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Fix compilation errors and remove supply_ logic #156

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Merged
Bluefairy-ljy merged 2 commits into from
Oct 14, 2026
Merged

Fix compilation errors and remove supply_ logic #156

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cee8f1b
Remove supply_ logic from balance.
Bluefairy-ljy Oct 14, 2026
ca6bfb0
Fix compilation errors.
Bluefairy-ljy Oct 14, 2026
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2 changes: 1 addition & 1 deletion include/rm_manual/chassis_gimbal_shooter_cover_manual.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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2 changes: 1 addition & 1 deletion include/rm_manual/wheeled_balance_manual.h
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Expand Up @@ -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_{};
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1 change: 1 addition & 0 deletions package.xml
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Expand Up @@ -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>
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20 changes: 2 additions & 18 deletions src/balance_manual.cpp
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Expand Up @@ -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()
Expand Down Expand Up @@ -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()
Expand All @@ -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()
Expand All @@ -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()
Expand All @@ -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()
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5 changes: 0 additions & 5 deletions src/legged_wheel_balance_manual.cpp
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Expand Up @@ -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()
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9 changes: 1 addition & 8 deletions src/wheeled_balance_manual.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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()
Expand Down
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