From c85d94800bd1f344fb19d866410f74892758655c Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Tue, 28 May 2024 21:11:35 +0800
Subject: [PATCH 01/31] Add one judgement for rPress.

---
 src/chassis_gimbal_shooter_manual.cpp | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index 2fcffb68..42a39541 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -414,17 +414,20 @@ void ChassisGimbalShooterManual::bRelease()
 
 void ChassisGimbalShooterManual::rPress()
 {
-  if (camera_switch_cmd_sender_)
-    camera_switch_cmd_sender_->switchCamera();
-  if (scope_cmd_sender_)
+  if (robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO)
   {
-    use_scope_ = !scope_cmd_sender_->getState();
-    if (use_scope_)
-      gimbal_cmd_sender_->setEject(true);
-    else
+    if (camera_switch_cmd_sender_)
+      camera_switch_cmd_sender_->switchCamera();
+    if (scope_cmd_sender_)
     {
-      gimbal_cmd_sender_->setEject(false);
-      adjust_image_transmission_ = false;
+      use_scope_ = !scope_cmd_sender_->getState();
+      if (use_scope_)
+        gimbal_cmd_sender_->setEject(true);
+      else
+      {
+        gimbal_cmd_sender_->setEject(false);
+        adjust_image_transmission_ = false;
+      }
     }
   }
 }

From e6ea89705d51dec1e6fb39974f98d8da9ab6523b Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Wed, 29 May 2024 18:00:20 +0800
Subject: [PATCH 02/31] Slow down the shooter's frequency when shooting buff.

---
 include/rm_manual/chassis_gimbal_shooter_manual.h | 4 +++-
 src/chassis_gimbal_shooter_manual.cpp             | 9 +++++++++
 2 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_manual.h b/include/rm_manual/chassis_gimbal_shooter_manual.h
index bd147d4b..cd972128 100644
--- a/include/rm_manual/chassis_gimbal_shooter_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_manual.h
@@ -52,6 +52,7 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   void suggestFireCallback(const std_msgs::Bool::ConstPtr& data) override;
   void trackCallback(const rm_msgs::TrackData::ConstPtr& data) override;
   void leftSwitchUpOn(ros::Duration duration);
+  void leftSwitchUpFall();
   void mouseLeftPress();
   void mouseLeftRelease()
   {
@@ -85,10 +86,10 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   virtual void cPress();
   virtual void bPress();
   virtual void bRelease();
-  virtual void rPress();
   virtual void xReleasing();
   virtual void shiftPress();
   virtual void shiftRelease();
+  void rPress();
   void qPress()
   {
     shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::BURST);
@@ -119,6 +120,7 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   rm_common::CalibrationQueue* gimbal_calibration_;
 
   geometry_msgs::PointStamped point_out_;
+  uint8_t last_shoot_freq_{};
 
   bool prepare_shoot_ = false, turn_flag_ = false, is_balance_ = false, use_scope_ = false,
        adjust_image_transmission_ = false;
diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index 42a39541..b96b4f3e 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -40,6 +40,7 @@ ChassisGimbalShooterManual::ChassisGimbalShooterManual(ros::NodeHandle& nh, ros:
   self_inspection_event_.setRising(boost::bind(&ChassisGimbalShooterManual::selfInspectionStart, this));
   game_start_event_.setRising(boost::bind(&ChassisGimbalShooterManual::gameStart, this));
   left_switch_up_event_.setActiveHigh(boost::bind(&ChassisGimbalShooterManual::leftSwitchUpOn, this, _1));
+  left_switch_up_event_.setFalling(boost::bind(&ChassisGimbalShooterManual::leftSwitchUpFall, this));
   left_switch_mid_event_.setActiveHigh(boost::bind(&ChassisGimbalShooterManual::leftSwitchMidOn, this, _1));
   e_event_.setEdge(boost::bind(&ChassisGimbalShooterManual::ePress, this),
                    boost::bind(&ChassisGimbalShooterManual::eRelease, this));
@@ -313,6 +314,12 @@ void ChassisGimbalShooterManual::leftSwitchUpRise()
 {
   ChassisGimbalManual::leftSwitchUpRise();
   gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::TRACK);
+  last_shoot_freq_ = shooter_cmd_sender_->getShootFrequency();
+}
+
+void ChassisGimbalShooterManual::leftSwitchUpFall()
+{
+  shooter_cmd_sender_->setShootFrequency(last_shoot_freq_);
 }
 
 void ChassisGimbalShooterManual::leftSwitchUpOn(ros::Duration duration)
@@ -323,11 +330,13 @@ void ChassisGimbalShooterManual::leftSwitchUpOn(ros::Duration duration)
     gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::TRACK);
   if (duration > ros::Duration(1.))
   {
+    shooter_cmd_sender_->setShootFrequency(last_shoot_freq_);
     shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::PUSH);
     shooter_cmd_sender_->checkError(ros::Time::now());
   }
   else if (duration < ros::Duration(0.02))
   {
+    shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::MINIMAL);
     shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::PUSH);
     shooter_cmd_sender_->checkError(ros::Time::now());
   }

From de4241dce37c61da638a6c57af9e30fa8896dea8 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Thu, 30 May 2024 16:39:06 +0800
Subject: [PATCH 03/31] Replace zPress to zPressing for slowing down shooter's
 frequency,slow down the shooter's frequency and gyro's speed when shooting
 buff.

---
 .../chassis_gimbal_shooter_cover_manual.h     |  12 +-
 src/chassis_gimbal_shooter_cover_manual.cpp   | 141 +++++++++++++++---
 2 files changed, 131 insertions(+), 22 deletions(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index c7474c5a..887f69ee 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -27,12 +27,19 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void rightSwitchDownRise() override;
   void rightSwitchMidRise() override;
   void rightSwitchUpRise() override;
-  void rPress() override;
   void ePress() override;
-  void zPressing();
+  void cPress() override;
+  void zPress();
   void zRelease();
   void wPress() override;
   void wPressing() override;
+  void aPressing() override;
+  void sPressing() override;
+  void dPressing() override;
+  void wRelease() override;
+  void aRelease() override;
+  void sRelease() override;
+  void dRelease() override;
 
   virtual void ctrlZPress();
   virtual void ctrlZRelease()
@@ -41,6 +48,7 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   };
   double low_speed_scale_{}, normal_speed_scale_{};
   double exit_buff_mode_duration_{};
+  double buff_gyro_rotate_limit_{};
   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
index 0006949c..118f518a 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -22,11 +22,12 @@ ChassisGimbalShooterCoverManual::ChassisGimbalShooterCoverManual(ros::NodeHandle
   normal_speed_scale_ = chassis_nh.param("normal_speed_scale", 1);
   low_speed_scale_ = chassis_nh.param("low_speed_scale", 0.30);
   nh.param("exit_buff_mode_duration", exit_buff_mode_duration_, 0.5);
+  nh.param("buff_gyro_rotate_limit", buff_gyro_rotate_limit_, 6.0);
 
   ctrl_z_event_.setEdge(boost::bind(&ChassisGimbalShooterCoverManual::ctrlZPress, this),
                         boost::bind(&ChassisGimbalShooterCoverManual::ctrlZRelease, this));
-  z_event_.setActiveHigh(boost::bind(&ChassisGimbalShooterCoverManual::zPressing, this));
-  z_event_.setFalling(boost::bind(&ChassisGimbalShooterCoverManual::zRelease, this));
+  z_event_.setEdge(boost::bind(&ChassisGimbalShooterCoverManual::zPress, this),
+                   boost::bind(&ChassisGimbalShooterCoverManual::zRelease, this));
 }
 
 void ChassisGimbalShooterCoverManual::changeSpeedMode(SpeedMode speed_mode)
@@ -132,21 +133,6 @@ void ChassisGimbalShooterCoverManual::rightSwitchUpRise()
   supply_ = false;
 }
 
