# wheel_encoders (UORB message)
source file (opens new window)
uint64 timestamp # time since system start (microseconds)
int64 encoder_position # The wheel position, in encoder counts since boot. Positive is forward rotation, negative is reverse rotation
int32 speed # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
uint32 pulses_per_rev # Number of pulses per revolution for each wheel