namespace RobotNet10.RobotApp.Client.Shared.Devices;


/// <summary>
/// DTO cho CiA402Servo data
/// </summary>
public struct CiA402ServoDataDto
{
    public ushort Statusword { get; set; }
    public string DriveState { get; set; }
    public string OperationMode { get; set; }
    public int Position { get; set; }
    public int Velocity { get; set; }
    public short Torque { get; set; }
    public ushort ErrorCode { get; set; }
    public bool IsConnected { get; set; }
    /// <summary>Profile Speed (0x6081) - đọc từ drive khi GetServoData</summary>
    public uint ProfileSpeed { get; set; }
    /// <summary>Profile Acceleration (0x6083) - đọc từ drive khi GetServoData</summary>
    public uint ProfileAcceleration { get; set; }
    /// <summary>Profile Deceleration (0x6084) - đọc từ drive khi GetServoData</summary>
    public uint ProfileDeceleration { get; set; }
}