From 3c6021b7e9a5fb78a02bd732be28b114b97ee80c Mon Sep 17 00:00:00 2001
From: youjian <1124895509@qq.com>
Date: Thu, 25 Jul 2024 20:34:25 +0800
Subject: [PATCH] Stop gyro when robot revives.

---
 include/rm_manual/chassis_gimbal_shooter_manual.h | 1 +
 src/chassis_gimbal_shooter_manual.cpp             | 6 ++++++
 2 files changed, 7 insertions(+)

diff --git a/include/rm_manual/chassis_gimbal_shooter_manual.h b/include/rm_manual/chassis_gimbal_shooter_manual.h
index 1d3e2f35..552b42ea 100644
--- 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
index f9d61a46..6a8c853e 100644
--- 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