-void ChassisGimbalShooterCoverManual::rPress()
-{
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-  {
-    chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::CHARGE);
-    if (switch_buff_type_srv_->getTarget() == rm_msgs::StatusChangeRequest::SMALL_BUFF)
-      switch_buff_type_srv_->setTargetType(rm_msgs::StatusChangeRequest::BIG_BUFF);
-    else
-      switch_buff_type_srv_->setTargetType(rm_msgs::StatusChangeRequest::SMALL_BUFF);
-    switch_buff_type_srv_->callService();
-  }
-  else
-    chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::NORMAL);
-}
-
 void ChassisGimbalShooterCoverManual::ePress()
 {
   switch_buff_srv_->switchTargetType();
@@ -157,16 +143,64 @@ void ChassisGimbalShooterCoverManual::ePress()
   switch_detection_srv_->callService();
   switch_buff_type_srv_->callService();
   switch_exposure_srv_->callService();
+  if (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_);
+      else
+        vel_cmd_sender_->setAngularZVel(1.0);
+    }
+    else
+    {
+      if (x_scale_ != 0.0 || y_scale_ != 0.0)
+        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_, buff_gyro_rotate_limit_);
+      else
+        vel_cmd_sender_->setAngularZVel(1.0, buff_gyro_rotate_limit_);
+    }
+  }
+}
+
+void ChassisGimbalShooterCoverManual::cPress()
+{
+  if (is_gyro_)
+  {
+    chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FOLLOW);
+    vel_cmd_sender_->setAngularZVel(0.0);
+    is_gyro_ = false;
+  }
+  else
+  {
+    chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::RAW);
+    is_gyro_ = true;
+    chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::NORMAL);
+    if (x_scale_ != 0.0 || y_scale_ != 0.0)
+    {
+      if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::SMALL_BUFF)
+        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_, buff_gyro_rotate_limit_);
+      else
+        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_);
+    }
+    else
+    {
+      if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::SMALL_BUFF)
+        vel_cmd_sender_->setAngularZVel(1.0, buff_gyro_rotate_limit_);
+      else
+        vel_cmd_sender_->setAngularZVel(1.0);
+    }
+  }
 }
 
-void ChassisGimbalShooterCoverManual::zPressing()
+void ChassisGimbalShooterCoverManual::zPress()
 {
+  last_shoot_freq_ = shooter_cmd_sender_->getShootFrequency();
   shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::MINIMAL);
 }
 
 void ChassisGimbalShooterCoverManual::zRelease()
 {
-  shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::LOW);
+  shooter_cmd_sender_->setShootFrequency(last_shoot_freq_);
 }
 
 void ChassisGimbalShooterCoverManual::wPress()
@@ -191,6 +225,73 @@ void ChassisGimbalShooterCoverManual::wPressing()
     switch_buff_type_srv_->callService();
     switch_exposure_srv_->callService();
   }
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::aPressing()
+{
+  ChassisGimbalShooterManual::aPressing();
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::sPressing()
+{
+  ChassisGimbalShooterManual::sPressing();
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::dPressing()
+{
+  ChassisGimbalShooterManual::dPressing();
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::wRelease()
+{
+  ChassisGimbalShooterManual::wRelease();
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::aRelease()
+{
+  ChassisGimbalShooterManual::aRelease();
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::sRelease()
+{
+  ChassisGimbalShooterManual::sRelease();
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::dRelease()
+{
+  ChassisGimbalShooterManual::dRelease();
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::ctrlZPress()
@@ -210,4 +311,4 @@ void ChassisGimbalShooterCoverManual::ctrlZPress()
   }
 }
 
-}  // namespace rm_manual
+}  // namespace rm_manual
\ No newline at end of file

From 0c9a8afcbec7dc88bd861da3afdbe53e53201b71 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Thu, 30 May 2024 17:24:45 +0800
Subject: [PATCH 04/31] Modify something wrong.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 118f518a..767513d2 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -311,4 +311,4 @@ void ChassisGimbalShooterCoverManual::ctrlZPress()
   }
 }
 
-}  // namespace rm_manual
\ No newline at end of file
+}  // namespace rm_manual

From 8cb89e146ec1d3e72aa5fd50017ea3399a309c33 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Mon, 8 Jul 2024 22:54:10 +0800
Subject: [PATCH 05/31] Modify the code for cleanliness.

---
 .../chassis_gimbal_shooter_cover_manual.h     |  2 +
 src/chassis_gimbal_shooter_cover_manual.cpp   | 56 ++++++++-----------
 2 files changed, 26 insertions(+), 32 deletions(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index 887f69ee..13b619df 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -40,6 +40,8 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void aRelease() override;
   void sRelease() override;
   void dRelease() override;
+  void setAngularVelByTargetWhenMov();
+  void setAngularVelByTargetWhenStopMov();
 
   virtual void ctrlZPress();
   virtual void ctrlZRelease()
diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 767513d2..467fa8c5 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -225,73 +225,49 @@ void ChassisGimbalShooterCoverManual::wPressing()
     switch_buff_type_srv_->callService();
     switch_exposure_srv_->callService();
   }
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenMov();
 }
 
 void ChassisGimbalShooterCoverManual::aPressing()
 {
   ChassisGimbalShooterManual::aPressing();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenMov();
 }
 
 void ChassisGimbalShooterCoverManual::sPressing()
 {
   ChassisGimbalShooterManual::sPressing();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenMov();
 }
 
 void ChassisGimbalShooterCoverManual::dPressing()
 {
   ChassisGimbalShooterManual::dPressing();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenMov();
 }
 
 void ChassisGimbalShooterCoverManual::wRelease()
 {
   ChassisGimbalShooterManual::wRelease();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenStopMov();
 }
 
 void ChassisGimbalShooterCoverManual::aRelease()
 {
   ChassisGimbalShooterManual::aRelease();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenStopMov();
 }
 
 void ChassisGimbalShooterCoverManual::sRelease()
 {
   ChassisGimbalShooterManual::sRelease();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenStopMov();
 }
 
 void ChassisGimbalShooterCoverManual::dRelease()
 {
   ChassisGimbalShooterManual::dRelease();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+  setAngularVelByTargetWhenStopMov();
 }
 
 void ChassisGimbalShooterCoverManual::ctrlZPress()
@@ -311,4 +287,20 @@ void ChassisGimbalShooterCoverManual::ctrlZPress()
   }
 }
 
+void ChassisGimbalShooterCoverManual::setAngularVelByTargetWhenMov()
+{
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::setAngularVelByTargetWhenStopMov()
+{
+  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
+  else
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+}
+
 }  // namespace rm_manual

From d8220ef585065bf8cea68806a2ef8d7b3453a56d Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Thu, 1 Aug 2024 15:51:22 +0800
Subject: [PATCH 06/31] Fix wrong from merge.

