Make a supplement.

rm-controls · Jul 22, 2024 · ed16410 · ed16410
1 parent 77425cc
commit ed16410
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Showing 2 changed files with 5 additions and 8 deletions.
diff --git a/src/chassis_gimbal_manual.cpp b/src/chassis_gimbal_manual.cpp
@@ -229,10 +229,15 @@ void ChassisGimbalManual::setChassisMode(int mode)
     case rm_msgs::ChassisCmd::RAW:
       chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::RAW);
       is_gyro_ = true;
+      if (x_scale_ != 0.0 || y_scale_ != 0.0)
+        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_);
+      else
+        vel_cmd_sender_->setAngularZVel(1.0);
       break;
     case rm_msgs::ChassisCmd::FOLLOW:
       chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FOLLOW);
       is_gyro_ = false;
+      vel_cmd_sender_->setAngularZVel(0.0);
       break;
   }
 }

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -399,16 +399,11 @@ void ChassisGimbalShooterManual::cPress()
   if (is_gyro_)
   {
     setChassisMode(rm_msgs::ChassisCmd::FOLLOW);
-    vel_cmd_sender_->setAngularZVel(0.0);
   }
   else
   {
     setChassisMode(rm_msgs::ChassisCmd::RAW);
     chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::NORMAL);
-    if (x_scale_ != 0.0 || y_scale_ != 0.0)
-      vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_);
-    else
-      vel_cmd_sender_->setAngularZVel(1.0);
   }
 }
 
@@ -585,10 +580,7 @@ void ChassisGimbalShooterManual::vPress()
 void ChassisGimbalShooterManual::shiftPress()
 {
   if (chassis_cmd_sender_->getMsg()->mode != rm_msgs::ChassisCmd::FOLLOW && is_gyro_)
-  {
     setChassisMode(rm_msgs::ChassisCmd::FOLLOW);
-    vel_cmd_sender_->setAngularZVel(1.0);
-  }
   chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::BURST);
 }