/*
 * msp_TTMotor_ZQ.h
 *
 *  Created on: 2024年5月22日
 *      Author: Administrator
 */

#ifndef INC_MSP_MSP_DH_W_R_40022_CAN_H_
#define INC_MSP_MSP_DH_W_R_40022_CAN_H_


#include "BSP/bsp_include.h"

typedef struct
 {
  int32_t For_Back_Value_X;
  int32_t Left_Right_Value_Y;

  int32_t Left_Comp;
  int32_t Right_Comp;

  int32_t Car_Speed;

  int32_t Swing_Speed;
  int32_t Swing_Angle;

  int32_t Vert2_Horiz1;

  int32_t Left_Up1_Right_Down2;
  int32_t Tast_Init1_Close2;

  int32_t UP1;
  int32_t DOWN2;
  int32_t LEFT3;
  int32_t RIGHT4;


  int32_t Rise_down_X;
  int32_t Turn_Left_Right_Y;

  int32_t EMERGENCY_STOP;
  int32_t Wireless_Status;

  int32_t Clean_Fire1_HighPres2;

  int32_t Mov_Horiz1_vert2;

  int32_t Mode_A1_B2;
  int32_t Mode_C1_D2;

  int32_t Scan_horiz1_vert2;
  int32_t Turn_Road_Back_Dis;

  int32_t Vertic_Turn_Road_Back_Dis;

 }SP_MSP_DH_CAN_Parameters;

 uint8_t GF_MSP_DH_CAN_Init(uint8_t FDCAN_CH, SP_MSP_DH_CAN_Parameters* MotorP);
//void  GF_MSP_DH_40022_CAN_Inquiry(int Swi_Speed,int Swi_Angle,int Trav_Speed, int Downforce,int Left_Comp ,int Right_Comp);
 void  GF_MSP_DH_40022_CAN_Inquiry(double Arm_Radius,int Back_Distance_CM, int Status_Flag);
#endif /* INC_MSP_MSP_DH_W_R_40022_CAN_H_ */
