Make a reset.

rm-controls · Aug 4, 2024 · e5865b5 · e5865b5
1 parent 043c114
commit e5865b5
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -209,22 +209,22 @@ void ChassisGimbalShooterCoverManual::wPressing()
 void ChassisGimbalShooterCoverManual::aPressing()
 {
   ChassisGimbalShooterManual::aPressing();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    changeGyroSpeedMode(LOW);
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    changeGyroSpeedMode(NORMAL);
 }
 
 void ChassisGimbalShooterCoverManual::sPressing()
 {
   ChassisGimbalShooterManual::sPressing();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    changeGyroSpeedMode(LOW);
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    changeGyroSpeedMode(NORMAL);
 }
 
 void ChassisGimbalShooterCoverManual::dPressing()
 {
   ChassisGimbalShooterManual::dPressing();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    changeGyroSpeedMode(LOW);
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    changeGyroSpeedMode(NORMAL);
 }
 
 void ChassisGimbalShooterCoverManual::wRelease()