---
 include/rm_manual/chassis_gimbal_shooter_manual.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_manual.h b/include/rm_manual/chassis_gimbal_shooter_manual.h
index 11355e87..c9ce2e1d 100644
--- a/include/rm_manual/chassis_gimbal_shooter_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_manual.h
@@ -88,7 +88,7 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   virtual void cPress();
   virtual void bPress();
   virtual void bRelease();
-  virtual void xReleasing();
+  virtual void xRelease();
   virtual void shiftPress();
   virtual void shiftRelease();
   void rPress();

From 3b8b33d21833e563035967c6cfa263e6f604485d Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Thu, 1 Aug 2024 15:55:46 +0800
Subject: [PATCH 07/31] Delete something unused.

---
 src/chassis_gimbal_shooter_manual.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index 126afc1c..6e28e1be 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -427,8 +427,6 @@ void ChassisGimbalShooterManual::rPress()
 {
   if (robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO)
   {
-    if (camera_switch_cmd_sender_)
-      camera_switch_cmd_sender_->switchCamera();
     if (scope_cmd_sender_)
     {
       use_scope_ = !scope_cmd_sender_->getState();

From fe64e3d7bc7ea0f00f815e6c0b6c85fab69d825d Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sat, 3 Aug 2024 12:17:05 +0800
Subject: [PATCH 08/31] Slow gyro's speed when shoot buff through wasdPress.

---
 .../chassis_gimbal_shooter_cover_manual.h     | 12 +--
 src/chassis_gimbal_shooter_cover_manual.cpp   | 83 ++++++-------------
 2 files changed, 27 insertions(+), 68 deletions(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index b8501291..79e3f29f 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -34,16 +34,10 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void ctrlRPressing();
   void ctrlRRelease() override;
   void wPress() override;
+  void aPress() override;
+  void sPress() override;
+  void dPress() override;
   void wPressing() override;
-  void aPressing() override;
-  void sPressing() override;
-  void dPressing() override;
-  void wRelease() override;
-  void aRelease() override;
-  void sRelease() override;
-  void dRelease() override;
-  void setAngularVelByTargetWhenMov();
-  void setAngularVelByTargetWhenStopMov();
 
   virtual void ctrlZPress();
   virtual void ctrlZRelease()
diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index e7955412..d9949808 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -208,7 +208,31 @@ void ChassisGimbalShooterCoverManual::wPress()
 {
   ChassisGimbalShooterManual::wPress();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+  {
     last_switch_time_ = ros::Time::now();
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+  }
+}
+
+void ChassisGimbalShooterCoverManual::aPress()
+{
+  ChassisGimbalShooterManual::aPress();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::sPress()
+{
+  ChassisGimbalShooterManual::sPress();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::dPress()
+{
+  ChassisGimbalShooterManual::dPress();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::wPressing()
@@ -226,49 +250,6 @@ void ChassisGimbalShooterCoverManual::wPressing()
     switch_buff_type_srv_->callService();
     switch_exposure_srv_->callService();
   }
-  setAngularVelByTargetWhenMov();
-}
-
-void ChassisGimbalShooterCoverManual::aPressing()
-{
-  ChassisGimbalShooterManual::aPressing();
-  setAngularVelByTargetWhenMov();
-}
-
-void ChassisGimbalShooterCoverManual::sPressing()
-{
-  ChassisGimbalShooterManual::sPressing();
-  setAngularVelByTargetWhenMov();
-}
-
-void ChassisGimbalShooterCoverManual::dPressing()
-{
-  ChassisGimbalShooterManual::dPressing();
-  setAngularVelByTargetWhenMov();
-}
-
-void ChassisGimbalShooterCoverManual::wRelease()
-{
-  ChassisGimbalShooterManual::wRelease();
-  setAngularVelByTargetWhenStopMov();
-}
-
-void ChassisGimbalShooterCoverManual::aRelease()
-{
-  ChassisGimbalShooterManual::aRelease();
-  setAngularVelByTargetWhenStopMov();
-}
-
-void ChassisGimbalShooterCoverManual::sRelease()
-{
-  ChassisGimbalShooterManual::sRelease();
-  setAngularVelByTargetWhenStopMov();
-}
-
-void ChassisGimbalShooterCoverManual::dRelease()
-{
-  ChassisGimbalShooterManual::dRelease();
-  setAngularVelByTargetWhenStopMov();
 }
 
 void ChassisGimbalShooterCoverManual::ctrlZPress()
@@ -319,20 +300,4 @@ void ChassisGimbalShooterCoverManual::ctrlRRelease()
   shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::READY);
 }
 
-void ChassisGimbalShooterCoverManual::setAngularVelByTargetWhenMov()
-{
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
-}
-
-void ChassisGimbalShooterCoverManual::setAngularVelByTargetWhenStopMov()
-{
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
-  else
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
-}
-
 }  // namespace rm_manual

From 930eedc22e8f4b5741ab183c02f69c1b1d4c61ae Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sat, 3 Aug 2024 12:20:21 +0800
Subject: [PATCH 09/31] Fix wrong.

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

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index d9949808..c6534443 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -207,7 +207,7 @@ void ChassisGimbalShooterCoverManual::zRelease()
 void ChassisGimbalShooterCoverManual::wPress()
 {
   ChassisGimbalShooterManual::wPress();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
   {
     last_switch_time_ = ros::Time::now();
     vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
@@ -217,21 +217,21 @@ void ChassisGimbalShooterCoverManual::wPress()
 void ChassisGimbalShooterCoverManual::aPress()
 {
   ChassisGimbalShooterManual::aPress();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
     vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::sPress()
 {
   ChassisGimbalShooterManual::sPress();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
     vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::dPress()
 {
   ChassisGimbalShooterManual::dPress();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
     vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
 }
 

From 89c2464f92d9a3cb43039c5a1a073ab373f713b5 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 13:27:28 +0800
Subject: [PATCH 10/31] Fix wrong.

---
 .../chassis_gimbal_shooter_cover_manual.h     |  6 +--
 src/chassis_gimbal_shooter_cover_manual.cpp   | 47 +++++++++----------
 2 files changed, 26 insertions(+), 27 deletions(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index 79e3f29f..defce76b 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -34,10 +34,10 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void ctrlRPressing();
   void ctrlRRelease() override;
   void wPress() override;
-  void aPress() override;
-  void sPress() override;
-  void dPress() override;
   void wPressing() override;
+  void aPressing() override;
+  void sPressing() override;
+  void dPressing() override;
 
   virtual void ctrlZPress();
   virtual void ctrlZRelease()
diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index c6534443..16afc88d 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -208,31 +208,7 @@ void ChassisGimbalShooterCoverManual::wPress()
 {
   ChassisGimbalShooterManual::wPress();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-  {
     last_switch_time_ = ros::Time::now();
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
-  }
-}
-
-void ChassisGimbalShooterCoverManual::aPress()
-{
-  ChassisGimbalShooterManual::aPress();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
-}
-
-void ChassisGimbalShooterCoverManual::sPress()
-{
-  ChassisGimbalShooterManual::sPress();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
-}
-
-void ChassisGimbalShooterCoverManual::dPress()
-{
-  ChassisGimbalShooterManual::dPress();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::wPressing()
@@ -249,9 +225,32 @@ void ChassisGimbalShooterCoverManual::wPressing()
     switch_detection_srv_->callService();
     switch_buff_type_srv_->callService();
     switch_exposure_srv_->callService();
+    if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+      vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
   }
 }
 
+void ChassisGimbalShooterCoverManual::aPressing()
+{
+  ChassisGimbalShooterManual::aPressing();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::sPressing()
+{
+  ChassisGimbalShooterManual::sPressing();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::dPressing()
+{
+  ChassisGimbalShooterManual::dPressing();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
 void ChassisGimbalShooterCoverManual::ctrlZPress()
 {
   if (!cover_command_sender_->getState())

From 2a16eea62cee1cc68daacb8277877760bd27c9b5 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 13:33:21 +0800
Subject: [PATCH 11/31] Use function from parent class.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 16afc88d..4609313a 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -167,14 +167,11 @@ void ChassisGimbalShooterCoverManual::cPress()
 {
   if (is_gyro_)
   {
-    chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FOLLOW);
-    vel_cmd_sender_->setAngularZVel(0.0);
-    is_gyro_ = false;
+    setChassisMode(rm_msgs::ChassisCmd::FOLLOW);
   }
   else
   {
-    chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::RAW);
-    is_gyro_ = true;
+    setChassisMode(rm_msgs::ChassisCmd::RAW);
     chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::NORMAL);
     if (x_scale_ != 0.0 || y_scale_ != 0.0)
     {

From 4a8c9559b63ebd2273ae8601c45737693565a0a2 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 20:29:10 +0800
Subject: [PATCH 12/31] Add slow mode for gyro's different speed.

