// source: motor_control.proto
syntax = "proto3";

message ReqMotorServiceJoystick {
  double vector_angle = 1;
  double vector_length = 2;
}

message ReqMotorServiceJoystickFixedAngle {
  double vector_angle = 1;
  double vector_length = 2;
}

message ReqMotorServiceJoystickStop {
}

message ReqMotorRun {
  int32 id = 1;
  double speed = 2;
  bool direction = 3;
  int32 speed_ramping = 4;
  int32 resolution_level = 5;
}

message ReqMotorRunInPulse {
  int32 id = 1;
  int32 frequency = 2;
  bool direction = 3;
  int32 speed_ramping = 4;
  int32 resolution = 5;
  int32 pulse = 6;
  bool mode = 7;
}

message ReqMotorRunTo {
  int32 id = 1;
  double end_position = 2;
  double speed = 3;
  int32 speed_ramping = 4;
  int32 resolution_level = 5;
}

message ReqMotorGetPosition {
  int32 id = 1;
}

message ReqMotorStop {
  int32 id = 1;
}

message ReqMotorReset {
  int32 id = 1;
  bool direction = 2;
}

message ReqMotorChangeSpeed {
  int32 id = 1;
  double speed = 2;
}

message ReqMotorChangeDirection {
  int32 id = 1;
  bool direction = 2;
}

message ResMotor {
  int32 id = 1;
  int32 code = 2;
}

message ResMotorPosition {
  int32 id = 1;
  int32 code = 2;
  double position = 3;
}

message ReqDualCameraLinkage {
  int32 x = 1;
  int32 y = 2;
}