51 lines
4.1 KiB
Python
51 lines
4.1 KiB
Python
# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# source: cmvr/msgs/motor.proto
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"""Generated protocol buffer code."""
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from google.protobuf.internal import enum_type_wrapper
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import descriptor_pool as _descriptor_pool
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from google.protobuf import message as _message
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from google.protobuf import reflection as _reflection
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from google.protobuf import symbol_database as _symbol_database
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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from cmvr.msgs import canopen_pb2 as cmvr_dot_msgs_dot_canopen__pb2
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DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15\x63mvr/msgs/motor.proto\x12\tcmvr.msgs\x1a\x17\x63mvr/msgs/canopen.proto\"\x94\x08\n\x0bMotorStatus\x12$\n\x08run_mode\x18\x01 \x01(\x0e\x32\x12.cmvr.msgs.RunMode\x12\x0f\n\x07\x63urrent\x18\x02 \x01(\x05\x12\x16\n\x0etarget_current\x18\x03 \x01(\x05\x12\r\n\x05speed\x18\x04 \x01(\x05\x12\x14\n\x0ctarget_speed\x18\x05 \x01(\x05\x12\x10\n\x08position\x18\x06 \x01(\x05\x12\x17\n\x0ftarget_position\x18\x07 \x01(\x05\x12\x13\n\x0b\x65rror_state\x18\x08 \x01(\r\x12\x10\n\x08speed_kp\x18\t \x01(\x05\x12\x10\n\x08speed_ki\x18\n \x01(\x05\x12\x10\n\x08speed_kd\x18\x0b \x01(\x05\x12\x13\n\x0bposition_kp\x18\x0c \x01(\x05\x12\x13\n\x0bposition_ki\x18\r \x01(\x05\x12\x13\n\x0bposition_kd\x18\x0e \x01(\x05\x12\x13\n\x0b\x62us_voltage\x18\x0f \x01(\x05\x12\x17\n\x0fmax_abs_current\x18\x10 \x01(\x05\x12\x17\n\x0fmax_pos_current\x18\x11 \x01(\x05\x12\x17\n\x0fmin_neg_current\x18\x12 \x01(\x05\x12\x15\n\rmax_pos_accel\x18\x13 \x01(\x05\x12\x15\n\rmin_neg_accel\x18\x14 \x01(\x05\x12\x18\n\x10max_pos_velocity\x18\x15 \x01(\x05\x12\x18\n\x10min_neg_velocity\x18\x16 \x01(\x05\x12\x18\n\x10max_pos_position\x18\x17 \x01(\x05\x12\x18\n\x10min_neg_position\x18\x18 \x01(\x05\x12\x12\n\nmotor_temp\x18\x19 \x01(\x05\x12\x12\n\nboard_temp\x18\x1a \x01(\x05\x12\x12\n\ncurrent_kp\x18\x1b \x01(\x05\x12\x12\n\ncurrent_ki\x18\x1c \x01(\x05\x12\x12\n\ncurrent_kd\x18\x1d \x01(\x05\x12\x12\n\nmotor_type\x18\x1e \x01(\x05\x12\x15\n\rmotor_version\x18\x1f \x01(\x05\x12\x18\n\x10software_version\x18 \x01(\x05\x12\x17\n\x0fposition_offset\x18! \x01(\x05\x12\x10\n\x08\x63sp_data\x18\" \x01(\x0c\x12\x17\n\x0f\x65ncoder_voltage\x18# \x01(\x05\x12\x15\n\rencoder_state\x18$ \x01(\x05\x12\x19\n\x11overvoltage_limit\x18% \x01(\x05\x12\x1a\n\x12undervoltage_limit\x18& \x01(\x05\x12\x16\n\x0e\x63oil_over_temp\x18\' \x01(\x05\x12\x18\n\x10\x64river_over_temp\x18( \x01(\x05\x12)\n\x0csdo_response\x18) \x01(\x0b\x32\x13.cmvr.msgs.SdoFrame\x12&\n\tnmt_state\x18* \x01(\x0e\x32\x13.cmvr.msgs.NmtState\x12\x11\n\tctrl_word\x18+ \x01(\r\x12\x13\n\x0bstatus_word\x18, \x01(\r*\xae\x02\n\x07RunMode\x12\x18\n\x14RUN_MODE_UNSPECIFIED\x10\x00\x12\x1d\n\x19RUN_MODE_PROFILE_POSITION\x10\x01\x12\x15\n\x11RUN_MODE_VELOCITY\x10\x02\x12\x1d\n\x19RUN_MODE_PROFILE_VELOCITY\x10\x03\x12\x13\n\x0fRUN_MODE_TORQUE\x10\x04\x12\x13\n\x0fRUN_MODE_HOMING\x10\x05\x12\"\n\x1eRUN_MODE_INTERPOLATED_POSITION\x10\x07\x12!\n\x1dRUN_MODE_CYCLIC_SYNC_POSITION\x10\x08\x12!\n\x1dRUN_MODE_CYCLIC_SYNC_VELOCITY\x10\t\x12 \n\x1cRUN_MODE_CYCLIC_SYNC_CURRENT\x10\nb\x06proto3')
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_RUNMODE = DESCRIPTOR.enum_types_by_name['RunMode']
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RunMode = enum_type_wrapper.EnumTypeWrapper(_RUNMODE)
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RUN_MODE_UNSPECIFIED = 0
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RUN_MODE_PROFILE_POSITION = 1
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RUN_MODE_VELOCITY = 2
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RUN_MODE_PROFILE_VELOCITY = 3
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RUN_MODE_TORQUE = 4
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RUN_MODE_HOMING = 5
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RUN_MODE_INTERPOLATED_POSITION = 7
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RUN_MODE_CYCLIC_SYNC_POSITION = 8
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RUN_MODE_CYCLIC_SYNC_VELOCITY = 9
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RUN_MODE_CYCLIC_SYNC_CURRENT = 10
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_MOTORSTATUS = DESCRIPTOR.message_types_by_name['MotorStatus']
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MotorStatus = _reflection.GeneratedProtocolMessageType('MotorStatus', (_message.Message,), {
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'DESCRIPTOR' : _MOTORSTATUS,
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'__module__' : 'cmvr.msgs.motor_pb2'
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# @@protoc_insertion_point(class_scope:cmvr.msgs.MotorStatus)
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})
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_sym_db.RegisterMessage(MotorStatus)
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if _descriptor._USE_C_DESCRIPTORS == False:
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DESCRIPTOR._options = None
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_RUNMODE._serialized_start=1109
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_RUNMODE._serialized_end=1411
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_MOTORSTATUS._serialized_start=62
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_MOTORSTATUS._serialized_end=1106
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# @@protoc_insertion_point(module_scope)
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