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Add param to set actual bullet speed #65

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merged 3 commits into from
Jun 15, 2022
Merged

Add param to set actual bullet speed #65

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36423c4
Add params to set actual bullet speed.
ye-luo-xi-tui Jun 15, 2022
50788f5
Merge branch 'master' into param
ye-luo-xi-tui Jun 15, 2022
f70180d
Modifier variables name.
ye-luo-xi-tui Jun 15, 2022
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16 changes: 11 additions & 5 deletions rm_common/include/rm_common/decision/command_sender.h
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Original file line number Diff line number Diff line change
Expand Up @@ -277,6 +277,11 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
{
ros::NodeHandle limit_nh(nh, "heat_limit");
heat_limit_ = new HeatLimit(limit_nh, referee_data);
nh.param("speed_10m_per_speed", speed_10_, 10.);
nh.param("speed_15m_per_speed", speed_15_, 15.);
nh.param("speed_16m_per_speed", speed_16_, 16.);
nh.param("speed_18m_per_speed", speed_18_, 18.);
nh.param("speed_30m_per_speed", speed_30_, 30.);
if (!nh.getParam("gimbal_error_tolerance", gimbal_error_tolerance_))
ROS_ERROR("gimbal error tolerance no defined (namespace: %s)", nh.getNamespace().c_str());
if (!nh.getParam("target_acceleration_tolerance", target_acceleration_tolerance_))
Expand Down Expand Up @@ -323,15 +328,15 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
switch (msg_.speed)
{
case rm_msgs::ShootCmd::SPEED_10M_PER_SECOND:
return 10.;
return speed_10_;
case rm_msgs::ShootCmd::SPEED_15M_PER_SECOND:
return 15.;
return speed_15_;
case rm_msgs::ShootCmd::SPEED_16M_PER_SECOND:
return 16.;
return speed_16_;
case rm_msgs::ShootCmd::SPEED_18M_PER_SECOND:
return 18.;
return speed_18_;
case rm_msgs::ShootCmd::SPEED_30M_PER_SECOND:
return 30.;
return speed_30_;
}
return 0.;
}
Expand All @@ -346,6 +351,7 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
void setZero() override{};

private:
double speed_10_, speed_15_, speed_16_, speed_18_, speed_30_;
double gimbal_error_tolerance_{};
double target_acceleration_tolerance_{};
double track_target_acceleration_;
Expand Down