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54 lines
1.8 KiB
54 lines
1.8 KiB
syntax = "proto3";
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import "msp_MK32.proto";
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import "msp_Motor.proto";
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import "msp_ZQ_MotorParameters.proto";
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import "msp_TL720D.proto";
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import "bsp_Error.proto";
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import "bsp_PV.proto";
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import "bsp_IO.proto";
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import "bsp_strain_gauge.proto";
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import "bsp_ground_management.proto";
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message GV_struct_define
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{
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int32 TempatureE_2C=1; // E_2C=0.01 Celsius 0.01摄氏度
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float Left_Compensation=2; // E_2D =0.01 Degree 0.01度
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float Right_Compensation=3; //0.01度
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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）
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float Robot_Move_Speed=5; // 0.1rpm
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float Robot_Desired_Speed=6; // 0.1rpm
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float Left_Speed_M_min= 7; // m/Min
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float Right_Speed_M_min=8; // m/Min
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float Vertical_Adjust=9; //0.1°
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int32 ForceValue= 10;
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int32 LaneChangeDistance=11;
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SP_MSP_MK32_Button P_MK32=12;
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TT_MotorParameters LeftMotor=13;//左电机 ID2
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TT_MotorParameters RightMotor=14;// 右电机 ID3
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TT_MotorParameters SwingMotor=15;// 右电机 ID3
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MSP_TL720DParameters TL720DParameters=16;
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IO_Data IO=17;
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ErrorData SystemErrorData=18;
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PV_struct_define PV=19;//用户配置数据
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float Tar_Position_angle=20; //位置环模式，期望角度
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int32 Tar_Position_Velcity_Degree_S=21; //位置环模式，速度(m/min)
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int32 symmetricalOrNot=22;
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int32 Robot_backMode=23;
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int32 Robot_Swing_Speed=24;
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Strain_Gauge_Struct Strain_Gauge=25;
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float weld_data_X=26;
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int32 weld_exist=27;
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int32 Now_press=28;
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int32 turn_center_difference=29;
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ground_management_struct GroundManagementValue = 30;
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int32 robot_back_distance = 31;
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int32 auto_working =32; //记录是否正在自动行进
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int32 client_close=33;
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int32 robot_real_speed=34;
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int32 wire_status=35;
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};
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//protoc --nanopb_out=. *.proto
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