From 0dd508f3112c245b7a4be0880ecbccc926c93483 Mon Sep 17 00:00:00 2001
From: youjian <1124895509@qq.com>
Date: Sun, 24 Mar 2024 13:50:29 +0800
Subject: [PATCH 1/3] Avoid capacity keep in charge mode when chassis rotate.

---
 include/rm_manual/chassis_gimbal_shooter_manual.h | 1 +
 src/chassis_gimbal_shooter_manual.cpp             | 8 +++++++-
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_manual.h b/include/rm_manual/chassis_gimbal_shooter_manual.h
index e86618da..86132895 100644
--- a/include/rm_manual/chassis_gimbal_shooter_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_manual.h
@@ -83,6 +83,7 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   virtual void eRelease();
   virtual void cPress();
   virtual void bPress();
+  virtual void bRelease();
   virtual void rPress();
   virtual void xReleasing();
   virtual void shiftPress();
diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index f37f2b20..183c8eea 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -47,7 +47,8 @@ ChassisGimbalShooterManual::ChassisGimbalShooterManual(ros::NodeHandle& nh, ros:
   q_event_.setEdge(boost::bind(&ChassisGimbalShooterManual::qPress, this),
                    boost::bind(&ChassisGimbalShooterManual::qRelease, this));
   f_event_.setRising(boost::bind(&ChassisGimbalShooterManual::fPress, this));
-  b_event_.setRising(boost::bind(&ChassisGimbalShooterManual::bPress, this));
+  b_event_.setEdge(boost::bind(&ChassisGimbalShooterManual::bPress, this),
+                   boost::bind(&ChassisGimbalShooterManual::bRelease, this));
   x_event_.setRising(boost::bind(&ChassisGimbalShooterManual::xPress, this));
   x_event_.setActiveLow(boost::bind(&ChassisGimbalShooterManual::xReleasing, this));
   r_event_.setRising(boost::bind(&ChassisGimbalShooterManual::rPress, this));
@@ -399,6 +400,11 @@ void ChassisGimbalShooterManual::bPress()
   chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::CHARGE);
 }
 
+void ChassisGimbalShooterManual::bRelease()
+{
+  chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::NORMAL);
+}
+
 void ChassisGimbalShooterManual::rPress()
 {
   if (camera_switch_cmd_sender_)

From a89c2e6e8900bb95939da90af9e3e5bbad15172d Mon Sep 17 00:00:00 2001
From: youjian <1124895509@qq.com>
Date: Mon, 25 Mar 2024 19:39:49 +0800
Subject: [PATCH 2/3] Avoid the rotating chassis going into CHARGE mode when
 the shift key is pressed.

---
 src/chassis_gimbal_shooter_manual.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index 183c8eea..ca591080 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -567,10 +567,11 @@ void ChassisGimbalShooterManual::vPress()
 
 void ChassisGimbalShooterManual::shiftPress()
 {
-  if (chassis_cmd_sender_->getMsg()->mode != rm_msgs::ChassisCmd::FOLLOW)
+  if (chassis_cmd_sender_->getMsg()->mode != rm_msgs::ChassisCmd::FOLLOW || is_gyro_)
   {
     chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FOLLOW);
-    vel_cmd_sender_->setAngularZVel(0.);
+    vel_cmd_sender_->setAngularZVel(1.0);
+    is_gyro_ = false;
   }
   chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::BURST);
 }

From 44d6df498e095d30925306bfe57ee814d140bfdf Mon Sep 17 00:00:00 2001
From: youjian <1124895509@qq.com>
Date: Mon, 25 Mar 2024 19:47:04 +0800
Subject: [PATCH 3/3] Fix a logic problem.

---
 src/chassis_gimbal_shooter_manual.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index ca591080..4d22edd8 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -567,7 +567,7 @@ void ChassisGimbalShooterManual::vPress()
 
 void ChassisGimbalShooterManual::shiftPress()
 {
-  if (chassis_cmd_sender_->getMsg()->mode != rm_msgs::ChassisCmd::FOLLOW || is_gyro_)
+  if (chassis_cmd_sender_->getMsg()->mode != rm_msgs::ChassisCmd::FOLLOW && is_gyro_)
   {
     chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FOLLOW);
     vel_cmd_sender_->setAngularZVel(1.0);