motor.proto

syntax = "proto3";

package lebai.motor;

import "google/protobuf/empty.proto";

// 电机运行模式
enum MotorMode {
  // 位置环
  POSITION = 0;
  //  扭矩环
  TORQUE = 1;
  //  速度环
  SPEED = 2;
}

// 伺服参数
message ServoParam {
  double position_kp = 1 [json_name = "position_kp"];
  double speed_kp = 2 [json_name = "speed_kp"];
  double speed_it = 3 [json_name = "speed_it"];
  double torque_cmd_filter = 4 [json_name = "torque_cmd_filter"];
}
message ServoParams {
  repeated ServoParam params = 1;
}
message SetZeroRequest {
  repeated double pose = 1;
  repeated bool valids = 2;
}

message ExtraServoParam {
  double acc_position_kp = 1 [json_name = "acc_position_kp"];
  double acc_speed_kp = 2 [json_name = "acc_speed_kp"];
  double acc_speed_it = 3 [json_name = "acc_speed_it"];
  double uni_position_kp = 4 [json_name = "uni_position_kp"];
  double uni_speed_kp = 5 [json_name = "uni_speed_kp"];
  double uni_speed_it = 6 [json_name = "uni_speed_it"];
  double dec_position_kp = 7 [json_name = "dec_position_kp"];
  double dec_speed_kp = 8 [json_name = "dec_speed_kp"];
  double dec_speed_it = 9 [json_name = "dec_speed_it"];
}

message SetExtraServoParamsRequest {
  repeated ExtraServoParam params = 1;
  repeated bool valids = 2;
}

message ResetExtraServoParamsRequest {
  repeated bool valids = 1;
}

// 关节电机相关服务
service MotorService {
  // 设置伺服参数
  rpc SetServoParams(ServoParams) returns (google.protobuf.Empty);
  // 获取伺服参数
  rpc GetServoParams(google.protobuf.Empty) returns (ServoParams);
  // 导轨找零
  rpc FindZero(google.protobuf.Empty) returns (google.protobuf.Empty);
  // 设置关节零位
  rpc SetZero(SetZeroRequest) returns (google.protobuf.Empty);
  // 设置所有extra伺服参数
  rpc SetExtraServoParams(SetExtraServoParamsRequest)
      returns (google.protobuf.Empty);
  // 重置extra伺服参数
  rpc ResetExtraServoParams(ResetExtraServoParamsRequest)
      returns (google.protobuf.Empty);
}