      self.es_lkas_cnt = -1
      self.fake_button_prev = 0
      self.steer_rate_limited = False
  
      self.params = CarControllerParams()
      self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
  
    def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
  
      can_sends = []
 
</s> remove class CarControllerParams():
  def __init__(self, CP):
      self.BRAKE_MAX = 1024//4
      self.STEER_MAX = CP.lateralParams.torqueBP[-1]
      # mirror of list (assuming first item is zero) for interp of signed request values
      assert(CP.lateralParams.torqueBP[0] == 0)
      assert(CP.lateralParams.torqueBP[0] == 0)
      self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
      self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
 </s> add  </s> remove     if (frame % self.params.STEER_STEP) == 0:
 </s> add     if (frame % CarControllerParams.STEER_STEP) == 0: </s> remove     new_steer = actuators.steer * SteerLimitParams.STEER_MAX
 </s> add     new_steer = actuators.steer * CarControllerParams.STEER_MAX </s> remove         can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.params.STEER_STEP))
 </s> add         can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP)) </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)
      self.es_lkas_cnt = -1
      self.fake_button_prev = 0
      self.steer_rate_limited = False
  

      self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
  
    def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
  
      can_sends = []
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/subaru/carcontroller.py