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43 lines
1.2 KiB
43 lines
1.2 KiB
6 days ago
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syntax = "proto3";
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//import "nanopb.proto";
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import "bsp_PID.proto";
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import "bsp_PV.proto";
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message CV_struct_define{
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//拉毛项目 配置参数
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int32 MAXSpeed_m_per_min = 1;
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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 DMK0_Speed=8; //单位RPM
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int32 Lane_Change_Speed_m_per_min=9;
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int32 IsAutomationAuthorized=10;
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int32 IsFunctionAuthorized=11;
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int32 Joy_Sticker_Angle_Allowance = 12;// 例如在90度的±30°
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int32 Joy_Sticker_Value_Allowance = 13;//例如 joysticker的值超过600
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int32 Allowable_Error_For_Angle_Tracking = 14;//换道纠偏角度跟踪的允许误差1 度
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int32 Horizontal_ChangeLane_Compensation=15; //水平换道补偿距离
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int32 Vertical_ChangeLane_Compensation=16; //竖直换道补偿距离
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int32 wheel_Reduction_Ratio=17; //减速比
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double wheel_Diameter_m=18; //车轮直径 m
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PID_Parameters PID_high=19;
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PID_Parameters PID_mid=20;
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PID_Parameters PID_low=21;
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};
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