syntax = "proto3";
//import "nanopb.proto";
import "bsp_PID.proto";
import "bsp_PV.proto";

message CV_struct_define{
 	  
	 //拉毛项目 配置参数
	  int32 MAXSpeed_m_per_min = 1;
	 

	  int32 LeftTurnSpeed = 2;
 	  int32 RightTurnSpeed = 3;
	   
	  int32 RobotLeftAngleValue=4;// 水平左方向  单位0.01°
	  int32 RobotRightAngleValue=5;// 水平右方向角度值 单位0.01°
	  int32 RobotUpAngleValue=6;// 竖直方向角度值 单位0.01°
	  int32 RobotDownAngleValue=7;// 竖直向下角度值 单位0.01°
	   
	  int32 DMK0_Speed=8;	 //单位RPM
	
	  int32 Lane_Change_Speed_m_per_min=9;
	  
	  int32 IsAutomationAuthorized=10;
	  int32 IsFunctionAuthorized=11;
	  int32 Joy_Sticker_Angle_Allowance = 12;// 例如在90度的±30°
	  int32 Joy_Sticker_Value_Allowance = 13;//例如 joysticker的值超过600
	
	  int32 Allowable_Error_For_Angle_Tracking  = 14;//换道纠偏角度跟踪的允许误差1 度
	  int32 Horizontal_ChangeLane_Compensation=15; //水平换道补偿距离
	  int32 Vertical_ChangeLane_Compensation=16; //竖直换道补偿距离
      int32 wheel_Reduction_Ratio=17;  //减速比
	  double wheel_Diameter_m=18;  //车轮直径 m
	  PID_Parameters PID_high=19;
	  PID_Parameters PID_mid=20;
	  PID_Parameters PID_low=21;


	

};