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# WheelEncoders (UORB message)

**TOPICS:** wheel_encoders

## Fields

| Name        | Type         | Unit [Frame] | Range/Enum | Description                            |
| ----------- | ------------ | ------------ | ---------- | -------------------------------------- |
| timestamp   | `uint64`     |              |            | time since system start (microseconds) |
| wheel_speed | `float32[2]` | rad/s        |            |
| wheel_angle | `float32[2]` | rad          |            |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg)

::: details Click here to see original file

```c
uint64 timestamp			# time since system start (microseconds)

# Two wheels: 0 right, 1 left
float32[2] wheel_speed # [rad/s]
float32[2] wheel_angle # [rad]
```

:::