From cee8f1b4f6427575ba35d675ab126afecae6d0c7 Mon Sep 17 00:00:00 2001
From: Bluefairy-ljy <3099568863@qq.com>
Date: Wed, 14 Oct 2026 21:58:55 +0800
Subject: [PATCH 1/2] Remove supply_ logic from balance.

---
 include/rm_manual/wheeled_balance_manual.h |  2 +-
 src/balance_manual.cpp                     | 20 ++------------------
 src/legged_wheel_balance_manual.cpp        |  5 -----
 src/wheeled_balance_manual.cpp             |  9 +--------
 4 files changed, 4 insertions(+), 32 deletions(-)

diff --git a/include/rm_manual/wheeled_balance_manual.h b/include/rm_manual/wheeled_balance_manual.h
index c3a04322..4fa64321 100644
--- a/include/rm_manual/wheeled_balance_manual.h
+++ b/include/rm_manual/wheeled_balance_manual.h
@@ -21,7 +21,7 @@ class WheeledBalanceManual : public BalanceManual
   void ctrlZPress() override;
   void bPress() override;
   void vPress() override;
-  void ctrlXPress();
+  void ctrlXPress() override;
   void modeFallen(ros::Duration duration);
   void modeNormalize();
   rm_common::BalanceCommandSender* balance_chassis_cmd_sender_{};
diff --git a/src/balance_manual.cpp b/src/balance_manual.cpp
index 9adce256..60758871 100644
--- a/src/balance_manual.cpp
+++ b/src/balance_manual.cpp
@@ -58,16 +58,8 @@ void BalanceManual::rightSwitchMidRise()
 void BalanceManual::ctrlZPress()
 {
   ChassisGimbalShooterCoverManual::ctrlZPress();
-  if (supply_)
-  {
-    chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FALLEN);
-    chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::CHARGE);
-  }
-  else
-  {
-    chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FOLLOW);
-    chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::NORMAL);
-  }
+  chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FOLLOW);
+  chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::NORMAL);
 }
 
 void BalanceManual::shiftRelease()
@@ -96,8 +88,6 @@ void BalanceManual::wPressing()
   if (flank_)
     flank_ = !flank_;
   ChassisGimbalShooterCoverManual::wPressing();
-  if (supply_)
-    vel_cmd_sender_->setLinearXVel(x_scale_ * 0.4);
 }
 
 void BalanceManual::sPress()
@@ -114,8 +104,6 @@ void BalanceManual::sPressing()
   if (flank_)
     flank_ = !flank_;
   ChassisGimbalShooterCoverManual::sPressing();
-  if (supply_)
-    vel_cmd_sender_->setLinearXVel(x_scale_ * 0.4);
 }
 
 void BalanceManual::aPress()
@@ -130,8 +118,6 @@ void BalanceManual::aPressing()
   if (!flank_)
     flank_ = !flank_;
   ChassisGimbalShooterCoverManual::aPressing();
-  if (supply_)
-    vel_cmd_sender_->setLinearYVel(y_scale_ * 0.4);
 }
 
 void BalanceManual::dPress()
@@ -146,8 +132,6 @@ void BalanceManual::dPressing()
   if (!flank_)
     flank_ = !flank_;
   ChassisGimbalShooterCoverManual::dPressing();
-  if (supply_)
-    vel_cmd_sender_->setLinearYVel(y_scale_ * 0.4);
 }
 
 void BalanceManual::cPress()
diff --git a/src/legged_wheel_balance_manual.cpp b/src/legged_wheel_balance_manual.cpp
index 51b14c38..92b47fa7 100644
--- a/src/legged_wheel_balance_manual.cpp
+++ b/src/legged_wheel_balance_manual.cpp
@@ -95,11 +95,6 @@ void LeggedWheelBalanceManual::rightSwitchMidRise()
 void LeggedWheelBalanceManual::ctrlZPress()
 {
   BalanceManual::ctrlZPress();
-  if (!supply_)
-  {
-    setChassisMode(rm_msgs::ChassisCmd::FOLLOW);
-    legCommandSender_->setLgeLength(0.18);
-  }
 }
 
 void LeggedWheelBalanceManual::shiftRelease()
diff --git a/src/wheeled_balance_manual.cpp b/src/wheeled_balance_manual.cpp
index 286952ef..b739c32a 100644
--- a/src/wheeled_balance_manual.cpp
+++ b/src/wheeled_balance_manual.cpp
@@ -52,14 +52,7 @@ void WheeledBalanceManual::rightSwitchMidRise()
 void WheeledBalanceManual::ctrlZPress()
 {
   BalanceManual::ctrlZPress();
-  if (supply_)
-  {
-    balance_chassis_cmd_sender_->setBalanceMode(rm_msgs::BalanceState::FALLEN);
-  }
-  else
-  {
-    balance_chassis_cmd_sender_->setBalanceMode(rm_msgs::BalanceState::NORMAL);
-  }
+  balance_chassis_cmd_sender_->setBalanceMode(rm_msgs::BalanceState::NORMAL);
 }
 
 void WheeledBalanceManual::vPress()

From ca6bfb0a07d4440719b913a2e67e1502223c4645 Mon Sep 17 00:00:00 2001
From: Bluefairy-ljy <3099568863@qq.com>
Date: Wed, 14 Oct 2026 21:59:54 +0800
Subject: [PATCH 2/2] Fix compilation errors.

---
 include/rm_manual/chassis_gimbal_shooter_cover_manual.h | 2 +-
 package.xml                                             | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
index d2844d4b..47b6f404 100644
--- a/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
+++ b/include/rm_manual/chassis_gimbal_shooter_cover_manual.h
@@ -44,7 +44,7 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
   void cPress() override;
   void qPress() override;
   void ctrlRPressing();
-  void ctrlRRelease() override;
+  void ctrlRRelease();
   void wPress() override;
   void wPressing() override;
   void aPressing() override;
diff --git a/package.xml b/package.xml
index 26dc17d4..098635f6 100644
--- a/package.xml
+++ b/package.xml
@@ -12,6 +12,7 @@
     <buildtool_depend>catkin</buildtool_depend>
     <!-- depend: build, export, and execution dependency -->
     <depend>roscpp</depend>
+    <depend>control_toolbox</depend>
     <depend>sensor_msgs</depend>
     <depend>rm_msgs</depend>
     <depend>rm_common</depend>