syntax = "proto3";
//import "nanopb.proto";

import "bsp_PV.proto";
import "bsp_PID.proto";
message CV_struct_define{
 	  
	 //喷漆项目
 	  
	  int32 Speed_m_per_min = 1; // MPMin =  1m/min  1米每分钟 m/min
	  
      int32 LeftTurnSpeed = 2;
 	  int32 RightTurnSpeed = 3;

 
 
	  int32 RobotLeftAngleValue=4;// 水平左方向  单位0.01°
	  int32 RobotRightAngleValue=5;// 水平右方向角度值 单位0.01°
	  int32 RobotUpAngleValue=6;// 竖直方向角度值 单位0.01°
	  int32 RobotDownAngleValue=7;// 竖直向下角度值 单位0.01°

	  int32 Robot_Permitted_Angler_Error_Value_E_2D = 8;// 作业时需用的最大角度偏差值 0.01°，超出将停止作业
	  int32 Robot_Angle_Start_BaseE_2D = 9;//角度值 0.01°
	  int32 Lane_Change_Speed_m_per_min = 10;
	  int32 Is_Automation_Authorized = 11;
	  int32 Is_Function_Authorized = 12;
	  int32 Joy_Sticker_Angle_Allowance = 13;// 例如在90度的±30°
	  int32 Joy_Sticker_Value_Allowance = 14;//例如 joysticker的值超过600
	  int32 Allowable_Error_For_Angle_Tracking  = 15;//纠偏角度跟踪的允许误差1 度
	  int32 Paint_Gun_Shutdown_Distance  = 16;//喷枪关闭距离，喷枪关闭后多上厘米停止运行
	  int32 Horizontal_ChangeLane_Compensation=17; //水平换道补偿距离
	  int32 Vertical_ChangeLane_Compensation=18; //竖直换道补偿距离
 	  int32 pulse_Per_Circle=19;  //每转多少脉冲
      int32 wheel_Reduction_Ratio=20;  //减速比
	  double wheel_Diameter_m=21;  //车轮直径 m
	  PID_Parameters PID_high=22;
	  PID_Parameters PID_mid=23;
	  PID_Parameters PID_low=24;
	  
	
	  }