Merge pull request #101 from liyixin135/reduction_gimbal_after_using_…

…scope Moving chassis to remain a slow gimbal-state during hanging-shoot
rm-controls · Jul 24, 2024 · c973193 · c973193
2 parents 77425cc + 8f3c569
commit c973193
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -448,7 +448,7 @@ void ChassisGimbalShooterManual::wPress()
 {
   ChassisGimbalManual::wPress();
   if ((robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO) &&
-      gimbal_cmd_sender_->getEject())
+      (gimbal_cmd_sender_->getEject() && !use_scope_))
   {
     gimbal_cmd_sender_->setEject(false);
     manual_to_referee_pub_data_.hero_eject_flag = gimbal_cmd_sender_->getEject();
@@ -461,7 +461,7 @@ void ChassisGimbalShooterManual::aPress()
 {
   ChassisGimbalManual::aPress();
   if ((robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO) &&
-      gimbal_cmd_sender_->getEject())
+      (gimbal_cmd_sender_->getEject() && !use_scope_))
   {
     gimbal_cmd_sender_->setEject(false);
     manual_to_referee_pub_data_.hero_eject_flag = gimbal_cmd_sender_->getEject();
@@ -474,7 +474,7 @@ void ChassisGimbalShooterManual::sPress()
 {
   ChassisGimbalManual::sPress();
   if ((robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO) &&
-      gimbal_cmd_sender_->getEject())
+      (gimbal_cmd_sender_->getEject() && !use_scope_))
   {
     gimbal_cmd_sender_->setEject(false);
     manual_to_referee_pub_data_.hero_eject_flag = gimbal_cmd_sender_->getEject();
@@ -487,7 +487,7 @@ void ChassisGimbalShooterManual::dPress()
 {
   ChassisGimbalManual::dPress();
   if ((robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO) &&
-      gimbal_cmd_sender_->getEject())
+      (gimbal_cmd_sender_->getEject() && !use_scope_))
   {
     gimbal_cmd_sender_->setEject(false);
     manual_to_referee_pub_data_.hero_eject_flag = gimbal_cmd_sender_->getEject();
@@ -627,4 +627,5 @@ void ChassisGimbalShooterManual::ctrlQPress()
   shooter_calibration_->reset();
   gimbal_calibration_->reset();
 }
+
 }  // namespace rm_manual