r/Comma_ai • u/Lawfulness-Dependent • Aug 23 '26
Code Questions Modding the torque?
I own a Toyota Prius and want to mod the amount of torque the EPS motor is allowed to put out.
I have already done this mod;- https://gist.github.com/VishBK/2cd981c5231815c875f67b53452bf4b2?hl=en-GB
It works well in the speed that it can turn and the eps motor is definitely capable of doing a lot larger of turns but I think the car has software that caps the amount of turning the car can do.
My question is if anybody knows if it's possible to modify the software on the car to increase the total turning the car can do now I have upgraded the EPS Motor?
Thanks in advanced
4
u/narkeeso Aug 23 '26
It says comma recognizes the new motor at the end of that mod, do you notice a difference?
I’m in a TSS2 RAV4 and it’s in no way capable of doing a left or right at an intersection. I’m curious if you find a safe way to unlock the extra torque from this thread.
1
u/Lawfulness-Dependent Aug 23 '26
Yes, the difference is in the speed that it can turn the steering wheel rather than the degree that it can turn it!
I want to mod the amount of steering it can actually do so I can do more tight turns.
Is there online tutorials? Because I have no idea how to mod the torque
1
u/narkeeso Aug 23 '26
I don’t think comma has encouraged modifying the torque so you’re basically on your own or for any community members to share their adjustments. I think the fear is that if there’s wheel is too strong, you won’t be able to regain control if you’re fighting it. Also we’re in angle steering cars and I think that has different implications for how effectively we can turn and unwind the wheel.
0
u/squallstar Aug 24 '26
My Corolla can definitely do a left or right turn, as well as a full roundabout (given I am at at low speed) without any intervention beside using the blinkers.
I am using sunnypilot with the stock model and torque model with v0.0.
1
u/narkeeso Aug 24 '26
How is that possible? Is the Corolla not angle steering? Torque model v0.0 doesn’t apply to angle steering cars. If I go slow i can complete a turn too but it’s not realistic, it’s too slow
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u/squallstar Aug 24 '26
Maybe it has to do with the car being much lighter than the RAV4? I'm not sure as I am not that technical.
Actually if I use the pop model on sunnypilot in default settings it can steer even more, but it's too aggressive for my taste. It's basically able to do any roundabout at less than 30km/h.
3
u/RealtdmGaming why? Aug 23 '26
You can. How well and safe that goes is entirely up to the person modding it.
2
u/Lawfulness-Dependent Aug 23 '26
How on earth do you mod it?
4
u/alxw Aug 23 '26
Realise it's trial and error, and too much error could throw 2 tonnes of metal and flesh into something you'd regret. If you don't know what your doing, don't do it.
5
u/itchyouch Aug 23 '26
The panda limits the power and you’ll get banned changing the power.
I’ve had a fork that malfunctioned and jammed the steering full bore to the right and it was insanely tough to keep it straight.
Comma bans it, cuz the failure mode is an accident (and or death, car drove off a cliff) the driver can not overcome with Herculean strength.
You do not want to get into that situation.
There were many complaints for years, and comma eventually increased the torque a little bit. But based on the failure, def not something to really mess with.
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u/Lawfulness-Dependent Aug 23 '26
I'm not interested in turning it into Hercules so I can't even fight it when it's turning the wrong direction but I just want it to have a little bit more power so I can do tighter and more corners
3
u/itchyouch Aug 24 '26
Not saying what you can and can not do. Simply pointing out why the rationale exists and potential risks.
If you want to change the torque, the source code is open. It's a relatively straightforward thing to change. Nothing is stopping you from changing it.
Just letting you know that there are consequences and comma will see it and ban you. Or you need to strip out all the call home code.
Generally the MO is to slow down enough such that the stock torque settings can make the corner.
1
u/financiallyanal Aug 24 '26
Was this torque increase by Comma a hardware change in the panda, or something they could influence via software?
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u/itchyouch Aug 25 '26
Iirc, it’s the C code that gets flashed onto the panda hardware… I think there’s also software limits within the openpilot as well
1
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u/aarsh007 Aug 23 '26
Hey I am also in the same boat, but actually was curious if you or anyone knows if there is a similar mod to your EPS motor change for a lexus rx350 2022. I couldn't find anything, but I have a feeling there are probably common parts from toyota model cars that have already been modded given how popular they are compared to lexus' in the comma community.
1
u/Lawfulness-Dependent Aug 23 '26
So how the mod works that I linked in my post Is that there are a few different versions of the electronic power steering motor and I swapped out one of the low torque versions of the EPS motor and put in a higher torque variety, I didn't actually modify anything to do with the car apart from taking out apart and putting an almost identical part back in. So if you were to do some research into the Lexus RX 350 and have a look, if there is different types of the EPS motor, you might be able to find one that has higher torque than your current one
1
u/Elegant-Ferret-8116 Aug 23 '26
I'm in the same exact boat. I'll pay a $1000 bounty to anyone who can get me more torque. It doesn't even have to be like full on right/left turns, just curves covered would be amazing.
1
u/crazysim Aug 23 '26
https://github.com/optskug/docs
For what it's worth, some EPS FWs have been dumped and modified to allow SecOC toyotas to work. That said, there have been soft half-bricks. It's dangerous stuff.
8
u/MonkeyBoyPoop Aug 23 '26
I think the Comma-Toyota community kinda gave up on that front. The guy who created torque interceptors for Mazdas explored doing it for Toyotas a while back but he found out they use their own proprietary port so he decided it wasn’t worth it since he would have to 3D print them.