Modify the wrong of shoot when tracking and exiting auto_mode.

rm-controls · Jul 11, 2024 · 506e1e1 · 506e1e1
1 parent def92d6
commit 506e1e1
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -355,6 +355,8 @@ void ChassisGimbalShooterManual::mouseRightPress()
 {
   if (is_auto_ && robot_id_ != rm_msgs::GameRobotStatus::BLUE_HERO && robot_id_ != rm_msgs::GameRobotStatus::RED_HERO)
     sentryMode();
+  else if (!mouse_left_event_.getState() && shooter_cmd_sender_->getMsg()->mode == rm_msgs::ShootCmd::PUSH)
+    shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::READY);
   else
   {
     if (track_data_.id == 0)