1 Definition
The specific command issued by the Motion Actuation Subsystem to a Brake to execute an AMS-MAS Message.
2 Functional Requirements
A Brake Command is expressed as end velocity and duration in seconds.
3 Syntax
https://schemas.mpai.community/CAV2/V1.0/data/BrakeCommand.json
4 Semantics
Label | Size | Description |
Header | N1 Bytes | Brake Command Header |
– Standard | 9 Bytes | The characters “CAV-BRC-V” |
– Version | N2 Bytes | Major version – 1 or 2 Bytes |
– Dot-separator | 1 Byte | The character “.” |
– Subversion | N3 Bytes | Minor version – 1 or 2 Bytes |
BrakeCommandID | N4 Bytes | Format ID of BrakeCommand. |
BrakeID | N6 Bytes | Identifier of Brake. |
BrakeCommands | N7 Bytes | Set of BrakeCommands. |
– End velocity | N8 Bytes | Expected velocity at the end of duration. |
– BrakeCommandTime | N9 Bytes | Duration of BrakeCommand. |
DescrMetadata | N10 Bytes | Descriptive Metadata |