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Tesla Lateral Control (Steering)
OpenPilot latitudinal control is working.
Electronic steering is present in pre-autopilot Teslas, but disabled. The Electric Power Assisted Steering units (EPAS) are capable of turning the steering wheel electronically if fed the right commands. With that in mind, we run a cable from the car's EPAS unit in the frunk to a comma.ai Panda. It allows us to:
Intercept messages the car periodically sends that disable the EPAS' steering feature.
Transmit steering commands from a comma.ai EON to the EPAS unit.
This setup allows the car to steer autonomously.