove violence * Unused variable * Update ref * Not good idea for now * Update refs again	2022-04-04 14:41:18 -07:00
Adeeb Shihadeh	0b9790dd24	locationd: body support (#24098) ... * body: locationd support * fewer hacks * my body is never still * body on localizer * minor change * move wait back to 5 secs * update refs * try again Co-authored-by: nuwandavek <vivekaithal44@gmail.com> Co-authored-by: Comma Device <device@comma.ai>	2022-03-31 23:02:47 -07:00
Adeeb Shihadeh	d932cb067b	flip that	2022-03-31 17:20:10 -07:00
Igor Biletskyy	031f79ba88	car port: comma body (#24019) ... * body FPv2 * .. * .. * .. * Temp, REVERT! * more cleanup * typo * .. * del eyes * should work? * fix * new dbc * .. * fixes * static analysis * cln balancing code * no test route * excluded_interfaces * THE DOCS! * comments on steer/speed mixin * switch to bus 0 * less UDS * FAKE bus 0 vin and fingerprint * FAKE locationd * Keep steady and remove handcoded offset * Improve startup sequence, get closer to stock openpilot * Forgot to define angle * lowercase * revert that * little cleanup * change safety model * update refs * body is gold * handle no llk * oops * litte more Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>	2022-03-31 17:16:15 -07:00