syntax = "proto3";
import "msp_MK32.proto";
import "msp_Motor.proto";
import "msp_ZQ_MotorParameters.proto";


import "msp_TL720D.proto";
import "bsp_Error.proto";
import "bsp_PV.proto";
import "bsp_IO.proto";
import "bsp_strain_gauge.proto";
import "bsp_ground_management.proto";

message GV_struct_define
{
  	int32 TempatureE_2C=1; // E_2C=0.01 Celsius 0.01摄氏度
	float Left_Compensation=2;  // E_2D =0.01 Degree    0.01度	
	float Right_Compensation=3; //0.01度	
	float Robot_Angle_Desire=4; //机器人期望角度 //改为 float，单位：度（不再需要0.01缩放）
    	float  Robot_Move_Speed=5;  //  0.1rpm
    	float  Robot_Desired_Speed=6;  //  0.1rpm
	float  Left_Speed_M_min= 7;  //  m/Min
	float  Right_Speed_M_min=8;  //  m/Min
	float  Vertical_Adjust=9;        //0.1°
  	int32 ForceValue= 10;	 
	int32 LaneChangeDistance=11;
	SP_MSP_MK32_Button P_MK32=12;							
	TT_MotorParameters LeftMotor=13;//左电机 ID2
	TT_MotorParameters RightMotor=14;// 右电机 ID3
	TT_MotorParameters SwingMotor=15;// 右电机 ID3
	MSP_TL720DParameters TL720DParameters=16;
	IO_Data IO=17;
	ErrorData SystemErrorData=18;
	PV_struct_define PV=19;//用户配置数据
    float Tar_Position_angle=20;    //位置环模式，期望角度
    int32 Tar_Position_Velcity_Degree_S=21;   //位置环模式，速度(m/min)
    int32 symmetricalOrNot=22;
    int32 Robot_backMode=23;
    int32 Robot_Swing_Speed=24;
    Strain_Gauge_Struct Strain_Gauge=25;
    float weld_data_X=26;
    int32 weld_exist=27;
    int32 Now_press=28;
    int32 turn_center_difference=29;
    ground_management_struct GroundManagementValue = 30;
    int32 robot_back_distance = 31;
    int32 auto_working =32;    //记录是否正在自动行进
    int32 client_close=33;
    int32 robot_real_speed=34;
    int32 wire_status=35;

};

//protoc --nanopb_out=. *.proto