plotjuggler: plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active (#22908)
qadmus
GitHub
parent
1d03f2a97b
commit
5f2c7ad69f
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@ -1,43 +1,43 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<root version="2.3.8">
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<tabbed_widget name="Main Window" parent="main_window">
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<tabbed_widget parent="main_window" name="Main Window">
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<Tab tab_name="Lateral" containers="1">
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<Container>
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<DockSplitter sizes="0.2;0.2;0.2;0.2;0.2" orientation="-" count="5">
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<DockSplitter orientation="-" count="5" sizes="0.200458;0.199313;0.200458;0.199313;0.200458">
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<DockArea name="Velocity [m/s]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="23.655731" right="299.969780" top="31.072848" left="0.024389"/>
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<range left="1.253354" top="29.954036" bottom="-0.841715" right="631.055584"/>
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<limitY/>
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<curve name="/carState/vEgo" color="#0072b2"/>
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<curve color="#0072b2" name="/carState/vEgo"/>
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</plot>
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</DockArea>
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<DockArea name="Curvature [1/m] True [blue] Vehicle Model [purple] Plan [green]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.001618" right="299.969780" top="0.001706" left="0.024389"/>
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<range left="0.000000" top="0.006648" bottom="-0.003150" right="631.055209"/>
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<limitY/>
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<curve name="engaged curvature plan" color="#009e73"/>
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<curve name="engaged curvature vehicle model" color="#785ef0"/>
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<curve name="engaged curvature yaw" color="#0072b2"/>
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<curve color="#009e73" name="engaged curvature plan"/>
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<curve color="#785ef0" name="engaged curvature vehicle model"/>
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<curve color="#0072b2" name="engaged curvature yaw"/>
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</plot>
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</DockArea>
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<DockArea name="Roll [rad]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.086784" right="299.969780" top="0.007461" left="0.024389"/>
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<range left="0.000000" top="0.166067" bottom="-1.598381" right="631.038276"/>
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<limitY/>
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<curve name="/liveLocationKalman/calibratedOrientationNED/value/0" color="#ffb000"/>
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<curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/0"/>
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</plot>
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</DockArea>
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<DockArea name="Engaged [green] Steering Pressed [blue]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
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<range left="1.252984" top="1.025000" bottom="-0.025000" right="631.055584"/>
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<limitY/>
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<curve name="/controlsState/enabled" color="#009e73"/>
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<curve name="/carState/steeringPressed" color="#0072b2"/>
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<curve color="#009e73" name="/controlsState/enabled"/>
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<curve color="#0072b2" name="/carState/steeringPressed"/>
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</plot>
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</DockArea>
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<DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
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<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
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<limitY/>
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<curve name="/carState/steeringRateLimited" color="#ffb000"/>
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<curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
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@ -48,46 +48,47 @@
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</Tab>
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<Tab tab_name="Longitudinal" containers="1">
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<Container>
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<DockSplitter sizes="0.2;0.2;0.2;0.2;0.2" orientation="-" count="5">
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<DockArea name="Velocity [m/s] True [blue] Plan [green]">
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<DockSplitter orientation="-" count="5" sizes="0.1875;0.1875;0.1875;0.1875;0.25">
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<DockArea name="Velocity [m/s] True [blue] Plan [green] Cruise [magenta]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="23.655731" right="299.969780" top="31.072848" left="0.024389"/>
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<range left="0.000000" top="42.713492" bottom="-1.041792" right="631.055584"/>
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<limitY/>
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<curve name="/longitudinalPlan/speeds/0" color="#009e73"/>
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<curve name="/carState/vEgo" color="#0072b2"/>
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<curve color="#dc267f" name="/carState/cruiseState/speed"/>
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<curve color="#009e73" name="/longitudinalPlan/speeds/0"/>
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<curve color="#0072b2" name="/carState/vEgo"/>
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</plot>
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</DockArea>
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<DockArea name="Acceleration [m/s^2] True [blue] Actuator [purple] Plan [green]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.832626" right="299.969780" top="1.070051" left="0.024389"/>
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<range left="1.253354" top="0.808303" bottom="-1.213305" right="631.055759"/>
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<limitY/>
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<curve name="engaged_accel_plan" color="#009e73"/>
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<curve name="engaged_accel_actuator" color="#785ef0"/>
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<curve name="engaged_accel_actual" color="#0072b2"/>
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<curve color="#009e73" name="engaged_accel_plan"/>
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<curve color="#785ef0" name="engaged_accel_actuator"/>
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<curve color="#0072b2" name="engaged_accel_actual"/>
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</plot>
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</DockArea>
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<DockArea name="Pitch [rad]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.073326" right="299.969780" top="0.008998" left="0.024389"/>
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<range left="0.000000" top="0.158854" bottom="-0.594843" right="631.038276"/>
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<limitY/>
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<curve name="/liveLocationKalman/calibratedOrientationNED/value/1" color="#ffb000"/>
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<curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/1"/>
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</plot>
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</DockArea>
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<DockArea name="Engaged [green] Gas [orange] Brake [magenta]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
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<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055759"/>
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<limitY/>
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<curve name="/carControl/active" color="#009e73"/>
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<curve name="/carState/gasPressed" color="#ffb000"/>
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<curve name="/carState/brakePressed" color="#dc267f"/>
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<curve color="#009e73" name="/carControl/enabled"/>
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<curve color="#ffb000" name="/carState/gasPressed"/>
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<curve color="#dc267f" name="/carState/brakePressed"/>
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</plot>
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</DockArea>
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<DockArea name="State [blue: off,pid,stop,start] Source [green: cruise,lead0,lead1,lead2,e2e]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.050000" right="299.969780" top="2.050000" left="0.024389"/>
