1 Definition
The specific command issued by the Motion Actuation Subsystem to a Wheel Motor to execute an AMS-MAS Message.
2 Functional Requirements
A Wheel Motor Command expresses the torque applied to a wheel measured in newton meters in Newton metre.
3 Syntax
https://schemas.mpai.community/CAV2/V1.0/data/MotorCommand.json
4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | Motor Command Header |
| – Standard – MotorCommand | 9 Bytes | The characters “CAV-MRC-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 |
| MotorCommandID | N4 Bytes | ID of Motor Command. |
| MotorID | N5 Bytes | Identifier of Wheel Motor. |
| MotorCommand | N7 Bytes | Set of Motor Command. |
| – TorqueDuration | N8 Bytes | Duration from command issue time to command execution time. |
| – Torque | N9 Bytes | Expressed in Newton metre. |
| DescrMetadata | N11 Bytes | Descriptive Metadata. |
