Modify the code for cleanliness.

rm-controls · Jul 8, 2024 · 8cb89e1 · 8cb89e1
1 parent 0c9a8af
commit 8cb89e1
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Showing 2 changed files with 26 additions and 32 deletions.
diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -40,6 +40,8 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void aRelease() override;
   void sRelease() override;
   void dRelease() override;
+  void setAngularVelByTargetWhenMov();
+  void setAngularVelByTargetWhenStopMov();
 
   virtual void ctrlZPress();
   virtual void ctrlZRelease()

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -225,73 +225,49 @@ void ChassisGimbalShooterCoverManual::wPressing()
     switch_buff_type_srv_->callService();
     switch_exposure_srv_->callService();
   }
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenMov();
 }
 
 void ChassisGimbalShooterCoverManual::aPressing()
 {
   ChassisGimbalShooterManual::aPressing();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenMov();
 }
 
 void ChassisGimbalShooterCoverManual::sPressing()
 {
   ChassisGimbalShooterManual::sPressing();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenMov();
 }
 
 void ChassisGimbalShooterCoverManual::dPressing()
 {
   ChassisGimbalShooterManual::dPressing();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenMov();
 }
 
 void ChassisGimbalShooterCoverManual::wRelease()
 {
   ChassisGimbalShooterManual::wRelease();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenStopMov();
 }
 
 void ChassisGimbalShooterCoverManual::aRelease()
 {
   ChassisGimbalShooterManual::aRelease();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenStopMov();
 }
 
 void ChassisGimbalShooterCoverManual::sRelease()
 {
   ChassisGimbalShooterManual::sRelease();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenStopMov();
 }
 
 void ChassisGimbalShooterCoverManual::dRelease()
 {
   ChassisGimbalShooterManual::dRelease();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenStopMov();
 }
 
 void ChassisGimbalShooterCoverManual::ctrlZPress()
@@ -311,4 +287,20 @@ void ChassisGimbalShooterCoverManual::ctrlZPress()
   }
 }
 
+void ChassisGimbalShooterCoverManual::setAngularVelByTargetWhenMov()
+{
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::setAngularVelByTargetWhenStopMov()
+{
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+}
+
 }  // namespace rm_manual