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67 lines
2.4 KiB
67 lines
2.4 KiB
syntax = "proto3";
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//import "nanopb.proto";
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import "bsp_PV.proto";
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message CV_struct_define{
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//喷漆项目
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int32 Speed_1_m_per_min = 1; // MPMin = 1m/min 1米每分钟 m/min
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int32 Speed_2_m_per_min = 2;
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int32 Speed_3_m_per_min = 3;
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int32 Speed_4_m_per_min = 4;
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int32 Speed_5_m_per_min = 5;
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int32 Speed_6_m_per_min = 6;
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int32 Speed_7_m_per_min = 7;
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int32 Speed_8_m_per_min = 8;
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int32 Speed_9_m_per_min = 9;
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int32 Speed_10_m_per_min = 10;
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int32 Speed_11_m_per_min = 11;
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int32 Speed_12_m_per_min = 12;
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int32 Speed_13_m_per_min =13;
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int32 Speed_14_m_per_min = 14;
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int32 Speed_15_m_per_min = 15;
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int32 Speed_16_m_per_min = 16;
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int32 Speed_17_m_per_min = 17;
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int32 Speed_18_m_per_min = 18;
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int32 Speed_19_m_per_min = 19;
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int32 Speed_20_m_per_min = 20;
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int32 Speed_21_m_per_min = 21;
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int32 Speed_22_m_per_min = 22;
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int32 Speed_23_m_per_min = 23;
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int32 Speed_24_m_per_min = 24;
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int32 Speed_25_m_per_min = 25;
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int32 Speed_26_m_per_min = 26;
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int32 Speed_27_m_per_min = 27;
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int32 Speed_28_m_per_min = 28;
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int32 Speed_29_m_per_min = 29;
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int32 Speed_30_m_per_min = 30;
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double LeftTurnSpeed = 31;
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double RightTurnSpeed = 32;
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int32 RobotLeftAngleValue=33;// 水平左方向 单位0.01°
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int32 RobotRightAngleValue=34;// 水平右方向角度值 单位0.01°
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int32 RobotUpAngleValue=35;// 竖直方向角度值 单位0.01°
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int32 RobotDownAngleValue=36;// 竖直向下角度值 单位0.01°
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int32 Robot_Permitted_Angler_Error_Value_E_2D = 37;// 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 = 38;//角度值 0.01°
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int32 Lane_Change_Speed_m_per_min = 39;
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int32 Is_Automation_Authorized = 40;
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int32 Is_Function_Authorized = 41;
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int32 Joy_Sticker_Angle_Allowance = 42;// 例如在90度的±30°
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int32 Joy_Sticker_Value_Allowance = 43;//例如 joysticker的值超过600
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int32 Allowable_Error_For_Angle_Tracking = 44;//纠偏角度跟踪的允许误差1 度
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int32 Paint_Gun_Shutdown_Distance = 45;//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=46; //水平换道补偿距离
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int32 Vertical_ChangeLane_Compensation=47; //竖直换道补偿距离
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int32 pulse_Per_Circle=48; //每转多少脉冲
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int32 wheel_Reduction_Ratio=49; //减速比
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double wheel_Diameter_m=50; //车轮直径 m
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}
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