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<range left="1.253620" top="5.125000" bottom="-0.125000" right="631.055759"/>
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<limitY/>
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<curve name="/carControl/actuators/longControlState" color="#0072b2"/>
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<curve name="/longitudinalPlan/longitudinalPlanSource" color="#009e73"/>
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<curve color="#0072b2" name="/carControl/actuators/longControlState"/>
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<curve color="#009e73" name="/longitudinalPlan/longitudinalPlanSource"/>
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</plot>
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</DockArea>
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</DockSplitter>
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@ -95,10 +96,10 @@
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</Tab>
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<Tab tab_name="Lateral Debug" containers="1">
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<Container>
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<DockSplitter sizes="0.250564;0.249436;0.250564;0.249436" orientation="-" count="4">
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<DockSplitter orientation="-" count="4" sizes="0.25;0.25;0.25;0.25">
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<DockArea name="Controller F [magenta] P [purple] I [blue]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.564869" right="299.969780" top="0.506951" left="0.024389"/>
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<range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/>
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<limitY/>
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<curve name="/controlsState/lateralControlState/pidState/f" color="#f14cc1"/>
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<curve name="/controlsState/lateralControlState/pidState/p" color="#9467bd"/>
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@ -107,23 +108,23 @@
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</DockArea>
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<DockArea name="Driver Torque [blue] EPS Torque [green]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-216.025000" right="299.969780" top="205.025000" left="0.024389"/>
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<range left="1.253354" top="2690.999030" bottom="-3450.198981" right="631.055584"/>
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<limitY/>
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<curve name="/carState/steeringTorqueEps" color="#009e73"/>
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<curve name="/carState/steeringTorque" color="#0072b2"/>
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<curve color="#009e73" name="/carState/steeringTorqueEps"/>
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<curve color="#0072b2" name="/carState/steeringTorque"/>
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</plot>
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</DockArea>
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<DockArea name="Engaged [green] Steering Pressed [blue]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
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<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055759"/>
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<limitY/>
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<curve name="/carState/steeringPressed" color="#0072b2"/>
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<curve name="/carControl/active" color="#009e73"/>
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<curve color="#009e73" name="/carControl/enabled"/>
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<curve color="#0072b2" name="/carState/steeringPressed"/>
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</plot>
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</DockArea>
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<DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
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<plot style="Lines" mode="TimeSeries">
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<range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
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<range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
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<limitY/>
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<curve name="/carState/steeringRateLimited" color="#ffb000"/>
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<curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
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@ -131,7 +132,7 @@
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</DockArea>
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</DockSplitter>
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</Container>
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</Tab>t
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</Tab>
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<currentTabIndex index="0"/>
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</tabbed_widget>
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<use_relative_time_offset enabled="1"/>
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@ -142,40 +143,39 @@
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<plugin ID="Cereal Subscriber"/>
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</Plugins>
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<!-- - - - - - - - - - - - - - - -->
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<!-- - - - - - - - - - - - - - - -->
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<customMathEquations>
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<snippet name="engaged_accel_actuator">
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<snippet name="engaged curvature yaw">
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<global>engage_delay = 5
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last_bad_time = -engage_delay</global>
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<function>accel = value
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brake = v1
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gas = v2
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active = v3
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<function>curvature = value / v3
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pressed = v1
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enabled = v2
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if (brake ~= 0 or gas ~= 0 or active == 0) then
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if (pressed == 1 or enabled == 0) then
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last_bad_time = time
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end
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if (time > last_bad_time + engage_delay) then
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return value
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return curvature
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else
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return 0
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end</function>
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<linkedSource>/carControl/actuators/accel</linkedSource>
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<linkedSource>/liveLocationKalman/angularVelocityCalibrated/value/2</linkedSource>
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<additionalSources>
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<v1>/carState/brakePressed</v1>
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<v2>/carState/gasPressed</v2>
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<v3>/carControl/active</v3>
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<v1>/carState/steeringPressed</v1>
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<v2>/carControl/enabled</v2>
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<v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
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</additionalSources>
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</snippet>
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<snippet name="engaged_accel_plan">
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<snippet name="engaged curvature vehicle model">
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<global>engage_delay = 5
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last_bad_time = -engage_delay</global>
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<function>accel = value
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brake = v1
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gas = v2
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active = v3
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<function>curvature = value
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pressed = v1
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enabled = v2
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if (brake ~= 0 or gas ~= 0 or active == 0) then
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if (pressed == 1 or enabled == 0) then
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last_bad_time = time
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end
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@ -184,11 +184,32 @@ if (time > last_bad_time + engage_delay) then
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else
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return 0
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end</function>
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<linkedSource>/longitudinalPlan/accels/0</linkedSource>
