Merge branch 'master' into follow-feedforward

rm-controls · Jul 16, 2024 · 86eac74 · 86eac74
2 parents 58f53c7 + fd616fe
commit 86eac74
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -344,8 +344,13 @@ 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);
   }
 }