Merge branch 'master' into standard1

# Conflicts: # include/rm_manual/chassis_gimbal_shooter_cover_manual.h
rm-controls · Jul 18, 2024 · 9972018 · 9972018
2 parents 8cb89e1 + de20f92
commit 9972018
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Showing 2 changed files with 15 additions and 2 deletions.
diff --git a/src/chassis_gimbal_manual.cpp b/src/chassis_gimbal_manual.cpp
@@ -47,11 +47,19 @@ void ChassisGimbalManual::updateRc(const rm_msgs::DbusData::ConstPtr& dbus_data)
 {
   ManualBase::updateRc(dbus_data);
   gimbal_cmd_sender_->setRate(-dbus_data->ch_l_x, -dbus_data->ch_l_y);
+  if (gimbal_cmd_sender_->getMsg()->mode == rm_msgs::GimbalCmd::RATE)
+    chassis_cmd_sender_->setFollowVelDes(gimbal_cmd_sender_->getMsg()->rate_yaw);
+  else
+    chassis_cmd_sender_->setFollowVelDes(0.);
 }
 void ChassisGimbalManual::updatePc(const rm_msgs::DbusData::ConstPtr& dbus_data)
 {
   ManualBase::updatePc(dbus_data);
   gimbal_cmd_sender_->setRate(-dbus_data->m_x * gimbal_scale_, dbus_data->m_y * gimbal_scale_);
+  if (gimbal_cmd_sender_->getMsg()->mode == rm_msgs::GimbalCmd::RATE)
+    chassis_cmd_sender_->setFollowVelDes(gimbal_cmd_sender_->getMsg()->rate_yaw);
+  else
+    chassis_cmd_sender_->setFollowVelDes(0.);
 }
 
 void ChassisGimbalManual::checkReferee()

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -353,8 +353,13 @@ void ChassisGimbalShooterManual::mouseLeftPress()
   }
   if (prepare_shoot_)
   {
-    shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::PUSH);
-    shooter_cmd_sender_->checkError(ros::Time::now());
+    if (!mouse_right_event_.getState() || (mouse_right_event_.getState() && track_data_.id != 0))
+    {
+      shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::PUSH);
+      shooter_cmd_sender_->checkError(ros::Time::now());
+    }
+    else
+      shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::READY);
   }
 }