bat ref1
type: NamedIndividual
type: Battery Ref
battery voltage ref: 20.0
charge estimate ref: 0.2

indv live data from status topic
type: NamedIndividual
type: Live Data From Status Topic
has husky status battery voltage: 19.0
has husky status capacity estimate: 480.0
has husky status charge estimate: 0.17
has husky status current limit: true
has husky status e stop: true
has husky status left driver current: 4.7
has husky status left driver temp: 28.98
has husky status left driver voltage: 22.19
has husky status left motor temp: 17.37
has husky status lockout: true
has husky status mcu and user port current: 2.52
has husky status no battery: true
has husky status right driver current: 4.57
has husky status right driver temp: 26.49
has husky status right driver voltage: 22.14
has husky status right motor temp: 20.68
has husky status ros control loop freq: 9.909733
has husky status ros pause: true
has husky status timeout: true

motor driver ref1
type: NamedIndividual
type: Motor Driver Ref
has motor driver current ref: 5.0

motor ref1
type: NamedIndividual
type: Motor Ref
has right motor temp ref: 21.0

Battery_State
is rule enabled: true
type: Imp
body: ClassAtom
  class predicate: Live Data From Status Topic
  argument1: topic
body: DatavaluedPropertyAtom
  property predicate: has husky status battery voltage
  argument1: topic
  argument2: topic volt
body: DatavaluedPropertyAtom
  property predicate: has husky status charge estimate
  argument1: topic
  argument2: topic charge
body: ClassAtom
  class predicate: Battery Ref
  argument1: bat ref
body: DatavaluedPropertyAtom
  property predicate: battery voltage ref
  argument1: bat ref
  argument2: ref volt
body: DatavaluedPropertyAtom
  property predicate: charge estimate ref
  argument1: bat ref
  argument2: ref charge
body: BuiltinAtom
  builtin: lessThanOrEqual
  arguments: topic volt
  arguments: ref volt
body: BuiltinAtom
  builtin: lessThanOrEqual
  arguments: topic charge
  arguments: ref charge
body: ClassAtom
  class predicate: Battery
  argument1: bat
head: ClassAtom
  class predicate: Action in voltage below 20V
  argument1: bat

Motor_Driver_Right_Current_State
is rule enabled: true
type: Imp
body: ClassAtom
  class predicate: Live Data From Status Topic
  argument1: topic
body: DatavaluedPropertyAtom
  property predicate: has husky status right driver current
  argument1: topic
  argument2: right current
body: BuiltinAtom
  builtin: greaterThan
  arguments: right current
  arguments: 5
body: ClassAtom
  class predicate: Motor Driver Right
  argument1: driver
head: ClassAtom
  class predicate: Motor Driver Right Heated Up
  argument1: driver

Motor_Right_Power_Heated_Up_State
is rule enabled: true
type: Imp
body: ClassAtom
  class predicate: Motor Ref
  argument1: m ref
body: DatavaluedPropertyAtom
  property predicate: has right motor temp ref
  argument1: m ref
  argument2: temp ref
body: DatavaluedPropertyAtom
  property predicate: has husky status right motor temp
  argument1: topic
  argument2: temp
body: ClassAtom
  class predicate: Motor Right Power
  argument1: http://www.semanticweb.org/o.f.zaki/ontologies/2019/5/husky#m
body: BuiltinAtom
  builtin: greaterThan
  arguments: temp
  arguments: temp ref
body: ClassAtom
  class predicate: Live Data From Status Topic
  argument1: topic
head: ClassAtom
  class predicate: Motor Right Power Heated Up
  argument1: http://www.semanticweb.org/o.f.zaki/ontologies/2019/5/husky#m

Motor_Right_Power_Heated_Up_Diagnosed_Rule1
is rule enabled: true
type: Imp
body: ClassAtom
  class predicate: Motor Driver Right Heated Up
  argument1: driver
body: ClassAtom
  class predicate: Motor Right Power Heated Up
  argument1: http://www.semanticweb.org/o.f.zaki/ontologies/2019/5/husky#m
head: IndividualPropertyAtom
  property predicate: caused motor heated up
  argument1: driver
  argument2: http://www.semanticweb.org/o.f.zaki/ontologies/2019/5/husky#m

Motor_Right_Power_Heated_Up_Diagnosed_Rule2
is rule enabled: true
type: Imp
body: ClassAtom
  class predicate: Motor Right Power Heated Up
  argument1: http://www.semanticweb.org/o.f.zaki/ontologies/2019/5/husky#m
body: ClassAtom
  class predicate: Wheel3 Stuck
  argument1: wheel
head: IndividualPropertyAtom
  property predicate: caused motor heated up
  argument1: wheel
  argument2: http://www.semanticweb.org/o.f.zaki/ontologies/2019/5/husky#m

Wheel3_State
is rule enabled: true
type: Imp
body: ClassAtom
  class predicate: Wheel 3
  argument1: wheel
head: ClassAtom
  class predicate: Wheel3 Stuck
  argument1: wheel