Restore Crazy Robotaxi arcade controls

Author: aidanfnv

apps/crazy_robotaxi/crazy_robotaxi/dynamics.py

@@ -23,6 +23,12 @@ class TaxiVehicleConfig(VehicleConfig):
     max_steer_rad: float = 0.69
     """Full-lock steering angle for tight arcade turns."""
 
+    steer_rate_rad_per_s: float = 2.415
+    """Reach full lock in the original keyboard control's 1 / 3.5 seconds."""
+
+    steer_return_rate_rad_per_s: float = 3.45
+    """Return from full lock in the original keyboard control's 1 / 5 seconds."""
+
     max_accel_mps2: float = 10.0
     reverse_accel_mps2: float = 10.0
     max_brake_mps2: float = 14.0

apps/crazy_robotaxi/crazy_robotaxi/session.py

@@ -641,7 +641,23 @@ def _restart_requested(events: UserInputEvents) -> bool:
 
 
 def _taxi_driver_command(command: DriverCommand) -> DriverCommand:
-    """Restore Crazy Robotaxi's keyboard handbrake over shared drive input."""
-    if not command.manual_control or command.steer_is_direct or command.brake <= 0.0:
+    """Apply Taxi's arcade pedal policy to shared non-direct drive commands."""
+    if command.steer_is_direct:
         return command
-    return replace(command, throttle=0.0, stop=False, handbrake=True)
+    if command.brake > 0.0:
+        return replace(
+            command,
+            throttle=0.0,
+            brake=0.0,
+            stop=False,
+            handbrake=True,
+            manual_control=True,
+        )
+    if command.reverse:
+        command = replace(
+            command,
+            throttle=0.0,
+            brake=command.throttle,
+            reverse=False,
+        )
+    return replace(command, manual_control=True)

apps/crazy_robotaxi/tests/test_application.py

@@ -17,6 +17,7 @@
     CrazyRobotaxiApplication,
     _fit_bev_renderer_to_ui,
 )
+from crazy_robotaxi.dynamics import TaxiVehicleConfig
 from crazy_robotaxi.game_selection import GameSelection
 from crazy_robotaxi.physics import TaxiPhysicsWorld
 from crazy_robotaxi.rules import TaxiGameSnapshot
@@ -406,6 +407,26 @@ def test_taxi_space_key_restores_handbrake_over_shared_input_mapping() -> None:
     assert not command.stop
 
 
+def test_taxi_keyboard_restores_arcade_brake_reverse() -> None:
+    driver_input = DriverInput(pressed_keys={"a", "s"})
+    vehicle = TaxiVehicleConfig()
+
+    command = _taxi_driver_command(driver_input.command())
+
+    assert vehicle.steer_rate_rad_per_s == pytest.approx(
+        3.5 * vehicle.max_steer_rad
+    )
+    assert vehicle.steer_return_rate_rad_per_s == pytest.approx(
+        5.0 * vehicle.max_steer_rad
+    )
+    assert command.steer == 1.0
+    assert not command.steer_is_direct
+    assert command.manual_control
+    assert command.throttle == 0.0
+    assert command.brake == 1.0
+    assert not command.reverse
+
+
 def test_leaderboard_does_not_finish_the_v2_model_loop() -> None:
     snapshot = TaxiGameSnapshot(
         phase="seeking_pickup",