# RMCOD2026_Sentry

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

## Basic Information

- **Project Name**: RMCOD2026_Sentry
- **Description**: COD26 赛季哨兵电控代码
- **Primary Language**: C
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 3
- **Forks**: 0
- **Created**: 2025-07-17
- **Last Updated**: 2025-12-23

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

#  RMCOD2026_Sentry



## 介绍
25赛季舵轮哨兵代码

## 环境依赖
- 开发工具：Keil V5.38a，VsCode
- 软件环境：Window11
- 硬件环境：达妙H7(STM32H723VGT6)
- 编译工具：Arm Compiler V6.22，C/C++编译

## 使用说明
开发的任务主要放置在文件夹Task内的Contr0l_Task

## Chassis重要文件
### 舵轮解算

```
		// 舵向轮解算
		Chassis_Info->Target.Chassis_Angle[0] = atan2f((Control_Info.Move.Vx - Control_Info.Move.Vw * sin45 * R), (Control_Info.Move.Vy + Control_Info.Move.Vw * sin45 * R)) * RadiansToDegrees;
		Chassis_Info->Target.Chassis_Angle[1] = atan2f((Control_Info.Move.Vx + Control_Info.Move.Vw * sin45 * R), (Control_Info.Move.Vy + Control_Info.Move.Vw * sin45 * R)) * RadiansToDegrees;
		Chassis_Info->Target.Chassis_Angle[2] = atan2f((Control_Info.Move.Vx + Control_Info.Move.Vw * sin45 * R), (Control_Info.Move.Vy - Control_Info.Move.Vw * sin45 * R)) * RadiansToDegrees;
		Chassis_Info->Target.Chassis_Angle[3] = atan2f((Control_Info.Move.Vx - Control_Info.Move.Vw * sin45 * R), (Control_Info.Move.Vy - Control_Info.Move.Vw * sin45 * R)) * RadiansToDegrees;

		// 行进轮解算
		Chassis_Info->Target.Chassis_Velocity[0] = sqrtf(powf(Control_Info.Move.Vx - Control_Info.Move.Vw * sin45, 2.f) + powf(Control_Info.Move.Vy - Control_Info.Move.Vw * sin45, 2.f));
		Chassis_Info->Target.Chassis_Velocity[1] = sqrtf(powf(Control_Info.Move.Vx - Control_Info.Move.Vw * sin45, 2.f) + powf(Control_Info.Move.Vy + Control_Info.Move.Vw * sin45, 2.f));
		Chassis_Info->Target.Chassis_Velocity[2] = sqrtf(powf(Control_Info.Move.Vx + Control_Info.Move.Vw * sin45, 2.f) + powf(Control_Info.Move.Vy + Control_Info.Move.Vw * sin45, 2.f));
		Chassis_Info->Target.Chassis_Velocity[3] = sqrtf(powf(Control_Info.Move.Vx + Control_Info.Move.Vw * sin45, 2.f) + powf(Control_Info.Move.Vy - Control_Info.Move.Vw * sin45, 2.f));
}
```
### 3508角度轮校准

```
 Chassis_Cal(Chassis_Info_Typedef *Chassis_Info)
```
### FDcan3板间通信的接受

```
	 if(*Identifier==0X400)
	{						
	REMOTO_CTRL.rc_lost =(CAN_RX_Buffer[0]>>4);
	REMOTO_CTRL.rc.s[0]=((CAN_RX_Buffer[0]>>2)&0x03);
	REMOTO_CTRL.rc.s[1]=(CAN_RX_Buffer[0]&0x03);
	
	REMOTO_CTRL.rc.ch[3]=(int16_t )(CAN_RX_Buffer[1]<<8) | CAN_RX_Buffer[2];
	REMOTO_CTRL.rc.ch[2]=(int16_t )((CAN_RX_Buffer[3]<<8) | CAN_RX_Buffer[4]);
	REMOTO_CTRL.rc.ch[0]=(int16_t )(CAN_RX_Buffer[5]<<8) | CAN_RX_Buffer[6];
