1   Definition

The command issued by the Motion Actuation Subsystem to the Motor of a Wheel to enable the CAV to reach an assigned velocity after Time.

2   Functional Requirements

A Motor Command expresses

  1. The target velocity.
  2. The Time after which the target velocity should be reached.

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 Motor.
MotorCommand N7 Bytes Set of Motor Command.
– Duration N8 Bytes Time during which torque is applied.
– TargetVelocity N9 Bytes Velocity that should be reached after Time.
DescrMetadata N11 Bytes Descriptive Metadata.