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Fix the bug for deploy mode #139

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Merged
merged 4 commits into from
Jun 3, 2025
Merged

Fix the bug for deploy mode #139

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6bf00c9
Add a function for hero to reset friction speed and override standard…
321Aurora May 5, 2025
d9ede1a
Fix the bug for deploy mode.
321Aurora Jun 2, 2025
f8e8e11
Fix the bug of the direction for pitch.
321Aurora Jun 2, 2025
9591dd7
Delete some unused.
321Aurora Jun 2, 2025
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2 changes: 1 addition & 1 deletion src/chassis_gimbal_manual.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ void ChassisGimbalManual::updateRc(const rm_msgs::DbusData::ConstPtr& dbus_data)
void ChassisGimbalManual::updatePc(const rm_msgs::DbusData::ConstPtr& dbus_data)
{
ManualBase::updatePc(dbus_data);
gimbal_cmd_sender_->setRate(-dbus_data->m_x * gimbal_scale_, dbus_data->m_y * gimbal_scale_);
gimbal_cmd_sender_->setRate(-dbus_data->m_x * gimbal_scale_, -dbus_data->m_y * gimbal_scale_);
if (gimbal_cmd_sender_->getMsg()->mode == rm_msgs::GimbalCmd::RATE)
chassis_cmd_sender_->setFollowVelDes(gimbal_cmd_sender_->getMsg()->rate_yaw);
else
Expand Down
22 changes: 16 additions & 6 deletions src/chassis_gimbal_shooter_manual.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -235,6 +235,7 @@ void ChassisGimbalShooterManual::remoteControlTurnOff()
up_change_position_ = false;
low_change_position_ = false;
need_change_position_ = false;
deployed_ = false;
}

void ChassisGimbalShooterManual::remoteControlTurnOn()
Expand All @@ -256,6 +257,7 @@ void ChassisGimbalShooterManual::robotDie()
up_change_position_ = false;
low_change_position_ = false;
need_change_position_ = false;
deployed_ = false;
}

void ChassisGimbalShooterManual::chassisOutputOn()
Expand Down Expand Up @@ -317,6 +319,15 @@ void ChassisGimbalShooterManual::updatePc(const rm_msgs::DbusData::ConstPtr& dbu
traj_pitch_ += traj_scale_ * gimbal_cmd_sender_->getMsg()->rate_pitch * ros::Duration(0.01).toSec();
gimbal_cmd_sender_->setGimbalTraj(traj_yaw_, traj_pitch_);
}
if ((gimbal_cmd_sender_->getMsg()->mode == rm_msgs::GimbalCmd::TRAJ && deployed_) &&
std::sqrt(std::pow(vel_cmd_sender_->getMsg()->linear.x, 2) + std::pow(vel_cmd_sender_->getMsg()->linear.y, 2)) >
0.0)
{
setChassisMode(rm_msgs::ChassisCmd::FOLLOW);
gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::RATE);
deployed_ = false;
shooter_cmd_sender_->setDeployState(false);
}
}

void ChassisGimbalShooterManual::rightSwitchDownRise()
Expand Down Expand Up @@ -615,7 +626,7 @@ void ChassisGimbalShooterManual::vPress()

void ChassisGimbalShooterManual::zPress()
{
if (chassis_cmd_sender_->getMsg()->mode != rm_msgs::ChassisCmd::RAW && !is_gyro_)
if (chassis_cmd_sender_->getMsg()->mode != rm_msgs::ChassisCmd::RAW && !deployed_)
{
double roll{}, pitch{}, yaw{};
try
Expand All @@ -628,25 +639,23 @@ void ChassisGimbalShooterManual::zPress()
}
gimbal_cmd_sender_->setGimbalTrajFrameId("base_link");
gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::TRAJ);
traj_yaw_ = yaw, traj_pitch_ = -0.40;
traj_yaw_ = yaw, traj_pitch_ = -0.585;
gimbal_cmd_sender_->setGimbalTraj(traj_yaw_, traj_pitch_);
setChassisMode(rm_msgs::ChassisCmd::DEPLOY);
shooter_cmd_sender_->deploySpeed();
shooter_cmd_sender_->setDeployState(true);
deployed_ = true;
}
else
{
setChassisMode(rm_msgs::ChassisCmd::FOLLOW);
gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::RATE);
shooter_cmd_sender_->exitDeploySpeed();
shooter_cmd_sender_->setDeployState(false);
deployed_ = false;
}
}

void ChassisGimbalShooterManual::shiftPress()
{
if (chassis_cmd_sender_->getMsg()->mode != rm_msgs::ChassisCmd::FOLLOW && is_gyro_)
setChassisMode(rm_msgs::ChassisCmd::FOLLOW);
chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::BURST);
}

Expand Down Expand Up @@ -703,6 +712,7 @@ void ChassisGimbalShooterManual::ctrlQPress()
{
shooter_calibration_->reset();
gimbal_calibration_->reset();
adjust_image_transmission_ = false;
up_change_position_ = false;
low_change_position_ = false;
need_change_position_ = false;
Expand Down