  
  ButtonType = car.CarState.ButtonEvent.Type
  GearShifter = car.CarState.GearShifter
  EventName = car.CarEvent.EventName
  TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float]
  
  MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
  ACCEL_MAX = 2.0
  ACCEL_MIN = -3.5
  FRICTION_THRESHOLD = 0.3
 
</s> remove from selfdrive.car.interfaces import CarInterfaceBase
 </s> add from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
from selfdrive.controls.lib.drive_helpers import apply_center_deadzone </s> remove       ret.centerToFront = ret.wheelbase * 0.4
 </s> add       ret.steerActuatorDelay = 0.12 </s> remove                                                      lateral_accel_deadzone, friction_compensation=False)
 </s> add                                                      lateral_accel_deadzone, CS.vEgo, friction_compensation=False) </s> remove   def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
 </s> add   def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation):
TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, float, bool], float]
  
  ButtonType = car.CarState.ButtonEvent.Type
  GearShifter = car.CarState.GearShifter
  EventName = car.CarEvent.EventName
TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, float, bool], float]
  
  MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
  ACCEL_MAX = 2.0
  ACCEL_MIN = -3.5
  FRICTION_THRESHOLD = 0.3
keep keep keep keep replace keep keep keep keep keep
 Chevrolet Bolt: Non-linear torque tune (#27344)

* add non linear tune

* update refs

* rerun tests 
selfdrive/car/interfaces.py