Merge pull request #1 from BlanchardLj/traj

Modify wrong of unable to be auto when press mouseRight twice
rm-controls · Jul 10, 2024 · b234d32 · b234d32
2 parents daea52a + 542fb1f
commit b234d32
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/include/rm_manual/chassis_gimbal_shooter_manual.h b/include/rm_manual/chassis_gimbal_shooter_manual.h
@@ -61,11 +61,6 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   void mouseRightPress();
   void mouseRightRelease()
   {
-    if (is_auto_)
-    {
-      is_auto_ = false;
-      count_ = 0;
-    }
     gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::RATE);
     if (shooter_cmd_sender_->getMsg()->mode == rm_msgs::ShootCmd::PUSH)
       shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::READY);

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -640,12 +640,17 @@ void ChassisGimbalShooterManual::judgeIsAuto()
   {
     last_time_hit_by_dart_ = time_hit_by_dart_;
     hit_time_ = ros::Time::now();
-    is_auto_ = true;
   }
-  if ((target_hit_by_dart_ == 1 && (ros::Time::now() - hit_time_).toSec() >= 5) ||
-      (target_hit_by_dart_ == 2 && (ros::Time::now() - hit_time_).toSec() >= 10) ||
-      (target_hit_by_dart_ == 3 && (ros::Time::now() - hit_time_).toSec() >= 15))
+  if (((target_hit_by_dart_ == 1 && (ros::Time::now() - hit_time_).toSec() <= 5) ||
+       (target_hit_by_dart_ == 2 && (ros::Time::now() - hit_time_).toSec() <= 10) ||
+       (target_hit_by_dart_ == 3 && (ros::Time::now() - hit_time_).toSec() <= 15)) &&
+      mouse_right_event_.getState())
+    is_auto_ = true;
+  else
+  {
     is_auto_ = false;
+    count_ = 0;
+  }
   if (target_hit_by_dart_ == 0)
     is_auto_ = false;
 }