1       Definition

The command issued by the Motion Actuation Subsystem to rotate a Wheel.

2       Functional Requirements

A Wheel Command is expressed by:

  1. Degrees representing the target angle of the wheel.
  2. Seconds representing the Time the wheel should take to reach the target 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 Start and end Time of Wheel Command execution.
– Angle N9 Bytes Target angle of the wheel in degrees.
DescrMetadata N11 Bytes Descriptive Metadata