        return []
  
      # *** compute control surfaces ***
      # steer torque
      new_steer = actuators.steer * SteerLimitParams.STEER_MAX
      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
                                                     CS.out.steeringTorqueEps, SteerLimitParams)
      self.steer_rate_limited = new_steer != apply_steer
  
      moving_fast = CS.out.vEgo > CS.CP.minSteerSpeed  # for status message
 
</s> remove                                                    CS.out.steeringTorqueEps, SteerLimitParams)
 </s> add                                                    CS.out.steeringTorqueEps, CarControllerParams) </s> remove       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
 </s> add       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams) </s> remove       apply_steer = int(round(actuators.steer * self.params.STEER_MAX))
 </s> add       apply_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) </s> remove     if (frame % self.params.STEER_STEP) == 0:
 </s> add     if (frame % CarControllerParams.STEER_STEP) == 0: </s> remove class CarControllerParams():
  def __init__(self):
    self.STEER_MAX = 300
    self.STEER_STEP = 2              # how often we update the steer cmd
    self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
    self.STEER_DELTA_DOWN = 17       # ~0.3s from peak torque to zero
    self.MIN_STEER_SPEED = 3.
    self.STEER_DRIVER_ALLOWANCE = 50   # allowed driver torque before start limiting
    self.STEER_DRIVER_MULTIPLIER = 4   # weight driver torque heavily
    self.STEER_DRIVER_FACTOR = 100     # from dbc
    self.NEAR_STOP_BRAKE_PHASE = 0.5  # m/s, more aggressive braking near full stop

    # Takes case of "Service Adaptive Cruise" and "Service Front Camera"
    # dashboard messages.
    self.ADAS_KEEPALIVE_STEP = 100
    self.CAMERA_KEEPALIVE_STEP = 100

    # pedal lookups, only for Volt
    MAX_GAS = 3072              # Only a safety limit
    ZERO_GAS = 2048
    MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
    self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
    self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
    self.BRAKE_LOOKUP_BP = [-1., -0.25]
    self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]


 </s> add 
    new_steer = actuators.steer * CarControllerParams.STEER_MAX
        return []
  
      # *** compute control surfaces ***
      # steer torque
    new_steer = actuators.steer * CarControllerParams.STEER_MAX
      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
                                                     CS.out.steeringTorqueEps, SteerLimitParams)
      self.steer_rate_limited = new_steer != apply_steer
  
      moving_fast = CS.out.vEgo > CS.CP.minSteerSpeed  # for status message
keep keep keep keep replace keep keep keep keep keep
 Move all CarControllerParams into values.py (#19663)

* toyota

* use scale from values.py

* nissan

* subaru

* honda

* gm

* toyota combine into CarControllerParams

* nissan refactor

* chrysler refactor

* mazda refactor

* hyundai refactor

* subaru refactor 
selfdrive/car/chrysler/carcontroller.py