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 is expressed in m/s2 and duration in second.

3   Syntax


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.
– MotorCommandSpaceTime N8 Bytes Motor Command Space Time
– Intensity N9 Bytes Initial Spatial Attitude of CAV.
DescrMetadata N11 Bytes Descriptive Metadata

5   Data Formats and Attitudes

WheelMotor Format is required.

6   To Respondents

Respondents are requested to propose WheelMotor Format IDs.