---
 include/rm_manual/chassis_gimbal_manual.h     |  1 +
 .../chassis_gimbal_shooter_cover_manual.h     |  6 ++
 src/chassis_gimbal_manual.cpp                 |  4 +-
 src/chassis_gimbal_shooter_cover_manual.cpp   | 76 ++++++++++++-------
 4 files changed, 58 insertions(+), 29 deletions(-)

diff --git a/include/rm_manual/chassis_gimbal_manual.h b/include/rm_manual/chassis_gimbal_manual.h
index 6c07ed8b..91f55491 100644
--- a/include/rm_manual/chassis_gimbal_manual.h
+++ b/include/rm_manual/chassis_gimbal_manual.h
@@ -64,6 +64,7 @@ class ChassisGimbalManual : public ManualBase
   double x_scale_{}, y_scale_{};
   bool is_gyro_{ 0 };
   double speed_change_scale_{ 1. };
+  double gyro_speed_change_scale_{ 1. };
   double gimbal_scale_{ 1. };
   double gyro_move_reduction_{ 1. };
   double gyro_rotate_reduction_{ 1. };
diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index defce76b..031ca0a3 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -20,6 +20,7 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
 
 protected:
   void changeSpeedMode(SpeedMode speed_mode);
+  void changeGyroSpeedMode(SpeedMode speed_mode);
   void updatePc(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
   void checkKeyboard(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
   void checkReferee() override;
@@ -38,6 +39,10 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void aPressing() override;
   void sPressing() override;
   void dPressing() override;
+  void wRelease() override;
+  void aRelease() override;
+  void sRelease() override;
+  void dRelease() override;
 
   virtual void ctrlZPress();
   virtual void ctrlZRelease()
@@ -45,6 +50,7 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
     gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::RATE);
   };
   double low_speed_scale_{}, normal_speed_scale_{};
+  double low_gyro_speed_scale_{}, normal_gyro_speed_scale_{};
   double exit_buff_mode_duration_{};
   double buff_gyro_rotate_limit_{};
   rm_common::SwitchDetectionCaller* switch_buff_srv_{};
diff --git a/src/chassis_gimbal_manual.cpp b/src/chassis_gimbal_manual.cpp
index efd171ec..50f28f41 100644
--- a/src/chassis_gimbal_manual.cpp
+++ b/src/chassis_gimbal_manual.cpp
@@ -230,9 +230,9 @@ void ChassisGimbalManual::setChassisMode(int mode)
       chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::RAW);
       is_gyro_ = true;
       if (x_scale_ != 0.0 || y_scale_ != 0.0)
-        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_);
+        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_ * gyro_speed_change_scale_);
       else
-        vel_cmd_sender_->setAngularZVel(1.0);
+        vel_cmd_sender_->setAngularZVel(1.0 * gyro_speed_change_scale_);
       break;
     case rm_msgs::ChassisCmd::FOLLOW:
       chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FOLLOW);
diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 4609313a..f222be47 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -21,6 +21,8 @@ ChassisGimbalShooterCoverManual::ChassisGimbalShooterCoverManual(ros::NodeHandle
   ros::NodeHandle chassis_nh(nh, "chassis");
   normal_speed_scale_ = chassis_nh.param("normal_speed_scale", 1);
   low_speed_scale_ = chassis_nh.param("low_speed_scale", 0.30);
+  normal_gyro_speed_scale_ = chassis_nh.param("normal_gryo_speed_scale", 1);
+  low_gyro_speed_scale_ = chassis_nh.param("low_gyro_speed_scale", 0.30);
   nh.param("exit_buff_mode_duration", exit_buff_mode_duration_, 0.5);
   nh.param("buff_gyro_rotate_limit", buff_gyro_rotate_limit_, 6.0);
 
@@ -43,6 +45,18 @@ void ChassisGimbalShooterCoverManual::changeSpeedMode(SpeedMode speed_mode)
   }
 }
 
+void ChassisGimbalShooterCoverManual::changeGyroSpeedMode(SpeedMode speed_mode)
+{
+  if (speed_mode == LOW)
+  {
+    gyro_speed_change_scale_ = low_gyro_speed_scale_;
+  }
+  else if (speed_mode == NORMAL)
+  {
+    gyro_speed_change_scale_ = normal_gyro_speed_scale_;
+  }
+}
+
 void ChassisGimbalShooterCoverManual::updatePc(const rm_msgs::DbusData::ConstPtr& dbus_data)
 {
   ChassisGimbalShooterManual::updatePc(dbus_data);
@@ -165,29 +179,9 @@ void ChassisGimbalShooterCoverManual::ePress()
 
 void ChassisGimbalShooterCoverManual::cPress()
 {
-  if (is_gyro_)
-  {
-    setChassisMode(rm_msgs::ChassisCmd::FOLLOW);
-  }
-  else
-  {
-    setChassisMode(rm_msgs::ChassisCmd::RAW);
-    chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::NORMAL);
-    if (x_scale_ != 0.0 || y_scale_ != 0.0)
-    {
-      if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::SMALL_BUFF)
-        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_, buff_gyro_rotate_limit_);
-      else
-        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_);
-    }
-    else
-    {
-      if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::SMALL_BUFF)
-        vel_cmd_sender_->setAngularZVel(1.0, buff_gyro_rotate_limit_);
-      else
-        vel_cmd_sender_->setAngularZVel(1.0);
-    }
-  }
+  ChassisGimbalShooterManual::cPress();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    changeGyroSpeedMode(LOW);
 }
 
 void ChassisGimbalShooterCoverManual::zPress()
@@ -223,7 +217,7 @@ void ChassisGimbalShooterCoverManual::wPressing()
     switch_buff_type_srv_->callService();
     switch_exposure_srv_->callService();
     if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-      vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+      changeGyroSpeedMode(LOW);
   }
 }
 
@@ -231,23 +225,51 @@ void ChassisGimbalShooterCoverManual::aPressing()
 {
   ChassisGimbalShooterManual::aPressing();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+    changeGyroSpeedMode(LOW);
 }
 
 void ChassisGimbalShooterCoverManual::sPressing()
 {
   ChassisGimbalShooterManual::sPressing();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+    changeGyroSpeedMode(LOW);
 }
 
 void ChassisGimbalShooterCoverManual::dPressing()
 {
   ChassisGimbalShooterManual::dPressing();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+    changeGyroSpeedMode(LOW);
 }
 
