Standardlize some code.

rm-controls · Dec 6, 2024 · bdc18f6 · bdc18f6
1 parent ea5e1cc
commit bdc18f6
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Showing 2 changed files with 5 additions and 10 deletions.
diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -53,10 +53,7 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   double low_speed_scale_{}, normal_speed_scale_{};
   double exit_buff_mode_duration_{};
   double gyro_speed_limit_{};
-  double sin_gyro_base_scale_{ 1. };
-  double sin_gyro_amplitude_{ 0. };
-  double sin_gyro_period_{ 1. };
-  double sin_gyro_phase_{ 0. };
+  double sin_gyro_base_scale_{ 1. }, sin_gyro_amplitude_{ 0. }, sin_gyro_period_{ 1. }, sin_gyro_phase_{ 0. };
   rm_common::SwitchDetectionCaller* switch_buff_srv_{};
   rm_common::SwitchDetectionCaller* switch_buff_type_srv_{};
   rm_common::SwitchDetectionCaller* switch_exposure_srv_{};

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -47,7 +47,8 @@ void ChassisGimbalShooterCoverManual::changeSpeedMode(SpeedMode speed_mode)
     speed_change_scale_ = normal_speed_scale_;
   }
 }
-double ChassisGimbalShooterCoverManual::getDynamicScale(double base_scale, double amplitude, double period, double phase)
+double ChassisGimbalShooterCoverManual::getDynamicScale(const double base_scale, const double amplitude,
+                                                        const double period, const double phase)
 {
   ros::Time current_time = ros::Time::now();
   double t = current_time.toSec();
@@ -75,12 +76,9 @@ void ChassisGimbalShooterCoverManual::changeGyroSpeedMode(SpeedMode speed_mode)
   else if (speed_mode == NORMAL)
   {
     if (x_scale_ != 0.0 || y_scale_ != 0.0)
-      vel_cmd_sender_->setAngularZVel(
-          getDynamicScale(sin_gyro_base_scale_, sin_gyro_amplitude_, sin_gyro_period_, sin_gyro_phase_) *
-          gyro_rotate_reduction_);
+      vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_);
     else
-      vel_cmd_sender_->setAngularZVel(
-          getDynamicScale(sin_gyro_base_scale_, sin_gyro_amplitude_, sin_gyro_period_, sin_gyro_phase_));
+      vel_cmd_sender_->setAngularZVel(1.0);
   }
 }