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docs/en/msg_docs/WheelEncoders.md
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@@ -1,8 +1,24 @@
---
pageClass: is-wide-page
---
# WheelEncoders (UORB message)
**TOPICS:** wheel_encoders
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg)
| 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)
@@ -10,5 +26,6 @@ uint64 timestamp # time since system start (microseconds)
# Two wheels: 0 right, 1 left
float32[2] wheel_speed # [rad/s]
float32[2] wheel_angle # [rad]
```
:::