IQ.Pilot Prebuilt Release @ ab07000

iqdbc_repo/iqdbc/lvbs/car/honda/gas_interceptor.py

@@ -0,0 +1,32 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+
+import numpy as np
+
+from iqdbc.car import structs
+from iqdbc.car.can_definitions import CanData
+from iqdbc.lvbs.car import create_gas_interceptor_command
+
+
+class GasInterceptorCarController:
+  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
+    self.CP = CP
+    self.CP_IQ = CP_IQ
+
+    self.gas = 0.
+    self.interceptor_gas_cmd = 0.
+
+  def update(self, CC: structs.CarControl, CS: structs.CarState, gas: float, brake: float, wind_brake: float,
+             packer, frame: int) -> list[CanData]:
+    can_sends = []
+
+    if self.CP_IQ.enableGasInterceptor:
+      gas_pedal = np.interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
+      if CC.longActive:
+        self.gas = float(np.clip(gas_pedal * (gas - brake + wind_brake * 3 / 4), 0., 1.))
+      else:
+        self.gas = 0.0
+      can_sends.append(create_gas_interceptor_command(packer, self.gas, frame // 2))
+
+    return can_sends