  from common.numpy_fast import interp
  from selfdrive.config import Conversions as CV
  from selfdrive.car import apply_std_steer_torque_limits
  from selfdrive.car.gm import gmcan
  from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS, CanBus
  from opendbc.can.packer import CANPacker
  
  VisualAlert = car.CarControl.HUDControl.VisualAlert
  
  
 
</s> remove   def __init__(self, car_fingerprint):
    if car_fingerprint in SUPERCRUISE_CARS:
      self.STEER_MAX = 150
      self.STEER_STEP = 1              # how often we update the steer cmd
      self.STEER_DELTA_UP = 2          # 0.75s time to peak torque
      self.STEER_DELTA_DOWN = 5        # 0.3s from peak torque to zero
      self.MIN_STEER_SPEED = -1.       # can steer down to zero
    else:
      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.

 </s> add   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. </s> remove     if self.car_fingerprint not in SUPERCRUISE_CARS:
      # no output if not enabled, but keep sending keepalive messages
      # treat pedals as one
      final_pedal = actuators.gas - actuators.brake
 </s> add     # no output if not enabled, but keep sending keepalive messages
    # treat pedals as one
    final_pedal = actuators.gas - actuators.brake </s> remove SUPERCRUISE_CARS = [CAR.CADILLAC_CT6]

 </s> add  </s> remove     self.car_fingerprint = CP.carFingerprint
 </s> add  </s> remove     self.params = CarControllerParams(CP.carFingerprint)
 </s> add     self.params = CarControllerParams()
from selfdrive.car.gm.values import DBC, CanBus
  from common.numpy_fast import interp
  from selfdrive.config import Conversions as CV
  from selfdrive.car import apply_std_steer_torque_limits
  from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import DBC, CanBus
  from opendbc.can.packer import CANPacker
  
  VisualAlert = car.CarControl.HUDControl.VisualAlert
  
  
keep keep keep keep replace keep keep keep keep keep
 Remove Cadillac CT6 port (#1359)

* remove CT6 port

* dont need this route

* extra char

* fix carcontroller params 
selfdrive/car/gm/carcontroller.py