From ea5e1cc0aea726d93ffd038b2c9cd18d5254220b Mon Sep 17 00:00:00 2001
From: Rayy0527 <1668834312@qq.com>
Date: Sun, 1 Dec 2024 21:44:17 +0800
Subject: [PATCH] Maintain Rc wheel function.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 0e5c1c74..d7f8b0d7 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -155,6 +155,22 @@ void ChassisGimbalShooterCoverManual::sendCommand(const ros::Time& time)
   }
   ChassisGimbalShooterManual::sendCommand(time);
   cover_command_sender_->sendCommand(time);
+  if (state_ == PC && is_gyro_)
+  {
+    if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+      if (x_scale_ != 0.0 || y_scale_ != 0.0)
+        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_, gyro_speed_limit_);
+      else
+        vel_cmd_sender_->setAngularZVel(1.0, gyro_speed_limit_);
+    else 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_);
+    else
+      vel_cmd_sender_->setAngularZVel(
+          getDynamicScale(sin_gyro_base_scale_, sin_gyro_amplitude_, sin_gyro_period_, sin_gyro_phase_));
+    vel_cmd_sender_->sendCommand(time);
+  }
 }
 
 void ChassisGimbalShooterCoverManual::rightSwitchDownRise()