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- 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; }
- }
- /// <summary>
- /// 实际系统控制模式请求
- /// </summary>
- [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; }
- /// <summary>
- /// 机器人Estop使能
- /// </summary>
- [Data(BitStart = 40, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 2)]
- public string 机器人Estop使能 { get; set; }
- /// <summary>
- /// 制动急停气泵使能
- /// </summary>
- [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; }
- /// <summary>
- /// 系统软急停使能
- /// </summary>
- [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; }
- /// <summary>
- /// 换挡臂Y电机使能
- /// </summary>
- [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; }
- /// <summary>
- /// 离合电机使能
- /// </summary>
- [Data(BitStart = 50, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 6)]
- public string 离合电机使能 { get; set; }
- /// <summary>
- /// 油门离合器控制
- /// </summary>
- [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; }
- /// <summary>
- /// 油门电机使能
- /// </summary>
- [Data(BitStart = 56, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 8)]
- public string 油门电机使能 { get; set; }
- /// <summary>
- /// 制动电机使能
- /// </summary>
- [Data(BitStart =58, BitLength = 1,DataType = "binary",Description = "0=Disable;1=Enable",Sequence =9)]
- public string 制动电机使能 { get; set; }
- /// <summary>
- /// 转向电机使能
- /// </summary>
- [Data(BitStart = 60, BitLength = 1, DataType = "binary", Description = "0=Disable;1=Enable", Sequence = 10)]
- public string 转向电机使能 { get; set; }
- /// <summary>
- /// 换挡臂X电机使能
- /// </summary>
- [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; }
- }
- }
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