long maneuvers https://github.com/commaai/openpilot/issues/26778 #1
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ntegan1
commented
Dec 13, 2022
ntegan1
commented
Dec 13, 2022
Comment on lines
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| def set_finished(self): | ||
| self.maneuvering = False | ||
| self.maneuver = None | ||
| def request_maneuver_start(self, maneuver): | ||
| self.maneuver = maneuver | ||
| self.maneuvering = True |
ntegan1
commented
Dec 13, 2022
| def available_maneuver_files(): | ||
| all_files = os.listdir(maneuvers_directory) | ||
| files = [f for f in all_files if f[f.rfind(".")+1:] == "json"] | ||
| return files |
ntegan1
commented
Dec 13, 2022
| return bool(buf[0]) | ||
| def maneuver_num(self): | ||
| return buf[1] | ||
| def maneuver_request(self, maneuver_num): |
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maybe allow requesting diff maneuver during another one
ntegan1
commented
Dec 13, 2022
| def update(self, vcruise): | ||
| should_start_maneuver = not self.maneuvering and self.mem.maneuver_requested() | ||
| if not self.maneuvering and not should_start_maneuver: | ||
| return vcruise |
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save manuver number and restart the thing if changes
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testing some of the a target stuff on opsetspeed branch |
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newish notes/ideas
maybe add options for constant accel control and constant velocity control, and a blend of both
good idea would probably be to filll a long_plan with speeds, times, accels from maneuver
speeds, accels, jerks
what do do about jerks
looks like jerks dont quite matter.
start with basic accels as derivative of speed graph
reset LoC at beginning
oldish notes
TODO: this is just for velocity.
but i used to set cruisestate speed to 0 and such, it was pretty responsive.
maybe start out with that and add acceleration stuff later
because right now, responsiveness to maneuver change in velocity is at the mercy of chill mode planning? (e2e is happy to keep barreling down at 60mph after you set speed to 10mph)
need to feeed desired vel directly into pid controller or somethign.
?closer to joystick code
?maybe in longcontrol.py vtarget upper lower stuff instead of long planner