Add wheel ticks

boschglobal · Dec 12, 2022 · 54114cc · 54114cc
1 parent 4c6725c
commit 54114cc
Showing 1 changed file with 15 additions and 0 deletions.
diff --git a/spec/Chassis/Wheel.vspec b/spec/Chassis/Wheel.vspec
@@ -71,3 +71,18 @@ Speed:
   type: sensor
   unit: km/h
   description: Rotational speed of a vehicle's wheel.
+
+WheelTicks:
+  datatype: int32
+  type: sensor
+  description: Counter for wheel ticks. Counter increase when wheel rotates forward and decrease when wheel rotates backward.
+               Counter is reset when vehicle is powered on.
+  comment: Wheel tick value can be negative, for example if the vehicle after being powered on starts driving backward.
+           Theoretically the value may wrap around but it will unlikely happen in reality as an int32 with typical 
+           WheelTicksPerRotation (<100) and tire circumference ( about 2 cm per tick) can handle about 40000 km before wrap around.
+
+WheelTicksPerRotation:
+  datatype: uint16
+  type: attribute
+  description: Number of ticks registered for one rotation of the wheel
+