Delete something unused,achieve call buff in epress instead of rpress.

rm-controls · Aug 1, 2024 · db38950 · db38950
1 parent 13323d0
commit db38950
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Showing 3 changed files with 9 additions and 22 deletions.
diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -27,7 +27,6 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void rightSwitchDownRise() override;
   void rightSwitchMidRise() override;
   void rightSwitchUpRise() override;
-  void rPress() override;
   void ePress() override;
   void zPress();
   void zRelease();

diff --git a/include/rm_manual/chassis_gimbal_shooter_manual.h b/include/rm_manual/chassis_gimbal_shooter_manual.h
@@ -88,7 +88,7 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   virtual void cPress();
   virtual void bPress();
   virtual void bRelease();
-  virtual void rPress();
+  void rPress();
   virtual void xRelease();
   virtual void shiftPress();
   virtual void shiftRelease();

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -133,31 +133,19 @@ void ChassisGimbalShooterCoverManual::rightSwitchUpRise()
   supply_ = false;
 }
 
-void ChassisGimbalShooterCoverManual::rPress()
+void ChassisGimbalShooterCoverManual::ePress()
 {
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+  if (game_progress_ == 4)
   {
-    chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::CHARGE);
-    if (game_progress_ == 4)
-    {
-      if (stage_remain_time_ < 210)
-        switch_buff_type_srv_->setTargetType(rm_msgs::StatusChangeRequest::BIG_BUFF);
-      else
-        switch_buff_type_srv_->setTargetType(rm_msgs::StatusChangeRequest::SMALL_BUFF);
-      if ((ros::Time::now() - game_status_time_).toSec() < 0.2)
-        switch_buff_type_srv_->setTargetType(rm_msgs::StatusChangeRequest::BIG_BUFF);
-      switch_buff_type_srv_->callService();
-    }
+    if (stage_remain_time_ < 210)
+      switch_buff_type_srv_->setTargetType(rm_msgs::StatusChangeRequest::BIG_BUFF);
+    else
+      switch_buff_type_srv_->setTargetType(rm_msgs::StatusChangeRequest::SMALL_BUFF);
+    if ((ros::Time::now() - game_status_time_).toSec() < 0.2)
+      switch_buff_type_srv_->setTargetType(rm_msgs::StatusChangeRequest::BIG_BUFF);
   }
-  else
-    chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::NORMAL);
-}
-
-void ChassisGimbalShooterCoverManual::ePress()
-{
   switch_buff_srv_->switchTargetType();
   switch_detection_srv_->switchTargetType();
-  switch_buff_type_srv_->setTargetType(switch_buff_srv_->getTarget());
   switch_exposure_srv_->switchTargetType();
   switch_buff_srv_->callService();
   switch_detection_srv_->callService();