Fix turret snapping on after remote disconnect

ut-ras · Nov 19, 2024 · 2a0c973 · 2a0c973
1 parent 504e5b6
commit 2a0c973
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/ut-robomaster/src/subsystems/turret/command_move_turret.cpp b/ut-robomaster/src/subsystems/turret/command_move_turret.cpp
@@ -6,7 +6,11 @@ void CommandMoveTurret::initialize() { isCalibrated = false; }
 
 void CommandMoveTurret::execute()
 {
-    if (!isCalibrated && turret->getIsCalibrated())
+    if (drivers->isKillSwitched())
+    {
+        isCalibrated = false;
+    }
+    else if (!isCalibrated && turret->getIsCalibrated())
     {
         yaw = turret->getCurrentLocalYaw() + turret->getChassisYaw();
         pitch = turret->getCurrentLocalPitch();