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] 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);
 }