+void ChassisGimbalShooterCoverManual::wRelease()
+{
+  ChassisGimbalShooterManual::wRelease();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    changeGyroSpeedMode(LOW);
+};
+
+void ChassisGimbalShooterCoverManual::aRelease()
+{
+  ChassisGimbalShooterManual::aRelease();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    changeGyroSpeedMode(LOW);
+};
+
+void ChassisGimbalShooterCoverManual::sRelease()
+{
+  ChassisGimbalShooterManual::sRelease();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    changeGyroSpeedMode(LOW);
+};
+
+void ChassisGimbalShooterCoverManual::dRelease()
+{
+  ChassisGimbalShooterManual::dRelease();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    changeGyroSpeedMode(LOW);
+};
+
 void ChassisGimbalShooterCoverManual::ctrlZPress()
 {
   if (!cover_command_sender_->getState())

From 225af6c7f31352acb792f9b2d03b855f0c041627 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 20:47:52 +0800
Subject: [PATCH 13/31] Make a supplement.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 19 ++-----------------
 1 file changed, 2 insertions(+), 17 deletions(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index f222be47..f0ae2f2e 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -158,23 +158,8 @@ void ChassisGimbalShooterCoverManual::ePress()
   switch_detection_srv_->callService();
   switch_buff_type_srv_->callService();
   switch_exposure_srv_->callService();
-  if (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_);
-      else
-        vel_cmd_sender_->setAngularZVel(1.0);
-    }
-    else
-    {
-      if (x_scale_ != 0.0 || y_scale_ != 0.0)
-        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_, buff_gyro_rotate_limit_);
-      else
-        vel_cmd_sender_->setAngularZVel(1.0, buff_gyro_rotate_limit_);
-    }
-  }
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+    changeGyroSpeedMode(LOW);
 }
 
 void ChassisGimbalShooterCoverManual::cPress()

From 043c11427e8c1dc6545c88f5c93bc8e9bf2be0b4 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 20:48:51 +0800
Subject: [PATCH 14/31] Make a reset.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index f0ae2f2e..856016f3 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -201,8 +201,8 @@ void ChassisGimbalShooterCoverManual::wPressing()
     switch_detection_srv_->callService();
     switch_buff_type_srv_->callService();
     switch_exposure_srv_->callService();
-    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);
   }
 }
 

From e5865b54323876b87f2a9c3811484737917770e6 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 20:49:56 +0800
Subject: [PATCH 15/31] Make a reset.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 856016f3..a376c342 100644
--- 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()

From a7359670e7f2ee3c3028966c8b529f1589f7ab5b Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 20:52:05 +0800
Subject: [PATCH 16/31] Delete something unused.

---
 include/rm_manual/chassis_gimbal_shooter_cover_manual.h | 1 -
 src/chassis_gimbal_shooter_cover_manual.cpp             | 1 -
 2 files changed, 2 deletions(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index 031ca0a3..0a86a00c 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -52,7 +52,6 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   double low_speed_scale_{}, normal_speed_scale_{};
   double low_gyro_speed_scale_{}, normal_gyro_speed_scale_{};
   double exit_buff_mode_duration_{};
-  double buff_gyro_rotate_limit_{};
   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
index a376c342..7fa533e8 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -24,7 +24,6 @@ ChassisGimbalShooterCoverManual::ChassisGimbalShooterCoverManual(ros::NodeHandle
   normal_gyro_speed_scale_ = chassis_nh.param("normal_gryo_speed_scale", 1);
   low_gyro_speed_scale_ = chassis_nh.param("low_gyro_speed_scale", 0.30);
   nh.param("exit_buff_mode_duration", exit_buff_mode_duration_, 0.5);
-  nh.param("buff_gyro_rotate_limit", buff_gyro_rotate_limit_, 6.0);
 
   ctrl_z_event_.setEdge(boost::bind(&ChassisGimbalShooterCoverManual::ctrlZPress, this),
                         boost::bind(&ChassisGimbalShooterCoverManual::ctrlZRelease, this));

From 050c2edef7feb74c23138bc2a9bd1f921db284dc Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 20:52:37 +0800
Subject: [PATCH 17/31] Fix wrong.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 7fa533e8..32a07e52 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -21,7 +21,7 @@ ChassisGimbalShooterCoverManual::ChassisGimbalShooterCoverManual(ros::NodeHandle
   ros::NodeHandle chassis_nh(nh, "chassis");
   normal_speed_scale_ = chassis_nh.param("normal_speed_scale", 1);
   low_speed_scale_ = chassis_nh.param("low_speed_scale", 0.30);
-  normal_gyro_speed_scale_ = chassis_nh.param("normal_gryo_speed_scale", 1);
+  normal_gyro_speed_scale_ = chassis_nh.param("normal_gyro_speed_scale", 1);
   low_gyro_speed_scale_ = chassis_nh.param("low_gyro_speed_scale", 0.30);
   nh.param("exit_buff_mode_duration", exit_buff_mode_duration_, 0.5);
 

From 06b9d508dd999d0832faa780dd5b6efe57089fe4 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 20:53:45 +0800
Subject: [PATCH 18/31] Modify name.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 32a07e52..8597dcfb 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -44,13 +44,13 @@ void ChassisGimbalShooterCoverManual::changeSpeedMode(SpeedMode speed_mode)
   }
 }
 
-void ChassisGimbalShooterCoverManual::changeGyroSpeedMode(SpeedMode speed_mode)
+void ChassisGimbalShooterCoverManual::changeGyroSpeedMode(SpeedMode gyro_speed_mode)
 {
-  if (speed_mode == LOW)
+  if (gyro_speed_mode == LOW)
   {
     gyro_speed_change_scale_ = low_gyro_speed_scale_;
   }
-  else if (speed_mode == NORMAL)
+  else if (gyro_speed_mode == NORMAL)
   {
     gyro_speed_change_scale_ = normal_gyro_speed_scale_;
   }

From c815f00be7d38e1c39333cf6589f064447bd3b65 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 21:09:33 +0800
Subject: [PATCH 19/31] Make a supplement.

---
 src/chassis_gimbal_shooter_manual.cpp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index 6e28e1be..c70ffddc 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -501,45 +501,45 @@ void ChassisGimbalShooterManual::dPress()
 void ChassisGimbalShooterManual::wRelease()
 {
   ChassisGimbalManual::wRelease();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_speed_change_scale_ : 0);
 }
 void ChassisGimbalShooterManual::aRelease()
 {
   ChassisGimbalManual::aRelease();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_speed_change_scale_ : 0);
 }
 void ChassisGimbalShooterManual::sRelease()
 {
   ChassisGimbalManual::sRelease();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_speed_change_scale_ : 0);
 }
 void ChassisGimbalShooterManual::dRelease()
 {
   ChassisGimbalManual::dRelease();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_speed_change_scale_ : 0);
 }
 void ChassisGimbalShooterManual::wPressing()
 {
   ChassisGimbalManual::wPressing();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ * gyro_speed_change_scale_ : 0);
 }
 
 void ChassisGimbalShooterManual::aPressing()
 {
   ChassisGimbalManual::aPressing();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ * gyro_speed_change_scale_ : 0);
 }
 
 void ChassisGimbalShooterManual::sPressing()
 {
   ChassisGimbalManual::sPressing();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ * gyro_speed_change_scale_ : 0);
 }
 
 void ChassisGimbalShooterManual::dPressing()
 {
   ChassisGimbalManual::dPressing();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ * gyro_speed_change_scale_ : 0);
 }
 
 void ChassisGimbalShooterManual::xPress()

From 1153b72881f485393ff730f8b645ec90e63e50bc Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 21:10:15 +0800
Subject: [PATCH 20/31] Delete something unused.

