1 Definition
The specific command issued by the Motion Actuation Subsystem to a Steering Wheel executing an AMS-MAS Message.
2 Functional Requirements
A Steering Wheel Command is expressed by degrees representing the new angle of the wheel and in seconds representing the time taken by the wheel to reach the new angle.
3 Syntax
https://schemas.mpai.community/CAV2/V1.0/data/WheelCommand.json
4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | Wheel Command Header |
| – Standard | 9 Bytes | The characters “CAV-WHC-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 |
| SteeringID | N4 Bytes | Identifier of Steering. |
| SteeringCommands | N7 Bytes | Set of Steering Command. |
| – WheelCommandTime | N8 Bytes | Time when the Wheel Command is issued. |
| – Angle | N9 Bytes | New angle of the wheel in degrees. |
| DescrMetadata | N11 Bytes | Descriptive Metadata |
