Avoid the rotating chassis going into CHARGE mode when the shift key …

…is pressed.
rm-controls · Mar 25, 2024 · a89c2e6 · a89c2e6
1 parent 0dd508f
commit a89c2e6
Showing 1 changed file with 3 additions and 2 deletions.
diff --git 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);
 }