From 2085257fdbb2d99f7ea64649bf1011f76cc14f75 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sat, 1 Jun 2024 20:56:49 +0800
Subject: [PATCH 1/2] Moving chassis to remain a slow gimbal-state during
 hanging-shoot.

---
 src/chassis_gimbal_shooter_manual.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index 2fcffb68..0eeea578 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -438,7 +438,7 @@ 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();
@@ -451,7 +451,7 @@ 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();
@@ -464,7 +464,7 @@ 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();
@@ -477,7 +477,7 @@ 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();

From 8f3c569834fb417ef2bdba2e360d33921e55b5fa Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 2 Jun 2024 17:20:43 +0800
Subject: [PATCH 2/2] Add one line.

---
 src/chassis_gimbal_shooter_manual.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index 0eeea578..4ef5db5e 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -618,4 +618,5 @@ void ChassisGimbalShooterManual::ctrlQPress()
   shooter_calibration_->reset();
   gimbal_calibration_->reset();
 }
+
 }  // namespace rm_manual