  
        # limits due to driver torque
  
        new_steer = int(round(apply_steer))
        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
        self.steer_rate_limited = new_steer != apply_steer
  
        if not enabled:
          apply_steer = 0
  
 
</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     new_steer = actuators.steer * SteerLimitParams.STEER_MAX
 </s> add     new_steer = actuators.steer * CarControllerParams.STEER_MAX </s> remove                                                    CS.out.steeringTorqueEps, SteerLimitParams)
 </s> add                                                    CS.out.steeringTorqueEps, CarControllerParams) </s> remove     if (frame % self.params.STEER_STEP) == 0:
 </s> add     if (frame % CarControllerParams.STEER_STEP) == 0: </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))
      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams)
  
        # limits due to driver torque
  
        new_steer = int(round(apply_steer))
      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, CarControllerParams)
        self.steer_rate_limited = new_steer != apply_steer
  
        if not enabled:
          apply_steer = 0
  
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