IQ.Pilot Release Commit @ 0798119

iqdbc_repo/iqdbc/lvbs/car/iq_lateral.py

@@ -0,0 +1,18 @@
+"""
+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.lateral import apply_center_deadzone
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: structs.CarParams.LateralTorqueTuning) -> float:
+  # TODO torque params' friction should be in lataxel space, not torque space
+  friction_interp = np.interp(
+    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+    [-friction_threshold, friction_threshold],
+    [-torque_params.friction, torque_params.friction]
+  )
+  return float(friction_interp)