# RMCOD2026_Hero

**Repository Path**: cod_-control/rmcod2026_-hero

## Basic Information

- **Project Name**: RMCOD2026_Hero
- **Description**: No description available
- **Primary Language**: C
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-07-17
- **Last Updated**: 2026-01-26

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# RMCOD2026_Hero

#### 介绍
26赛季全向英雄代码


环境依赖
开发工具：Keil V5.38a，VsCode
软件环境：Window11
硬件环境：大疆RoboMaster开发板C型 (STM32F407IGHX)
编译工具：Arm Compiler V6.22，C/C++编译

#### 使用说明
开发任务主要都在.task文件中

### Gimbal主要内容

### 遥控器控制时云台的模式控制


```
 static void Gimbal_Mode_Update(Control_Info_Typedef *Control_Info)
{   
    if(remote_ctrl.rc_lost == 1)
    {
        Control_Info->Gimbal.Mode = GIMBAL_OFF;
        Control_Info->Shoot.Mode = SHOOTER_OFF;
        return;
    }
    
    // 更新视觉状态标志
    Vision_Lose_Transform_Normal = (Vision_Info.Distance > 0) ? 1 : 0;
    
    // 只在遥控模式下处理控制逻辑
    if(Control_Info->Control_Mode != CONTROL_REMOTE)
    {
        Control_Info->Gimbal.Mode = GIMBAL_OFF;
        Control_Info->Shoot.Mode = SHOOTER_OFF;
        return;
    }
    
    // 根据遥控器开关状态设置不同的工作模式
    switch(remote_ctrl.rc.s[0])
    {
			case 1:                    // 右侧开关处于上面
            if(remote_ctrl.rc.s[1] == 1)
            {
							// 左侧开关也处于上面 - 启动射击模式
                Control_Info->Shoot.Mode = SHOOTER_NORMAL;
            }
            else if(remote_ctrl.rc.s[1] == 3)
            {
                // 左侧开关处于中间 - 小陀螺模式
                Control_Info->Gimbal.Mode = CONTROL_GYR_CONTROL;
                Control_Info->Shoot.Mode = SHOOTER_OFF;
            }
            else
            {
                // 其他情况关闭射击
                Control_Info->Shoot.Mode = SHOOTER_OFF;
            }
            break;
            
        case 2: // 右侧开关处于下位 - 紧急停止
            Control_Info->Gimbal.Mode = GIMBAL_OFF;
            Control_Info->Shoot.Mode = SHOOTER_OFF;
            break;
            
        case 3: // 右侧开关处于中间
            if(remote_ctrl.rc.s[1] == 1)
            {
							// 左侧开关处于上面 - 视觉模式或普通控制模式
                Control_Info->Gimbal.Mode = Vision_Lose_Transform_Normal ? 
                                          GIMBAL_VISION : CONTROL_NOMAL_CONTROL;
            }
            else if(remote_ctrl.rc.s[1] == 3)
            {
                // 左侧开关也处于中间- 普通控制模式
                Control_Info->Gimbal.Mode = CONTROL_NOMAL_CONTROL;
                Control_Info->Shoot.Mode = SHOOTER_OFF;
            }
            else
            {
                // 其他情况关闭射击
                Control_Info->Shoot.Mode = SHOOTER_OFF;
            }
            break;
            
        default:
                                                          // 默认情况下关闭云台和射击
            Control_Info->Gimbal.Mode = GIMBAL_OFF;
            Control_Info->Shoot.Mode = SHOOTER_OFF;
            break;
    }
}

```



### 对于不同模式切换时云台状态的平滑处理

```
static void Gimbal_Taget_Update()                                              
{		
    // 公共默认动作：当不需要特殊控制时，目标等于当前测量值
    float default_pitch = Control_Info.Gimbal.Measure.Pitch_Angle;
    float default_yaw   = Control_Info.Gimbal.Measure.Yaw_Angle;

    if (Control_Info.Control_Mode == CONTROL_REMOTE)
    {
        if ((Control_Info.Gimbal.Mode == CONTROL_NOMAL_CONTROL) ||
            (Control_Info.Gimbal.Mode == CONTROL_GYR_CONTROL))
        {
            if (Machine_Star_reload == 1)
            {
                if (Vision_Transform_Normal == 1)
                {
                    Control_Info.Gimbal.Target.Pitch_Angle = default_pitch;
                    Control_Info.Gimbal.Target.Yaw_Angle   = default_yaw;
                    Vision_Transform_Normal = 0;
                }

                if (Vision_Transform_Normal == 0)
                {                  
                        Control_Info.Gimbal.Target.Pitch_Angle += remote_ctrl.rc.ch[1] * 0.00009f;
                        Control_Info.Gimbal.Target.Yaw_Angle += -remote_ctrl.rc.ch[0] * 0.0004f;
                }
            }
            else   // Machine_Star_reload == 0
            {
                Control_Info.Gimbal.Target.Pitch_Angle = default_pitch;
                Control_Info.Gimbal.Target.Yaw_Angle   = default_yaw;
                Machine_Star_reload = 1;
            }
        }
        else if (Control_Info.Gimbal.Mode == GIMBAL_VISION)
        {
            if (Vision_Info.Distance > 0)
            {
                Control_Info.Gimbal.Target.Pitch_Angle = Vision_Info.Target_Pitch;
                Control_Info.Gimbal.Target.Yaw_Angle   = -Vision_Info.Target_Yaw;
            }
            else
            {
                Control_Info.Gimbal.Target.Pitch_Angle = -default_pitch;
                Control_Info.Gimbal.Target.Yaw_Angle   = -default_yaw;
            }

            Vision_Transform_Normal = 1;
        }
        else if (Control_Info.Gimbal.Mode == GIMBAL_OFF)
        {
            Control_Info.Gimbal.Target.Pitch_Angle = default_pitch;
            Control_Info.Gimbal.Target.Yaw_Angle   = default_yaw;
            Machine_Star_reload = 0;
        }
        else
        {
            // 默认情况也设为目标等于当前位置
            Control_Info.Gimbal.Target.Pitch_Angle = default_pitch;
            Control_Info.Gimbal.Target.Yaw_Angle   = default_yaw;
        }
    }
    else
    {
        Control_Info.Gimbal.Target.Pitch_Angle = default_pitch;
        Control_Info.Gimbal.Target.Yaw_Angle   = default_yaw;
    }

    // 归一化Yaw角至[-180, 180]
    normalize_angle(&Control_Info.Gimbal.Target.Yaw_Angle); 		
}
```


### Chassis主要内容

Control_task.c中对底盘解算等的控制
Detect_task.c中对整车不同状态时的检测





### 参考开源
1.[辽宁科技大学COD战队STM32F407 通用控制系统](http://https://gitee.com/cod_-control/hero_2025)