1   Definition

The response issued by a Wheel Motor to the Motion Actuation Subsystem regarding the execution of an AMS-MAS Message.

 2   Functional Requirements

The Response of a Wheel Motor to the Wheel Motor Command.

 3   Syntax

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

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

 4   Semantics

Label Size Description
Header N1 Bytes
·         Standard 8 Bytes The characters “CAV-BRR-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.
WheelMotorResponseDuration N5 Bytes Duration the Wheel Motor Response refer tos.
WheelMotorFormatID N6 Bytes Format ID of Wheel Motor Response.
WheelMotorResponses N7 Bytes Set of Wheel Motor Responses.
·         Time 17 Bytes Duration of Wheel Motor Response.
·         SpatialAttitude N8 Bytes Initial Spatial Attitude of CAV.
·         WheelMotorResponseID N9 Bytes Response to MAS Response Analyser.
DescrMetadata N10 Bytes Descriptive Metadata

 5   Data Formats and Attitudes

Wheel Motor Format is required.

 6   To Respondents

Respondents are requested to propose Wheel Motor Format IDs.