---
 .../chassis_gimbal_shooter_cover_manual.h     |  4 ---
 src/chassis_gimbal_shooter_cover_manual.cpp   | 28 -------------------
 2 files changed, 32 deletions(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index 0a86a00c..e0b7c244 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -39,10 +39,6 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void aPressing() override;
   void sPressing() override;
   void dPressing() override;
-  void wRelease() override;
-  void aRelease() override;
-  void sRelease() override;
-  void dRelease() override;
 
   virtual void ctrlZPress();
   virtual void ctrlZRelease()
diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 8597dcfb..9ae7c249 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -226,34 +226,6 @@ void ChassisGimbalShooterCoverManual::dPressing()
     changeGyroSpeedMode(NORMAL);
 }
 
-void ChassisGimbalShooterCoverManual::wRelease()
-{
-  ChassisGimbalShooterManual::wRelease();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    changeGyroSpeedMode(LOW);
-};
-
-void ChassisGimbalShooterCoverManual::aRelease()
-{
-  ChassisGimbalShooterManual::aRelease();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    changeGyroSpeedMode(LOW);
-};
-
-void ChassisGimbalShooterCoverManual::sRelease()
-{
-  ChassisGimbalShooterManual::sRelease();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    changeGyroSpeedMode(LOW);
-};
-
-void ChassisGimbalShooterCoverManual::dRelease()
-{
-  ChassisGimbalShooterManual::dRelease();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    changeGyroSpeedMode(LOW);
-};
-
 void ChassisGimbalShooterCoverManual::ctrlZPress()
 {
   if (!cover_command_sender_->getState())

From f726e5d4588f6df9786042e9d9db04c6fd39b0de Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 21:12:19 +0800
Subject: [PATCH 21/31] Make a supplement.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 9ae7c249..ab41ba5a 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -166,6 +166,8 @@ void ChassisGimbalShooterCoverManual::cPress()
   ChassisGimbalShooterManual::cPress();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
     changeGyroSpeedMode(LOW);
+  else
+    changeGyroSpeedMode(NORMAL);
 }
 
 void ChassisGimbalShooterCoverManual::zPress()

From bd59fb99c227d84deb1541612fcb7d75dcaac211 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 21:13:19 +0800
Subject: [PATCH 22/31] Delete something unused.

---
 .../chassis_gimbal_shooter_cover_manual.h     |  3 ---
 src/chassis_gimbal_shooter_cover_manual.cpp   | 23 -------------------
 2 files changed, 26 deletions(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index e0b7c244..999fa9c8 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -36,9 +36,6 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void ctrlRRelease() override;
   void wPress() override;
   void wPressing() override;
-  void aPressing() override;
-  void sPressing() override;
-  void dPressing() override;
 
   virtual void ctrlZPress();
   virtual void ctrlZRelease()
diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index ab41ba5a..ef1d33ce 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -202,32 +202,9 @@ void ChassisGimbalShooterCoverManual::wPressing()
     switch_detection_srv_->callService();
     switch_buff_type_srv_->callService();
     switch_exposure_srv_->callService();
-    if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-      changeGyroSpeedMode(NORMAL);
   }
 }
 
-void ChassisGimbalShooterCoverManual::aPressing()
-{
-  ChassisGimbalShooterManual::aPressing();
-  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(NORMAL);
-}
-
-void ChassisGimbalShooterCoverManual::dPressing()
-{
-  ChassisGimbalShooterManual::dPressing();
-  if (switch_buff_srv_->getTarget() == rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    changeGyroSpeedMode(NORMAL);
-}
-
 void ChassisGimbalShooterCoverManual::ctrlZPress()
 {
   if (!cover_command_sender_->getState())

From 15c6831b6db36a5169c39c3f780343c9758ac2d1 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 21:45:19 +0800
Subject: [PATCH 23/31] Modify method to achieve gyro speed slower when
 shooting buff.

---
 include/rm_manual/chassis_gimbal_manual.h     |  1 -
 .../chassis_gimbal_shooter_cover_manual.h     |  9 +-
 src/chassis_gimbal_manual.cpp                 |  4 +-
 src/chassis_gimbal_shooter_cover_manual.cpp   | 93 ++++++++++++++++---
 src/chassis_gimbal_shooter_manual.cpp         | 16 ++--
 5 files changed, 98 insertions(+), 25 deletions(-)

diff --git a/include/rm_manual/chassis_gimbal_manual.h b/include/rm_manual/chassis_gimbal_manual.h
index 91f55491..6c07ed8b 100644
--- a/include/rm_manual/chassis_gimbal_manual.h
+++ b/include/rm_manual/chassis_gimbal_manual.h
@@ -64,7 +64,6 @@ class ChassisGimbalManual : public ManualBase
   double x_scale_{}, y_scale_{};
   bool is_gyro_{ 0 };
   double speed_change_scale_{ 1. };
-  double gyro_speed_change_scale_{ 1. };
   double gimbal_scale_{ 1. };
   double gyro_move_reduction_{ 1. };
   double gyro_rotate_reduction_{ 1. };
diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index 999fa9c8..d9f67d0e 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -36,6 +36,13 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void ctrlRRelease() override;
   void wPress() override;
   void wPressing() override;
+  void aPressing() override;
+  void sPressing() override;
+  void dPressing() override;
+  void wRelease() override;
+  void aRelease() override;
+  void sRelease() override;
+  void dRelease() override;
 
   virtual void ctrlZPress();
   virtual void ctrlZRelease()
@@ -43,8 +50,8 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
     gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::RATE);
   };
   double low_speed_scale_{}, normal_speed_scale_{};
-  double low_gyro_speed_scale_{}, normal_gyro_speed_scale_{};
   double exit_buff_mode_duration_{};
+  double buff_gyro_rotate_limit_{};
   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_manual.cpp b/src/chassis_gimbal_manual.cpp
index 50f28f41..efd171ec 100644
--- a/src/chassis_gimbal_manual.cpp
+++ b/src/chassis_gimbal_manual.cpp
@@ -230,9 +230,9 @@ void ChassisGimbalManual::setChassisMode(int mode)
       chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::RAW);
       is_gyro_ = true;
       if (x_scale_ != 0.0 || y_scale_ != 0.0)
-        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_ * gyro_speed_change_scale_);
+        vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_);
       else
-        vel_cmd_sender_->setAngularZVel(1.0 * gyro_speed_change_scale_);
+        vel_cmd_sender_->setAngularZVel(1.0);
       break;
     case rm_msgs::ChassisCmd::FOLLOW:
       chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FOLLOW);
diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index ef1d33ce..b64024ea 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -21,9 +21,8 @@ ChassisGimbalShooterCoverManual::ChassisGimbalShooterCoverManual(ros::NodeHandle
   ros::NodeHandle chassis_nh(nh, "chassis");
   normal_speed_scale_ = chassis_nh.param("normal_speed_scale", 1);
   low_speed_scale_ = chassis_nh.param("low_speed_scale", 0.30);
-  normal_gyro_speed_scale_ = chassis_nh.param("normal_gyro_speed_scale", 1);
-  low_gyro_speed_scale_ = chassis_nh.param("low_gyro_speed_scale", 0.30);
   nh.param("exit_buff_mode_duration", exit_buff_mode_duration_, 0.5);
+  nh.param("buff_gyro_rotate_limit", buff_gyro_rotate_limit_, 9.0);
 
   ctrl_z_event_.setEdge(boost::bind(&ChassisGimbalShooterCoverManual::ctrlZPress, this),
                         boost::bind(&ChassisGimbalShooterCoverManual::ctrlZRelease, this));
@@ -44,15 +43,21 @@ void ChassisGimbalShooterCoverManual::changeSpeedMode(SpeedMode speed_mode)
   }
 }
 
