package ZSS.Protocol

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Used in: Balls4Rec

• required double posX = 1

• required double posY = 2

• optional bool valid = 3

Used in: MaintainVision

• required int32 size = 1

• repeated Ball4Rec ball = 2

Used in: Debug_Msg

• optional Rectangle rect = 1

• float start = 2

• float span = 3

Used in: Debug_Msg

• optional Point start = 1

• optional Point c1 = 2

• optional Point c2 = 3

• optional Point end = 4

• repeated Debug_Heatmap.Heat points = 1

Used in: Debug_Heatmap

• int32 value = 1

• repeated Point p = 2

Used in: Debug_Msg

• optional Point start = 1

• optional Point end = 2

• bool BACK = 3

• bool FORWARD = 4

Used in: Debug_Msgs

• Debug_Msg.Debug_Type type = 1

• Debug_Msg.Color color = 2

• optional Debug_Robot robot = 3

• optional Debug_Line line = 4

• optional Debug_Arc arc = 5

• optional Debug_Polygon polygon = 6

• optional Debug_Text text = 7

• optional Debug_CubicBezier bezier = 8

• optional Debug_Points points = 9

• int32 RGB_value = 10

Used in: Debug_Msg

• WHITE = 0

• RED = 1

• ORANGE = 2

• YELLOW = 3

• GREEN = 4

• CYAN = 5

• BLUE = 6

• PURPLE = 7

• GRAY = 8

• BLACK = 9

• USE_RGB = 10

Used in: Debug_Msg

• ROBOT = 0

• LINE = 1

• ARC = 2

• POLYGON = 3

• TEXT = 4

• BEZIER = 5

• POINTS = 6

Used in: RecMessage

• repeated Debug_Msg msgs = 1

Used in: Debug_Msg

• repeated Point point = 1

Used in: Debug_Msg

• repeated Point vertex = 1

Used in: Debug_Msg

• optional Point pos = 1

• float dir = 2

Used in: Debug_Msg

• optional Point pos = 1

• string text = 2

• float size = 3

• int32 weight = 4

Used in: RecMessage

• required int32 lastTouch = 1

• required int32 lastTouchTeam = 2

• repeated TeamRobotMsg processMsg = 3

• repeated TeamRobotMsg maintain = 4

• required Balls4Rec balls = 5

Used in: Debug_CubicBezier, Debug_Heatmap.Heat, Debug_Line, Debug_Points, Debug_Polygon, Debug_Robot, Debug_Text, Rectangle

• float x = 1

• float y = 2

Used in: RecMessages

• required bool ctrlC = 1

• required SelectedArea selectedArea = 2

• required MaintainVision maintainVision = 3

• repeated Debug_Msgs debugMsgs = 4

• repeated RecMessage recMsgs = 1

Used in: Debug_Arc

• optional Point point1 = 1

• optional Point point2 = 2

Used in: TeamRobotMsg

• optional int32 id = 1

• required double posX = 2

• required double posY = 3

• required double angle = 4

Used in: Robots_Command

• required int32 robot_id = 1

  The unique ID of the robot, as identified by SSL-Vision.

• required float velocity_x = 2

  Desired forward drive velocity in mm/s .

• required float velocity_y = 3

  Desired sideways left drive velocity in mm/s .

• required float velocity_r = 4

  Desired counterclockwise angular velocity in 1/40 radians / second.

• required bool kick = 5

  0 for flat kick , 1 for chip kick .

• required float power = 6

  Desired flat kick speed, in cm/s. If this optional field is missing, then no flat kick command should be sent. Desired chip kick distance, in cm. If this optional field is missing, then no flat kick command should be sent. If this field is present along with the flat_kick field, the flat_kick command takes precedence.

• required float dribbler_spin = 7

• optional float current_angle = 8

  new protocol

• optional float target_angle = 9

• required bool use_dir = 10

• required bool need_report = 11

• optional bool direct_kick_no_calibration = 12

  use for power calibration

• optional float direct_kick_power = 13

Used in: Robots_Status

• required int32 robot_id = 1

• required bool infrared = 2

• required bool flat_kick = 3

• required bool chip_kick = 4

• repeated Robot_Command command = 1

• optional int32 delay = 2

  delay * 0.1ms

• repeated Robot_Status robots_status = 1

Used in: RecMessage

• required float maxX = 1

• required float maxY = 2

• required float minX = 3

• required float minY = 4

Used in: MaintainVision

• required int32 size = 1

• repeated Robot4Rec robot = 2