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 expresses the torque applied to a wheel measured in newton meters in Newton metre.
3 Syntax
https://schemas.mpai.community/CAV2/V1.0/data/MotorCommand.json
4 Semantics
Label | Size | Description |
Header | N1 Bytes | Motor Command Header |
– Standard | 9 Bytes | The characters “CAV-MRC-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 |
MotorCommandID | N4 Bytes | ID of Motor Command. |
MotorID | N5 Bytes | Identifier of Wheel Motor. |
MotorCommand | N7 Bytes | Set of Motor Command. |
– TorqueDuration | N8 Bytes | Duartion from time of command issued to time whem command will not be executed. |
– Torque | N9 Bytes | Expressed in Newton metre. |
DescrMetadata | N11 Bytes | Descriptive Metadata |