syntax = "proto3";
import "msp_MK32.proto";
import "msp_Motor.proto";
import "msp_TL720D.proto";
import "bsp_Error.proto";
import "bsp_PV.proto";

import "bsp_IO.proto";
import "msp_UWB_20.proto";
import "msp_SLAM.proto";

message GV_struct_define
{
  	int32 TempatureE_2C= 1; // E_2C=0.01 Celsius 0.01摄氏度
	int32 Left_Compensation= 2;  // E_2D =0.01 Degree    0.01度	
	int32 Right_Compensation= 3; //0.01度	
	int32 Robot_Angle=4; //机器人角度 //0.01度	
    int32 Robot_Move_Speed= 5;  //  0.1rpm
    float ForceValue= 6;	 
	int32 LaneChangeDistance= 7;
	SP_MSP_MK32_Button P_MK32=8;							
	MotorParameters LeftMotor=9;//左电机 ID1
	MotorParameters RightMotor=10;// 右电机 ID2
	MSP_TL720DParameters TL720DParameters= 11;
	IO_Data IO=12;
	ErrorData SystemErrorData=13;
	PV_struct_define PV =14;//用户配置数据
	UWB_20_struct_define UWB_20cm = 15;
	SLAM_struct_define SLAM = 16;	
	int32 RobotAngle_DDM = 17;	//电子陀螺仪 0.01°
	uint32 Wire_lenth = 18;	//拉线传感器 cm
	int32 Robot_Move_Speed_m = 19; // m/min
	int32 speed_blowers_pwm = 20; // 占空比
MotorParameters WireMotor = 21;//卷线电机 ID1

};

//protoc --nanopb_out=. *.proto