Open Interface?

We try to keep all of our interfaces open and accessible. The code for all the high level mechanisms is also open source (in Lua).

You can find the source code (including our own ABS implementation) below the "lua/vehicle/" directory of your installation. Concerning the wheels you can get individual angular speeds, brake temperatures, etc. You can also set brake torques independently per wheel. Concerning the vehicle we provide accelerometer, gyroscope and lots of other data.

 

Adding onto what estama said, replacing specifically the ABS logic is not 100% an expected usecase, but should be doable without much messing around. You could rather easily create your own lua module and use that to implement your own ABS logic. The current interface is called each physics frame (meaning at 2000hz) and expects a desired brake torque as the return value. Building more logic around that is doable and still quite clean.