1 Definition
The response issued by a Wheel to the Motion Actuation Subsystem regarding the execution of an AMS-MAS Message.
2 Functional Requirements
The Response of a Wheelto a Steering Command.
3 Syntax
https://schemas.mpai.community/CAV2/V1.0/data/WheelResponse.json
4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | Wheel Response Header |
| – Standard | 9 Bytes | The characters “CAV-WHR-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 |
| WheelID | N4 Bytes | Identifier of Wheel . |
| WheelResponseID | N5 Bytes | Identifier of Wheel Response. |
| WheelResponse | N7 Bytes | Set of Wheel Responses. |
| – WheelResponseSpaceTime | N8 Bytes | Space-Time of Wheel Response. |
| – WheelState | N9 Bytes | State of Wheel. |
| DescrMetadata | N10 Bytes | Descriptive Metadata |
5 Data Formats and Attitudes
Wheel Qualifiers are required.
6 To Respondents
Respondents are requested to propose Wheel Qualifiers.