-void ChassisGimbalShooterCoverManual::changeGyroSpeedMode(SpeedMode gyro_speed_mode)
+void ChassisGimbalShooterCoverManual::changeGyroSpeedMode(SpeedMode speed_mode)
 {
-  if (gyro_speed_mode == LOW)
+  if (speed_mode == LOW)
   {
-    gyro_speed_change_scale_ = low_gyro_speed_scale_;
+    if (x_scale_ != 0.0 || y_scale_ != 0.0)
+      vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_, buff_gyro_rotate_limit_);
+    else
+      vel_cmd_sender_->setAngularZVel(1.0, buff_gyro_rotate_limit_);
   }
-  else if (gyro_speed_mode == NORMAL)
+  else if (speed_mode == NORMAL)
   {
-    gyro_speed_change_scale_ = normal_gyro_speed_scale_;
+    if (x_scale_ != 0.0 || y_scale_ != 0.0)
+      vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_);
+    else
+      vel_cmd_sender_->setAngularZVel(1.0);
   }
 }
 
@@ -157,23 +162,38 @@ void ChassisGimbalShooterCoverManual::ePress()
   switch_detection_srv_->callService();
   switch_buff_type_srv_->callService();
   switch_exposure_srv_->callService();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    changeGyroSpeedMode(LOW);
+  if (is_gyro_)
+  {
+    if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+      changeGyroSpeedMode(LOW);
+    else
+      changeGyroSpeedMode(NORMAL);
+  }
 }
 
 void ChassisGimbalShooterCoverManual::cPress()
 {
-  ChassisGimbalShooterManual::cPress();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
-    changeGyroSpeedMode(LOW);
+  if (is_gyro_)
+  {
+    setChassisMode(rm_msgs::ChassisCmd::FOLLOW);
+  }
   else
-    changeGyroSpeedMode(NORMAL);
+  {
+    setChassisMode(rm_msgs::ChassisCmd::RAW);
+    chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::NORMAL);
+    if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+      changeGyroSpeedMode(LOW);
+    else
+      changeGyroSpeedMode(NORMAL);
+  }
 }
 
 void ChassisGimbalShooterCoverManual::zPress()
 {
   last_shoot_freq_ = shooter_cmd_sender_->getShootFrequency();
   shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::MINIMAL);
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::zRelease()
@@ -203,8 +223,55 @@ void ChassisGimbalShooterCoverManual::wPressing()
     switch_buff_type_srv_->callService();
     switch_exposure_srv_->callService();
   }
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::aPressing()
+{
+  ChassisGimbalShooterManual::aPressing();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
 }
 
+void ChassisGimbalShooterCoverManual::sPressing()
+{
+  ChassisGimbalShooterManual::sPressing();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::dPressing()
+{
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+}
+
+void ChassisGimbalShooterCoverManual::wRelease()
+{
+  ChassisGimbalShooterManual::wRelease();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+};
+void ChassisGimbalShooterCoverManual::aRelease()
+{
+  ChassisGimbalShooterManual::aRelease();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+};
+void ChassisGimbalShooterCoverManual::sRelease()
+{
+  ChassisGimbalShooterManual::sRelease();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+};
+void ChassisGimbalShooterCoverManual::dRelease()
+{
+  ChassisGimbalShooterManual::dRelease();
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+};
+
 void ChassisGimbalShooterCoverManual::ctrlZPress()
 {
   if (!cover_command_sender_->getState())
diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index c70ffddc..6e28e1be 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -501,45 +501,45 @@ void ChassisGimbalShooterManual::dPress()
 void ChassisGimbalShooterManual::wRelease()
 {
   ChassisGimbalManual::wRelease();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_speed_change_scale_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
 }
 void ChassisGimbalShooterManual::aRelease()
 {
   ChassisGimbalManual::aRelease();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_speed_change_scale_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
 }
 void ChassisGimbalShooterManual::sRelease()
 {
   ChassisGimbalManual::sRelease();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_speed_change_scale_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
 }
 void ChassisGimbalShooterManual::dRelease()
 {
   ChassisGimbalManual::dRelease();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_speed_change_scale_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0);
 }
 void ChassisGimbalShooterManual::wPressing()
 {
   ChassisGimbalManual::wPressing();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ * gyro_speed_change_scale_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
 }
 
 void ChassisGimbalShooterManual::aPressing()
 {
   ChassisGimbalManual::aPressing();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ * gyro_speed_change_scale_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
 }
 
 void ChassisGimbalShooterManual::sPressing()
 {
   ChassisGimbalManual::sPressing();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ * gyro_speed_change_scale_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
 }
 
 void ChassisGimbalShooterManual::dPressing()
 {
   ChassisGimbalManual::dPressing();
-  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ * gyro_speed_change_scale_ : 0);
+  vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0);
 }
 
 void ChassisGimbalShooterManual::xPress()

From 79f2c08334413373fd7962faf25b523c46c71e31 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 21:48:45 +0800
Subject: [PATCH 24/31] Fix wrong.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index b64024ea..166995e7 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -204,7 +204,7 @@ void ChassisGimbalShooterCoverManual::zRelease()
 void ChassisGimbalShooterCoverManual::wPress()
 {
   ChassisGimbalShooterManual::wPress();
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR && is_gyro_)
+  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
     last_switch_time_ = ros::Time::now();
 }
 

From 268a963b24e074cc59fb476e5b889678fd42d9a1 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 21:54:56 +0800
Subject: [PATCH 25/31] Delete unused.

---
 src/chassis_gimbal_shooter_manual.cpp | 17 +++++++----------
 1 file changed, 7 insertions(+), 10 deletions(-)

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
index 6e28e1be..b3cbc881 100644
--- a/src/chassis_gimbal_shooter_manual.cpp
+++ b/src/chassis_gimbal_shooter_manual.cpp
@@ -425,18 +425,15 @@ void ChassisGimbalShooterManual::bRelease()
 
 void ChassisGimbalShooterManual::rPress()
 {
-  if (robot_id_ == rm_msgs::GameRobotStatus::BLUE_HERO || robot_id_ == rm_msgs::GameRobotStatus::RED_HERO)
+  if (scope_cmd_sender_)
   {
-    if (scope_cmd_sender_)
+    use_scope_ = !scope_cmd_sender_->getState();
+    if (use_scope_)
+      gimbal_cmd_sender_->setEject(true);
+    else
     {
-      use_scope_ = !scope_cmd_sender_->getState();
-      if (use_scope_)
-        gimbal_cmd_sender_->setEject(true);
-      else
-      {
-        gimbal_cmd_sender_->setEject(false);
-        adjust_image_transmission_ = false;
-      }
+      gimbal_cmd_sender_->setEject(false);
+      adjust_image_transmission_ = false;
     }
   }
 }

From 727b585e2ec8f9282714f92f8e75ed2603d7b3d1 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 22:10:50 +0800
Subject: [PATCH 26/31] Fix wrong.

