Difference between revisions of "AP2 Harness"
From Tinkla: Tinkering with Tesla
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* A Comma three | * A Comma three | ||
* A black panda (for longitudinal control) | * A black panda (for longitudinal control) | ||
| − | * Two Comma Car Harnesses for Development Vehicles | + | * Two [https://comma.ai/shop/products/comma-car-harness Comma Car Harnesses] for Development Vehicles |
* Connectors and pin as listed in [https://github.com/commaai/neo/blob/master/car_harness/Tesla_AP2%2B_Harness.sch.pdf this diagram] to build both the lateral control harness and the longitdinal control harness] | * Connectors and pin as listed in [https://github.com/commaai/neo/blob/master/car_harness/Tesla_AP2%2B_Harness.sch.pdf this diagram] to build both the lateral control harness and the longitdinal control harness] | ||
* Some quiet time to sit down and build your harnesses | * Some quiet time to sit down and build your harnesses | ||
Revision as of 21:46, 1 April 2022
Two Options
- AP2 controls steering using the Chassis CAN and acceleration/braking through the Powertrain CAN, thus it requires two harness for complete control from OpenPilot.
- Only a Comma three can control multiple pandas using the additional USB-C port. Hence a Comma two can only handle lateral control.
Using OpenPilot with just lateral control
- When using the OpenPilot on a Tesla with AP2/2.5/3, you have the option to configure the software (via the UI toggles) to only do lateral control, and let the built in adaptive cruise control handle the longitudinal control.
- To do this, you will need a Comma two or Comma three plus a Lateral Control Harness by following the instructions in the Comma repository.
Using OpenPilot with full control
To allow OpenPilot to fully (lateral and longitdinal) control your Telsa equipped with AP2/2.5/3, you need the following:
- A Comma three
- A black panda (for longitudinal control)
- Two Comma Car Harnesses for Development Vehicles
- Connectors and pin as listed in this diagram to build both the lateral control harness and the longitdinal control harness]
- Some quiet time to sit down and build your harnesses
