From d13b0600926de6ba8efe3ffb21cb03ccc5e26c36 Mon Sep 17 00:00:00 2001
From: 321aurora <2508260166@qq.com>
Date: Wed, 9 Jul 2025 17:34:59 +0800
Subject: [PATCH 1/3] Achieve a fixed speed for the first friction wheel and
 adjust secondary friction wheel.

---
 .../rm_common/decision/command_sender.h       | 37 +++++++++++++++++--
 1 file changed, 33 insertions(+), 4 deletions(-)

diff --git a/rm_common/include/rm_common/decision/command_sender.h b/rm_common/include/rm_common/decision/command_sender.h
index a7baeb68..df5640b5 100644
--- a/rm_common/include/rm_common/decision/command_sender.h
+++ b/rm_common/include/rm_common/decision/command_sender.h
@@ -381,6 +381,8 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
     nh.getParam("wheel_speed_16", wheel_speed_16_);
     nh.getParam("wheel_speed_18", wheel_speed_18_);
     nh.getParam("wheel_speed_30", wheel_speed_30_);
+    nh.getParam("wheel_speed_offset_front", wheel_speed_offset_front_);
+    nh.getParam("wheel_speed_offset_back", wheel_speed_offset_back_);
     nh.param("speed_oscillation", speed_oscillation_, 1.0);
     nh.param("extra_wheel_speed_once", extra_wheel_speed_once_, 0.);
     nh.param("deploy_wheel_speed", deploy_wheel_speed_, 410.0);
@@ -484,6 +486,8 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   void sendCommand(const ros::Time& time) override
   {
     msg_.wheel_speed = getWheelSpeedDes();
+    msg_.wheels_speed_offset_front = getFrontWheelSpeedOffset();
+    msg_.wheels_speed_offset_back = getBackWheelSpeedOffset();
     msg_.hz = heat_limit_->getShootFrequency();
     TimeStampCommandSenderBase<rm_msgs::ShootCmd>::sendCommand(time);
   }
@@ -495,9 +499,11 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   double getWheelSpeedDes()
   {
     setSpeedDesAndWheelSpeedDes();
-    if (deploy_flag_)
+    if (hero_flag_)
     {
-      return deploy_wheel_speed_ + total_extra_wheel_speed_;
+      if (deploy_flag_)
+        return deploy_wheel_speed_;
+      return wheel_speed_des_;
     }
     return wheel_speed_des_ + total_extra_wheel_speed_;
   }
@@ -505,6 +511,10 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   {
     deploy_flag_ = flag;
   }
+  void setHeroState(bool flag)
+  {
+    hero_flag_ = flag;
+  }
   void setSpeedDesAndWheelSpeedDes()
   {
     switch (heat_limit_->getSpeedLimit())
@@ -546,13 +556,29 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
       }
     }
   }
+  double getFrontWheelSpeedOffset()
+  {
+    wheels_speed_offset_front_ = wheel_speed_offset_front_;
+    return wheels_speed_offset_front_;
+  }
+  double getBackWheelSpeedOffset()
+  {
+    wheels_speed_offset_back_ = wheel_speed_offset_back_;
+    return wheels_speed_offset_back_;
+  }
   void dropSpeed()
   {
-    total_extra_wheel_speed_ -= extra_wheel_speed_once_;
+    if (hero_flag_)
+      wheel_speed_offset_front_ -= extra_wheel_speed_once_;
+    else
+      total_extra_wheel_speed_ -= extra_wheel_speed_once_;
   }
   void raiseSpeed()
   {
-    total_extra_wheel_speed_ += extra_wheel_speed_once_;
+    if (hero_flag_)
+      wheel_speed_offset_front_ += extra_wheel_speed_once_;
+    else
+      total_extra_wheel_speed_ += extra_wheel_speed_once_;
   }
   void setArmorType(uint8_t armor_type)
   {
@@ -573,6 +599,8 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   double speed_10_{}, speed_15_{}, speed_16_{}, speed_18_{}, speed_30_{}, speed_des_{}, speed_limit_{};
   double wheel_speed_10_{}, wheel_speed_15_{}, wheel_speed_16_{}, wheel_speed_18_{}, wheel_speed_30_{},
       wheel_speed_des_{}, last_bullet_speed_{}, speed_oscillation_{};
+  double wheel_speed_offset_front_{}, wheel_speed_offset_back_{};
+  double wheels_speed_offset_front_{}, wheels_speed_offset_back_{};
   double track_armor_error_tolerance_{};
   double track_buff_error_tolerance_{};
   double untrack_armor_error_tolerance_{};
@@ -583,6 +611,7 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   double deploy_wheel_speed_{};
   bool auto_wheel_speed_ = false;
   bool deploy_flag_{};
+  bool hero_flag_{};
   rm_msgs::TrackData track_data_;
   rm_msgs::GimbalDesError gimbal_des_error_;
   rm_msgs::ShootBeforehandCmd shoot_beforehand_cmd_;

From d17e8a8c2f6890a98087c749cb54ab6f8b13c487 Mon Sep 17 00:00:00 2001
From: 321aurora <2508260166@qq.com>
Date: Wed, 9 Jul 2025 17:35:26 +0800
Subject: [PATCH 2/3] Add msgs for wheel speed offset.

---
 rm_msgs/msg/ShootCmd.msg | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/rm_msgs/msg/ShootCmd.msg b/rm_msgs/msg/ShootCmd.msg
index 9bd0016f..a4985032 100644
--- a/rm_msgs/msg/ShootCmd.msg
+++ b/rm_msgs/msg/ShootCmd.msg
@@ -12,4 +12,6 @@ uint8 SPEED_30M_PER_SECOND = 5
 uint8 mode
 float64 wheel_speed
 float64 hz
+float64 wheels_speed_offset_front
+float64 wheels_speed_offset_back
 time stamp

From 6110107c5f47511c978c9162266b6d6f48730c34 Mon Sep 17 00:00:00 2001
From: 321aurora <2508260166@qq.com>
Date: Sun, 20 Jul 2025 20:30:34 +0800
Subject: [PATCH 3/3] Add param default value.

---
 rm_common/include/rm_common/decision/command_sender.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/rm_common/include/rm_common/decision/command_sender.h b/rm_common/include/rm_common/decision/command_sender.h
index df5640b5..6b39447c 100644
--- a/rm_common/include/rm_common/decision/command_sender.h
+++ b/rm_common/include/rm_common/decision/command_sender.h
@@ -381,8 +381,8 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
     nh.getParam("wheel_speed_16", wheel_speed_16_);
     nh.getParam("wheel_speed_18", wheel_speed_18_);
     nh.getParam("wheel_speed_30", wheel_speed_30_);
-    nh.getParam("wheel_speed_offset_front", wheel_speed_offset_front_);
-    nh.getParam("wheel_speed_offset_back", wheel_speed_offset_back_);
+    nh.param("wheel_speed_offset_front", wheel_speed_offset_front_, 0.0);
+    nh.param("wheel_speed_offset_back", wheel_speed_offset_back_, 0.0);
     nh.param("speed_oscillation", speed_oscillation_, 1.0);
     nh.param("extra_wheel_speed_once", extra_wheel_speed_once_, 0.);
     nh.param("deploy_wheel_speed", deploy_wheel_speed_, 410.0);