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


https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json   Semantics

Label Size Description
Header N1 Bytes
·         Standard 9 Bytes The characters “CAV-BRC-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
WheelMotorID N4 Bytes Identifier of Wheel Motor.
WheelMotorCommandDuration N5 Bytes Duration of set of Wheel Motor Commands.
WheelMotorFormatID N6 Bytes Format ID of Wheel Motor Command.
WheelMotorCommands N7 Bytes Set of Wheel Motor Command.
·         Duration N8 Bytes Duration of Wheel Motor Command.
·         SpatialAttitude N9 Bytes Initial Spatial Attitude of CAV.
·         WheelMotorCommandID N10 Bytes Deceleration in m/s2 passed to Wheel Motor.
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.