	REMOTO_CTRL.rc.ch[4]=(int16_t )((CAN_RX_Buffer[7]<<8) | CAN_RX_Buffer[8]);
			
	UART.Yaw_Angle_test[0] =CAN_RX_Buffer[9];
	UART.Yaw_Angle_test[1] =CAN_RX_Buffer[10];
	UART.Yaw_Angle_test[2] =CAN_RX_Buffer[11];
	UART.Yaw_Angle_test[3] =CAN_RX_Buffer[12];
				
	UART.Yaw_Gyro_test [0] =CAN_RX_Buffer[13];
	UART.Yaw_Gyro_test [1] =CAN_RX_Buffer[14];
	UART.Yaw_Gyro_test [2] =CAN_RX_Buffer[15];
	UART.Yaw_Gyro_test [3] =CAN_RX_Buffer[16];
						
 						Gimbal.Yaw_Angle = bit8TOfloat32_commit(UART.Yaw_Angle_test );
						Gimbal.Yaw_Gyro = bit8TOfloat32_commit(UART.Yaw_Gyro_test );
					}
```
## Gimbal重要文件
### 保持摩擦轮转速一定

```
//保持弹频
	if(systick%121==0){
if (Control_Info->Gimbal.Target.Shoot_Speed!= Control_Info->Gimbal.Target.Shoot_Speed_last){
Control_Info->Gimbal.Shoot.Fire_Trigger += SpeedAdapt(Control_Info->Gimbal.Target.Shoot_Speed, 22.0f, 24.0f,0.5, 0.5);
Control_Info->Gimbal.Target.Shoot_Speed += Control_Info->Gimbal.Shoot.Fire_Trigger;
}
 else{
  Control_Info->Gimbal.Shoot.Fire_Trigger  = 0;
 }
 Control_Info->Gimbal.Target.Shoot_Speed_last= Control_Info->Gimbal.Target.Shoot_Speed;
}
//限制摩擦轮转速在5900到6500之间
	VAL_LIMIT(Control_Info->Gimbal.Target.Shoot_Speed,5900,6500);
```
### FDcan3板间通信的发送

```
			FDCAN3_TxFrame.Header.Identifier=0X400;
		
		Yaw_Ange = (uint8_t *)&INS_Info.Yaw_Angle;
		Yaw_Gyro =  (uint8_t *)&INS_Info.Yaw_Gyro;
		
  CAN_FD_Tx_Buffer[0] =  (uint8_t) ((remote_ctrl.rc_lost)<<4 | (remote_ctrl.rc.s[0])<<2 | (remote_ctrl.rc.s[1]));
	CAN_FD_Tx_Buffer[1] =  (uint8_t) (remote_ctrl.rc.ch[3]>> 8);
	CAN_FD_Tx_Buffer[2] =  (uint8_t) (remote_ctrl.rc.ch[3] );
	CAN_FD_Tx_Buffer[3] =  (uint8_t) (remote_ctrl.rc.ch[2] >>8);
  CAN_FD_Tx_Buffer[4] =  (uint8_t) (remote_ctrl.rc.ch[2]);
  CAN_FD_Tx_Buffer[5] =  (uint8_t) (remote_ctrl.rc.ch[0] >>8);
  CAN_FD_Tx_Buffer[6] =  (uint8_t) (remote_ctrl.rc.ch[0]);
  CAN_FD_Tx_Buffer[7] =  (uint8_t) (remote_ctrl.rc.ch[4] >>8);
  CAN_FD_Tx_Buffer[8] =  (uint8_t) (remote_ctrl.rc.ch[4]);
		
	    CAN_FD_Tx_Buffer[9] =   *Yaw_Ange;
			CAN_FD_Tx_Buffer[10] =  *(Yaw_Ange + 1);
			CAN_FD_Tx_Buffer[11] =  *(Yaw_Ange + 2);
			CAN_FD_Tx_Buffer[12] =   *(Yaw_Ange + 3);

		  CAN_FD_Tx_Buffer[13] =   *Yaw_Gyro;
			CAN_FD_Tx_Buffer[14] =  *(Yaw_Gyro + 1);
			CAN_FD_Tx_Buffer[15] =  *(Yaw_Gyro + 2);
			CAN_FD_Tx_Buffer[16] =   *(Yaw_Gyro + 3);
		
	HAL_FDCAN_AddMessageToTxFifoQ(FDCAN3_TxFrame.hcan,&FDCAN3_TxFrame.Header,CAN_FD_Tx_Buffer);
```
## 参考开源
[2025RoboMaster辽宁科技大学COD战队电控通用控制系统(达妙MC02 STM32H723VGT6)](https://gitee.com/wangcaofan/cod-h7-template)

## 联系方式
QQ：1634789078