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<linkedSource>/controlsState/curvature</linkedSource>
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<additionalSources>
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<v1>/carState/brakePressed</v1>
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<v2>/carState/gasPressed</v2>
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<v3>/carControl/active</v3>
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<v1>/carState/steeringPressed</v1>
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<v2>/carControl/enabled</v2>
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</additionalSources>
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</snippet>
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<snippet name="engaged curvature plan">
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<global>engage_delay = 5
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last_bad_time = -engage_delay</global>
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<function>curvature = value
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pressed = v1
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enabled = v2
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if (pressed == 1 or enabled == 0) then
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last_bad_time = time
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end
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if (time > last_bad_time + engage_delay) then
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return value
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else
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return 0
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end</function>
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<linkedSource>/lateralPlan/curvatures/0</linkedSource>
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<additionalSources>
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<v1>/carState/steeringPressed</v1>
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<v2>/carControl/enabled</v2>
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</additionalSources>
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</snippet>
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<snippet name="engaged_accel_actual">
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@ -197,9 +218,9 @@ last_bad_time = -engage_delay</global>
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<function>accel = value
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brake = v1
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gas = v2
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active = v3
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enabled = v3
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if (brake ~= 0 or gas ~= 0 or active == 0) then
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if (brake ~= 0 or gas ~= 0 or enabled == 0) then
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last_bad_time = time
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end
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@ -212,17 +233,18 @@ end</function>
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<additionalSources>
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<v1>/carState/brakePressed</v1>
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<v2>/carState/gasPressed</v2>
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<v3>/carControl/active</v3>
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<v3>/carControl/enabled</v3>
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</additionalSources>
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</snippet>
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<snippet name="engaged curvature plan">
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<snippet name="engaged_accel_plan">
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<global>engage_delay = 5
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last_bad_time = -engage_delay</global>
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<function>curvature = value
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pressed = v1
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active = v2
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<function>accel = value
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brake = v1
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gas = v2
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enabled = v3
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if (pressed == 1 or active == 0) then
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if (brake ~= 0 or gas ~= 0 or enabled == 0) then
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last_bad_time = time
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end
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@ -231,20 +253,22 @@ if (time > last_bad_time + engage_delay) then
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else
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return 0
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end</function>
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<linkedSource>/lateralPlan/curvatures/0</linkedSource>
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<linkedSource>/longitudinalPlan/accels/0</linkedSource>
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<additionalSources>
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<v1>/carState/steeringPressed</v1>
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<v2>/carControl/active</v2>
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<v1>/carState/brakePressed</v1>
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<v2>/carState/gasPressed</v2>
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<v3>/carControl/enabled</v3>
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</additionalSources>
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</snippet>
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<snippet name="engaged curvature vehicle model">
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<snippet name="engaged_accel_actuator">
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<global>engage_delay = 5
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last_bad_time = -engage_delay</global>
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<function>curvature = value
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pressed = v1
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active = v2
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<function>accel = value
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brake = v1
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gas = v2
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enabled = v3
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if (pressed == 1 or active == 0) then
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if (brake ~= 0 or gas ~= 0 or enabled == 0) then
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last_bad_time = time
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end
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@ -253,33 +277,11 @@ if (time > last_bad_time + engage_delay) then
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else
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return 0
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end</function>
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<linkedSource>/controlsState/curvature</linkedSource>
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<linkedSource>/carControl/actuators/accel</linkedSource>
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<additionalSources>
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<v1>/carState/steeringPressed</v1>
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<v2>/controlsState/active</v2>
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</additionalSources>
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</snippet>
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<snippet name="engaged curvature yaw">
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<global>engage_delay = 5
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last_bad_time = -engage_delay</global>
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<function>curvature = value / v3
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pressed = v1
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active = v2
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if (pressed == 1 or active == 0) then
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last_bad_time = time
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end
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if (time > last_bad_time + engage_delay) then
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return curvature
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else
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return 0
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end</function>
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<linkedSource>/liveLocationKalman/angularVelocityCalibrated/value/2</linkedSource>
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<additionalSources>
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<v1>/carState/steeringPressed</v1>
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<v2>/carControl/active</v2>
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<v3>/carState/vEgo</v3>
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<v1>/carState/brakePressed</v1>
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<v2>/carState/gasPressed</v2>
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<v3>/carControl/enabled</v3>
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</additionalSources>
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</snippet>
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</customMathEquations>
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