using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace SIASUN.Autopilot.Device.Message
{
public class 执行机构使能请求
{
public const string OperationCode = "5f2";
public 执行机构使能请求()
{
}
public string GetId
{
get { return OperationCode; }
}
///
/// 实际系统控制模式请求
///
[Data(BitStart = 32, BitLength = 3, DataType = "binary", Description = "0=自动学习模式;1=手动学习模式;3=人工驾驶模式;4=机器人自检模式;5=机器人调试模式", Sequence = 1)]
public string 实际系统控制模式请求 { get; set; }
///
/// 机器人Estop使能
///
[Data(BitStart = 40, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 2)]
public string 机器人Estop使能 { get; set; }
///
/// 制动急停气泵使能
///
[Data(BitStart = 42, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 3)]
public string 制动急停气泵使能 { get; set; }
///
/// 系统软急停使能
///
[Data(BitStart = 44, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 4)]
public string 系统软急停使能 { get; set; }
///
/// 换挡臂Y电机使能
///
[Data(BitStart = 48, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 5)]
public string 换挡臂Y电机使能 { get; set; }
///
/// 离合电机使能
///
[Data(BitStart = 50, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 6)]
public string 离合电机使能 { get; set; }
///
/// 油门离合器控制
///
[Data(BitStart = 52, BitLength = 2, DataType = "binary", Description = "0=Joint;1=Release;2=无效命令", Sequence = 7)]
public string 油门离合器控制 { get; set; }
///
/// 油门电机使能
///
[Data(BitStart = 56, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 8)]
public string 油门电机使能 { get; set; }
///
/// 制动电机使能
///
[Data(BitStart =58, BitLength = 1,DataType = "binary",Description = "0=Disable;1=Enable",Sequence =9)]
public string 制动电机使能 { get; set; }
///
/// 转向电机使能
///
[Data(BitStart = 60, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 10)]
public string 转向电机使能 { get; set; }
///
/// 换挡臂X电机使能
///
[Data(BitStart = 62,BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence =11)]
public string 换挡臂X电机使能 { get; set; }
}
}