From 7e60bf481f06a2f4fc094e223751815728c48bc3 Mon Sep 17 00:00:00 2001
From: 321aurora <2508260166@qq.com>
Date: Wed, 9 Jul 2025 17:34:58 +0800
Subject: [PATCH 1/2] Achieve a fixed speed for the first friction wheel and
 adjust secondary friction wheel.

---
 rm_shooter_controllers/src/standard.cpp | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/rm_shooter_controllers/src/standard.cpp b/rm_shooter_controllers/src/standard.cpp
index c2e0d541..a1dfbc01 100644
--- a/rm_shooter_controllers/src/standard.cpp
+++ b/rm_shooter_controllers/src/standard.cpp
@@ -297,8 +297,14 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
     {
       for (size_t j = 0; j < ctrls_friction_[i].size(); j++)
       {
-        ctrls_friction_[i][j]->setCommand(wheel_speed_directions_[i][j] *
-                                          (cmd_.wheel_speed + config_.extra_wheel_speed + wheel_speed_offsets_[i][j]));
+        if (j == 0)
+          ctrls_friction_[i][j]->setCommand(
+              wheel_speed_directions_[i][j] *
+              (cmd_.wheel_speed + config_.extra_wheel_speed + cmd_.wheels_speed_offset_front));
+        if (j == 1)
+          ctrls_friction_[i][j]->setCommand(
+              wheel_speed_directions_[i][j] *
+              (cmd_.wheel_speed + config_.extra_wheel_speed + cmd_.wheels_speed_offset_back));
       }
     }
   }

From a617778b880fd4e36c8f0edc0ec8b6db1cbbdbb5 Mon Sep 17 00:00:00 2001
From: 321aurora <2508260166@qq.com>
Date: Sun, 20 Jul 2025 20:34:59 +0800
Subject: [PATCH 2/2] Fix logic wrong.

---
 rm_shooter_controllers/src/standard.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/rm_shooter_controllers/src/standard.cpp b/rm_shooter_controllers/src/standard.cpp
index a1dfbc01..07089712 100644
--- a/rm_shooter_controllers/src/standard.cpp
+++ b/rm_shooter_controllers/src/standard.cpp
@@ -297,14 +297,15 @@ void Controller::setSpeed(const rm_msgs::ShootCmd& cmd)
     {
       for (size_t j = 0; j < ctrls_friction_[i].size(); j++)
       {
+        // Used to distinguish the front and rear friction wheels.
         if (j == 0)
           ctrls_friction_[i][j]->setCommand(
               wheel_speed_directions_[i][j] *
-              (cmd_.wheel_speed + config_.extra_wheel_speed + cmd_.wheels_speed_offset_front));
+              (cmd_.wheel_speed + config_.extra_wheel_speed + cmd_.wheels_speed_offset_back));
         if (j == 1)
           ctrls_friction_[i][j]->setCommand(
               wheel_speed_directions_[i][j] *
-              (cmd_.wheel_speed + config_.extra_wheel_speed + cmd_.wheels_speed_offset_back));
+              (cmd_.wheel_speed + config_.extra_wheel_speed + cmd_.wheels_speed_offset_front));
       }
     }
   }