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42 lines
1.6 KiB
42 lines
1.6 KiB
syntax = "proto3";
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//import "nanopb.proto";
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import "bsp_PV.proto";
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import "bsp_PID.proto";
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message CV_struct_define{
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//喷漆项目
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int32 Speed_m_per_min = 1; // MPMin = 1m/min 1米每分钟 m/min
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int32 LeftTurnSpeed = 2;
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int32 RightTurnSpeed = 3;
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int32 RobotLeftAngleValue=4;// 水平左方向 单位0.01°
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int32 RobotRightAngleValue=5;// 水平右方向角度值 单位0.01°
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int32 RobotUpAngleValue=6;// 竖直方向角度值 单位0.01°
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int32 RobotDownAngleValue=7;// 竖直向下角度值 单位0.01°
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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
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int32 Robot_Angle_Start_BaseE_2D = 9;//角度值 0.01°
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int32 Lane_Change_Speed_m_per_min = 10;
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int32 Is_Automation_Authorized = 11;
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int32 Is_Function_Authorized = 12;
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int32 Joy_Sticker_Angle_Allowance = 13;// 例如在90度的±30°
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int32 Joy_Sticker_Value_Allowance = 14;//例如 joysticker的值超过600
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int32 Allowable_Error_For_Angle_Tracking = 15;//纠偏角度跟踪的允许误差1 度
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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
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int32 Horizontal_ChangeLane_Compensation=17; //水平换道补偿距离
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int32 Vertical_ChangeLane_Compensation=18; //竖直换道补偿距离
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int32 pulse_Per_Circle=19; //每转多少脉冲
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int32 wheel_Reduction_Ratio=20; //减速比
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double wheel_Diameter_m=21; //车轮直径 m
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PID_Parameters PID_high=22;
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PID_Parameters PID_mid=23;
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PID_Parameters PID_low=24;
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}
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