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# TODO: How should this mapping be done? What if there's a 6-wheeled (or more) rover?
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uint8 FRONT_RIGHT = 0
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uint8 FRONT_LEFT = 1
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uint8 REAR_RIGHT = 2
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uint8 REAR_LEFT = 3
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uint64 timestamp # time since system start (microseconds)
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# TODO: How large should the arrays be? What if we have a 6-wheeled rover?
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bool[4] has_encoder # True for each wheel that has an encoder
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int64[4] encoder_position # The wheel position, in encoder counts since boot. Positive is forward rotation, negative is reverse rotation
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int32[4] speed # Speed of each wheel, in encoder counts per second. Positive is forward, negative is reverse
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# TODO: Should this be just one uint32, assuming each wheel has the same encoder?
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uint32[4] pulses_per_rev # Number of pulses per revolution for each wheel
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