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

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 166995e7..c6fa9d2a 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -243,6 +243,7 @@ void ChassisGimbalShooterCoverManual::sPressing()
 
 void ChassisGimbalShooterCoverManual::dPressing()
 {
+  ChassisGimbalShooterManual::dPressing();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
     vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
 }

From 67eb41762f7a7f7920cd2331fa33aa6d808aac1f Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 22:26:12 +0800
Subject: [PATCH 27/31] Modify value.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index c6fa9d2a..46d27257 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -22,7 +22,7 @@ ChassisGimbalShooterCoverManual::ChassisGimbalShooterCoverManual(ros::NodeHandle
   normal_speed_scale_ = chassis_nh.param("normal_speed_scale", 1);
   low_speed_scale_ = chassis_nh.param("low_speed_scale", 0.30);
   nh.param("exit_buff_mode_duration", exit_buff_mode_duration_, 0.5);
-  nh.param("buff_gyro_rotate_limit", buff_gyro_rotate_limit_, 9.0);
+  nh.param("buff_gyro_rotate_limit", buff_gyro_rotate_limit_, 6.0);
 
   ctrl_z_event_.setEdge(boost::bind(&ChassisGimbalShooterCoverManual::ctrlZPress, this),
                         boost::bind(&ChassisGimbalShooterCoverManual::ctrlZRelease, this));

From f69b7c04c9d749076acf6125b0b2388398040302 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 22:53:16 +0800
Subject: [PATCH 28/31] Modify param name.

---
 .../chassis_gimbal_shooter_cover_manual.h     |  2 +-
 src/chassis_gimbal_shooter_cover_manual.cpp   | 24 +++++++++----------
 2 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index d9f67d0e..3a37660f 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -51,7 +51,7 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   };
   double low_speed_scale_{}, normal_speed_scale_{};
   double exit_buff_mode_duration_{};
-  double buff_gyro_rotate_limit_{};
+  double gyro_speed_limit_{};
   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
index 46d27257..6fa27890 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -22,7 +22,7 @@ ChassisGimbalShooterCoverManual::ChassisGimbalShooterCoverManual(ros::NodeHandle
   normal_speed_scale_ = chassis_nh.param("normal_speed_scale", 1);
   low_speed_scale_ = chassis_nh.param("low_speed_scale", 0.30);
   nh.param("exit_buff_mode_duration", exit_buff_mode_duration_, 0.5);
-  nh.param("buff_gyro_rotate_limit", buff_gyro_rotate_limit_, 6.0);
+  nh.param("buff_gyro_rotate_limit", gyro_speed_limit_, 6.0);
 
   ctrl_z_event_.setEdge(boost::bind(&ChassisGimbalShooterCoverManual::ctrlZPress, this),
                         boost::bind(&ChassisGimbalShooterCoverManual::ctrlZRelease, this));
@@ -48,9 +48,9 @@ void ChassisGimbalShooterCoverManual::changeGyroSpeedMode(SpeedMode speed_mode)
   if (speed_mode == LOW)
   {
     if (x_scale_ != 0.0 || y_scale_ != 0.0)
-      vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_, buff_gyro_rotate_limit_);
+      vel_cmd_sender_->setAngularZVel(gyro_rotate_reduction_, gyro_speed_limit_);
     else
-      vel_cmd_sender_->setAngularZVel(1.0, buff_gyro_rotate_limit_);
+      vel_cmd_sender_->setAngularZVel(1.0, gyro_speed_limit_);
   }
   else if (speed_mode == NORMAL)
   {
@@ -193,7 +193,7 @@ void ChassisGimbalShooterCoverManual::zPress()
   last_shoot_freq_ = shooter_cmd_sender_->getShootFrequency();
   shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::MINIMAL);
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, gyro_speed_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::zRelease()
@@ -224,53 +224,53 @@ void ChassisGimbalShooterCoverManual::wPressing()
     switch_exposure_srv_->callService();
   }
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, gyro_speed_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::aPressing()
 {
   ChassisGimbalShooterManual::aPressing();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, gyro_speed_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::sPressing()
 {
   ChassisGimbalShooterManual::sPressing();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, gyro_speed_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::dPressing()
 {
   ChassisGimbalShooterManual::dPressing();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, buff_gyro_rotate_limit_);
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, gyro_speed_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::wRelease()
 {
   ChassisGimbalShooterManual::wRelease();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, gyro_speed_limit_);
 };
 void ChassisGimbalShooterCoverManual::aRelease()
 {
   ChassisGimbalShooterManual::aRelease();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, gyro_speed_limit_);
 };
 void ChassisGimbalShooterCoverManual::sRelease()
 {
   ChassisGimbalShooterManual::sRelease();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, gyro_speed_limit_);
 };
 void ChassisGimbalShooterCoverManual::dRelease()
 {
   ChassisGimbalShooterManual::dRelease();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, buff_gyro_rotate_limit_);
+    vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, gyro_speed_limit_);
 };
 
 void ChassisGimbalShooterCoverManual::ctrlZPress()

From 13033a8aadec055cf9c189ad2d593f1c7383d5e0 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 22:54:43 +0800
Subject: [PATCH 29/31] Modify param name and fix wrong.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 6fa27890..1a296186 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -253,25 +253,28 @@ void ChassisGimbalShooterCoverManual::wRelease()
   ChassisGimbalShooterManual::wRelease();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
     vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, gyro_speed_limit_);
-};
+}
+
 void ChassisGimbalShooterCoverManual::aRelease()
 {
   ChassisGimbalShooterManual::aRelease();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
     vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, gyro_speed_limit_);
-};
+}
+
 void ChassisGimbalShooterCoverManual::sRelease()
 {
   ChassisGimbalShooterManual::sRelease();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
     vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, gyro_speed_limit_);
-};
+}
+
 void ChassisGimbalShooterCoverManual::dRelease()
 {
   ChassisGimbalShooterManual::dRelease();
   if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
     vel_cmd_sender_->setAngularZVel(is_gyro_ ? 1 : 0, gyro_speed_limit_);
-};
+}
 
 void ChassisGimbalShooterCoverManual::ctrlZPress()
 {

From f7d05593af55fea0fa6bdda06276cee39f0f7ec9 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 22:58:23 +0800
Subject: [PATCH 30/31] Modify param name.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 1a296186..212f25ba 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -22,7 +22,7 @@ ChassisGimbalShooterCoverManual::ChassisGimbalShooterCoverManual(ros::NodeHandle
   normal_speed_scale_ = chassis_nh.param("normal_speed_scale", 1);
   low_speed_scale_ = chassis_nh.param("low_speed_scale", 0.30);
   nh.param("exit_buff_mode_duration", exit_buff_mode_duration_, 0.5);
-  nh.param("buff_gyro_rotate_limit", gyro_speed_limit_, 6.0);
+  nh.param("gyro_speed_limit", gyro_speed_limit_, 6.0);
 
   ctrl_z_event_.setEdge(boost::bind(&ChassisGimbalShooterCoverManual::ctrlZPress, this),
                         boost::bind(&ChassisGimbalShooterCoverManual::ctrlZRelease, this));

From 4513b83190092fe1d1f6232e27f650cffae48cc4 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Sun, 4 Aug 2024 23:11:10 +0800
Subject: [PATCH 31/31] Delete unused.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 212f25ba..73a92802 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -192,8 +192,6 @@ void ChassisGimbalShooterCoverManual::zPress()
 {
   last_shoot_freq_ = shooter_cmd_sender_->getShootFrequency();
   shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::MINIMAL);
-  if (switch_buff_srv_->getTarget() != rm_msgs::StatusChangeRequest::ARMOR)
-    vel_cmd_sender_->setAngularZVel(is_gyro_ ? gyro_rotate_reduction_ : 0, gyro_speed_limit_);
 }
 
 void ChassisGimbalShooterCoverManual::zRelease()