Merge pull request #111 from YoujianWu/revive

Stop gyro when robot revives.
rm-controls · Jul 31, 2024 · b97f0b1 · b97f0b1
2 parents 40b7a91 + 3c6021b
commit b97f0b1
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diff --git a/include/rm_manual/chassis_gimbal_shooter_manual.h b/include/rm_manual/chassis_gimbal_shooter_manual.h
@@ -36,6 +36,7 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   void remoteControlTurnOff() override;
   void remoteControlTurnOn() override;
   void robotDie() override;
+  void robotRevive() override;
   void rightSwitchDownRise() override;
   void rightSwitchMidRise() override;
   void rightSwitchUpRise() override;

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -628,4 +628,10 @@ void ChassisGimbalShooterManual::ctrlQPress()
   gimbal_calibration_->reset();
 }
 
+void ChassisGimbalShooterManual::robotRevive()
+{
+  setChassisMode(rm_msgs::ChassisCmd::FOLLOW);
+  ManualBase::robotRevive();
+}
+
 }  // namespace rm_manual