From 3fa7c25264ff2a08feffba215fff97339ce7df16 Mon Sep 17 00:00:00 2001
From: liyixin135 <421159734@qq.com>
Date: Fri, 26 Jul 2024 21:48:19 +0800
Subject: [PATCH] Modify the method of count cycle.

---
 src/chassis_gimbal_shooter_cover_manual.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/chassis_gimbal_shooter_cover_manual.cpp b/src/chassis_gimbal_shooter_cover_manual.cpp
index 195f85f3..019c0e54 100644
--- a/src/chassis_gimbal_shooter_cover_manual.cpp
+++ b/src/chassis_gimbal_shooter_cover_manual.cpp
@@ -225,13 +225,15 @@ void ChassisGimbalShooterCoverManual::mouseRightPress()
     {
       gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::TRAJ);
       double traj_yaw = M_PI * count_ / 900;
-      double traj_pitch = 0.15 * sin(2 * M_PI * count_ / 900) + 0.2;
-      count_ = (count_ + 1) % 900;
+      double traj_pitch = 0.15 * sin(2 * M_PI * (count_ % 900) / 900) + 0.15;
+      count_++;
       gimbal_cmd_sender_->setYawAndPitchTraj(traj_yaw, traj_pitch);
       shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::READY);
     }
     else
+    {
       shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::PUSH);
+    }
   }
   else if (!mouse_left_event_.getState() && shooter_cmd_sender_->getMsg()->mode == rm_msgs::ShootCmd::PUSH)
     shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::READY);