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 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 Duartion from time of command issued to time whem command will not be executed.
– Torque N9 Bytes Expressed in Newton metre.
DescrMetadata N11 Bytes Descriptive Metadata