69 lines
3.6 KiB
C#
69 lines
3.6 KiB
C#
namespace RobotApp.Services.Robot;
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public partial class RobotPeripheral
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{
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public static readonly ushort SafetyStartAddress = 0x0835;
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public static readonly ushort EmergencyAddress = 0x0835;
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public static readonly ushort BumperAddress = 0x0836;
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public static readonly ushort LiftedUpAddress = 0x0837;
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public static readonly ushort LiftedDownAddress = 0x0838;
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public static readonly ushort LiftHomeAddress = 0x0839;
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public static readonly ushort LidarFrontProtectFieldAddress = 0x0830;
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public static readonly ushort LidarBackProtectFieldAddress = 0x0831;
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public static readonly ushort LidarFrontTimProtectFieldAddress = 0x083A;
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public static readonly ushort MotorReadyStartAddress = 0x0823;
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public static readonly ushort LeftMotorReadyAddress = 0x0823;
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public static readonly ushort RightMotorReadyAddress = 0x0824;
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public static readonly ushort LiftMotorReadyAddress = 0x0825;
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public static readonly ushort SwicthStartAddress = 0x0814;
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public static readonly ushort SwitchLockAddress = 0x0814;
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public static readonly ushort SwitchAutoAddress = 0x0815;
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public static readonly ushort SwitchManualAddress = 0x0816;
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public static readonly ushort ButtonStartAddress = 0x0840;
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public static readonly ushort StartButtonAddress = 0x0840;
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public static readonly ushort StopButtonAddress = 0x0841;
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public static readonly ushort ResetButtonAddress = 0x0842;
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public static readonly ushort SetHorizontalLoadAddress = 0x09CC;
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public static readonly ushort HasLoadAddress = 0x09D2;
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public static readonly ushort EnabledChargingAddress = 0x0854;
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public static readonly ushort EnableChargingAddress = 0x0853;
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public static readonly ushort SetMutedBaseAddress = 0x09CE;
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public static readonly ushort MutedBaseAddress = 0x09CF;
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public static readonly ushort SetMutedLoadAddress = 0x09D0;
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public static readonly ushort MutedLoadAddress = 0x09D1;
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public static readonly ushort SpeedStartAddress = 0x09C2;
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public static readonly ushort SpeedVerySlowAddress = 0x09C2;
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public static readonly ushort SpeedSlowAddress = 0x09C3;
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public static readonly ushort SpeedNormalAddress = 0x09C4;
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public static readonly ushort SpeedMediumAddress = 0x09C5;
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public static readonly ushort SpeedOptimalAddress = 0x09C6;
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public static readonly ushort SpeedFastAddress = 0x09C7;
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public static readonly ushort SpeedVeryFastAddress = 0x09C8;
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public static readonly ushort RobotStateStartAddress = 0x092C;
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public static readonly bool[] RobotClearState = [false, false, false, false, false, false, false];
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public static readonly bool[] RobotInitState = [true, false, false, false, false, false, false];
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public static readonly bool[] RobotNoPoseState = [false, true, false, false, false, false, false];
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public static readonly bool[] RobotPauseState = [false, false, true, false, false, false, false];
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public static readonly bool[] RobotIdleState = [false, false, false, true, false, false, false];
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public static readonly bool[] RobotProccessingState = [false, false, false, false, true, false, false];
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public static readonly bool[] RobotCharingState = [false, false, false, false, false, false, true];
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public static readonly ushort RobotStateErrorAddress = 0x0936;
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public static readonly ushort RobotExecuteStartAddress = 0x0933;
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public static readonly bool[] RobotExecuteClearState = [false, false, false];
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public static readonly bool[] RobotExecuteMoveState = [true, false, false];
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public static readonly bool[] RobotExecuteLiftingState = [false, true, false];
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public static readonly bool[] RobotExecuteLiftRotatingState = [false, false, true];
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}
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