Moving chassis to remain a slow gimbal-state during hanging-shoot.

rm-controls · Jun 1, 2024 · 2085257 · 2085257
1 parent 780b5bc
commit 2085257
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -438,7 +438,7 @@ void ChassisGimbalShooterManual::wPress()
 {
   ChassisGimbalManual::wPress();
   if ((robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO) &&
-      gimbal_cmd_sender_->getEject())
+      (gimbal_cmd_sender_->getEject() && !use_scope_))
   {
     gimbal_cmd_sender_->setEject(false);
     manual_to_referee_pub_data_.hero_eject_flag = gimbal_cmd_sender_->getEject();
@@ -451,7 +451,7 @@ void ChassisGimbalShooterManual::aPress()
 {
   ChassisGimbalManual::aPress();
   if ((robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO) &&
-      gimbal_cmd_sender_->getEject())
+      (gimbal_cmd_sender_->getEject() && !use_scope_))
   {
     gimbal_cmd_sender_->setEject(false);
     manual_to_referee_pub_data_.hero_eject_flag = gimbal_cmd_sender_->getEject();
@@ -464,7 +464,7 @@ void ChassisGimbalShooterManual::sPress()
 {
   ChassisGimbalManual::sPress();
   if ((robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO) &&
-      gimbal_cmd_sender_->getEject())
+      (gimbal_cmd_sender_->getEject() && !use_scope_))
   {
     gimbal_cmd_sender_->setEject(false);
     manual_to_referee_pub_data_.hero_eject_flag = gimbal_cmd_sender_->getEject();
@@ -477,7 +477,7 @@ void ChassisGimbalShooterManual::dPress()
 {
   ChassisGimbalManual::dPress();
   if ((robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO) &&
-      gimbal_cmd_sender_->getEject())
+      (gimbal_cmd_sender_->getEject() && !use_scope_))
   {
     gimbal_cmd_sender_->setEject(false);
     manual_to_referee_pub_data_.hero_eject_flag = gimbal_cmd_sender_->getEject();