1   Definition

The response issued by a Wheel Motor to the Motion Actuation Subsystem informing about the execution of a Motor Command.

 2   Functional Requirements

The Motor Response to a Motor Command includes:

  1. Time the response is issued.
  2. The Motor State represented by MotorStateOver, a number between 0 and 1 where:
    1. MotorStateOver=0, Wheel does not oppose to Torque applied by Motor
    2. MotorStateOver=1 Wheel operates correctly.
  3. The Motor State represented by MotorStateUnder, a number between 0 and 1 where
    1. MotorStateUnder=0 Wheel is blocked
    2. MotorStateUnder = 1 Wheel operates correctly.

Real values represent intermediate states.

 3   Syntax

https://schemas.mpai.community/CAV2/V1.0/data/MotorResponse.json

 4   Semantics

Label Size Description
Header N1 Bytes Wheel Response Header
– Standard 9 Bytes The characters “CAV-MRR-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
MotorResponseID N4 Bytes Identifier Motor Response.
MotorID N5 Bytes Identifier of Motor.
MotorResponse N7 Bytes Set of Motor Response Data.
MotorResponseTime 17 Bytes Time of the Motor Response is issued.
MotorState N8 Bytes State of Motor expressed as
0 ≤ MotorStateOver ≤ 1
0 ≤ MotorStateUnder ≤ 1.
DescrMetadata N10 Bytes Descriptive Metadata