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call it driver torque

This commit is contained in:
Shane Smiskol 2023-10-24 22:43:49 -07:00
parent beadbe2406
commit 1ed5ce5ebe
1 changed files with 4 additions and 4 deletions
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8
tests/safety/common.py
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@ -450,11 +450,11 @@ class DriverTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
self.safety.set_controls_allowed(True)
for sign in [-1, 1]:
for t in np.arange(0, self.DRIVER_TORQUE_ALLOWANCE * 2, 1):
t *= -sign
self.safety.set_torque_driver(t, t)
for driver_torque in np.arange(0, self.DRIVER_TORQUE_ALLOWANCE * 2, 1):
driver_torque *= -sign
self.safety.set_torque_driver(driver_torque * sign, driver_torque * sign)
self._set_prev_torque(self.MAX_TORQUE * sign)
should_tx = abs(t) <= self.DRIVER_TORQUE_ALLOWANCE
should_tx = abs(driver_torque) <= self.DRIVER_TORQUE_ALLOWANCE
self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(self.MAX_TORQUE * sign)))
# arbitrary high driver torque to ensure max steer torque is allowed