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# Change Log

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All notable changes to this project will be documented in this file. See Conventional Commits for commit guidelines.

## v0.17.0 (2026-05-18)

### Features:

- prompt for Nx backend during `mix igniter.install bb` (#103) by James Harton

### Improvements:

- add `test-subprojects` CI workflow (#102) by James Harton

## v0.16.0 (2026-05-17)

### Breaking Changes:

- migrate from `ex_cldr_units` to `localize` (#96) by James Harton

- force-disarm via topology supervisor instead of `auto_disarm_on_error` (#95) by James Harton

- store wall-clock time and originating node on `BB.Message` (#37) (#94) by James Harton

### Bug Fixes:

- cover tuple argument types in typespec and `:map` example (#93) by James Harton

### Improvements:

- identify the publishing robot in pubsub deliveries (#91) (#92) by James Harton

- coerce command goal values to declared argument types (#88) by James Harton

## v0.15.4 (2026-05-16)

### Improvements:

- `BB.Igniter` helpers for writing into the topology section (#87) by James Harton

## v0.15.3 (2026-05-13)

### Improvements:

- add `BB.Igniter` helpers for add-on installers (#86) by James Harton

## v0.15.2 (2026-05-12)

### Bug Fixes:

- docs: update README example to match Igniter output (#73) by James Harton

- docs: align tutorial with Igniter-generated code (#73) by James Harton

- docs: use `limits` instead of `limit` in first robot tutorial (#74) by James Harton

- docs: clarify Igniter quick start instructions (#72) by James Harton

- `OpenLoopPositionEstimator` crash on `set_position/3` in kinematic simulation (#59) by James Harton

### Improvements:

- Trapezoidal motion profile and accurate position tracking in `BB.Sim.Actuator` (#85) by James Harton

## v0.15.1 (2026-02-08)

### Bug Fixes:

- docs: correct `BB.Message.Sensor.IMU` references to `BB.Message.Sensor.Imu` by James Harton

## v0.15.0 (2026-01-18)

### Features:

- add extensible state system with category-based command concurrency (#35) by James Harton

- add extensible state system with category-based command concurrency by James Harton

## v0.14.0 (2026-01-17)

### Features:

- add `BB.Sensor.Mimic` for mechanically-linked joints (#34) by James Harton

## v0.13.2 (2026-01-13)

### Bug Fixes:

- enforce name uniqueness for bridges in DSL verifier (#31) by James Harton

## v0.13.1 (2026-01-09)

### Improvements:

- auto-add `OpenLoopPositionEstimator` in simulation mode (#30) by James Harton

## v0.13.0 (2026-01-05)

### Features:

- add reactive controllers for threshold and pattern matching (#28) by James Harton

## v0.12.0 (2026-01-04)

### Breaking Changes:

- convert commands from Task-based to GenServer-based execution (#27) by James Harton

- convert commands from Task-based to GenServer-based execution by James Harton

### Improvements:

- add command options support and tests by James Harton

- use structured errors in MoveTo command (#26) by James Harton

## v0.11.0 (2025-12-30)

### Features:

- add collision detection system (#25) by James Harton

- add collision detection module by James Harton

### Bug Fixes:

- pass all solver options through `BB.Motion` by James Harton

### Improvements:

- address credo issues and refine collision detection by James Harton

## v0.10.0 (2025-12-29)

### Features:

- add simulation mode for running robots without hardware (#21) by James Harton

- add Vec3 and Quaternion modules with Transform integration (#22) by James Harton

## v0.9.0 (2025-12-26)

### Features:

- add diagnostic and performance telemetry by James Harton

- add structured error handling with `splode` by James Harton

### Improvements:

- add `@type t` to `BB.Error.Invalid.JointConfig` by James Harton

- make `BB.Safety.disarm/2` timeout configurable by James Harton

## v0.8.0 (2025-12-24)

### Features:

- add param() references and wrapper GenServer pattern (#19) by James Harton

- parameters: allow setting params via `start_link` options by James Harton

- dsl: add `param()` references for topology fields by James Harton

- dsl: add `param()` references in actuator/sensor/controller options by James Harton

### Improvements:

- fix arm/disarm actions by James Harton

## v0.7.0 (2025-12-20)

### Features:

- safety: add hardware error reporting with auto-disarm (#16) by James Harton

## v0.6.0 (2025-12-20)

### Features:

- add GenServer behaviours with options_schema callbacks (#15) by James Harton

## v0.5.0 (2025-12-18)

### Features:

- add motion integration for IK solving and actuator commands (#14) by James Harton

### Bug Fixes:

- move argument type docs to entity docs field by James Harton

### Improvements:

- make alpha channel of color optional by James Harton

- motion: add joint state publishing and flexible target formats by James Harton

## v0.4.0 (2025-12-13)

### Features:

- add BB.Safety system for centralised arm/disarm control (#10) by James Harton

- add BB.Safety system for centralised arm/disarm control by James Harton

### Improvements:

- concurrent disarm callbacks and :disarming state by James Harton

- refactor terminate callback and add safety docs to CLAUDE.md by James Harton

## v0.3.0 (2025-12-13)

### Features:

- add standard actuator command interface (#9) by James Harton

- add `BB.Message.Actuator.EndMotion` (#8) by James Harton

- add `BB.Sensor.OpenLoopPositionEstimator` (#7) by James Harton

## v0.2.1 (2025-12-09)

## v0.2.0 (2025-12-06)

### Breaking Changes:

- rename project from Kinetix to Beam Bots by James Harton

- change axis DSL from translational to rotational units by James Harton

- move `name` option from `robot` to `settings` section by James Harton

- restructure DSL with top-level sections by James Harton

- refactor command execution to task-based model by James Harton

- add robot_sensors and controllers DSL sections by James Harton

### Features:

- add parameter system for runtime-adjustable configuration by James Harton

- add Igniter install tasks for project scaffolding by James Harton

- add URDF export mix task (#8) by James Harton

- add robot state machine for command control by James Harton

- add process communication functions and registry partitioning by James Harton

- add hierarchical pubsub system for robot component messages by James Harton

- add optimised robot representation with forward kinematics by James Harton

- add topology-based supervision tree for fault isolation by James Harton

- add actuator entity and sensors to joints by James Harton

- add sensor DSL entity for defining robot sensors by James Harton

- add foundational message system for robot component communication (#5) by James Harton

- Add basic robot definition DSL (#4) by James Harton

## v0.1.0 (2025-11-27)

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