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carControl API cleanup (#33543)

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carControl cleanup
This commit is contained in:
Adeeb Shihadeh
2024-09-11 17:23:53 -07:00
committed by GitHub
parent 188de7b90e
commit 9211b701ce
1 changed files with 10 additions and 10 deletions
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20
cereal/car.capnp
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@@ -350,21 +350,21 @@ struct CarControl {
hudControl @5 :HUDControl; hudControl @5 :HUDControl;
struct Actuators { struct Actuators {
# range from 0.0 - 1.0 # lateral commands, mutually exclusive
gas @0: Float32; steer @2: Float32; # [0.0, 1.0]
brake @1: Float32;
# range from -1.0 - 1.0
steer @2: Float32;
# value sent over can to the car
steerOutputCan @8: Float32;
steeringAngleDeg @3: Float32; steeringAngleDeg @3: Float32;
curvature @7: Float32; curvature @7: Float32;
speed @6: Float32; # m/s # longitudinal commands
accel @4: Float32; # m/s^2 accel @4: Float32; # m/s^2
longControlState @5: LongControlState; longControlState @5: LongControlState;
# these are only for logging the actual values sent to the car over CAN
gas @0: Float32; # [0.0, 1.0]
brake @1: Float32; # [0.0, 1.0]
steerOutputCan @8: Float32; # value sent over can to the car
speed @6: Float32; # m/s
enum LongControlState @0xe40f3a917d908282{ enum LongControlState @0xe40f3a917d908282{
off @0; off @0;
pid @1; pid @1;