@spec arm(keyword()) :: {:ok, pid()} | {:error, term()}

Execute the arm command.

Returns

• {:ok, pid()} - Command started, use BB.Command.await/2 for the result
• {:error, term()} - Command could not be started

Example

{:ok, cmd} = arm(goal_args)
{:ok, result} = BB.Command.await(cmd)

@spec child_spec(Keyword.t()) :: Supervisor.child_spec()

Returns a child specification for starting this robot under a supervisor.

@spec disarm(keyword()) :: {:ok, pid()} | {:error, term()}

Execute the disarm command.

Returns

• {:ok, pid()} - Command started, use BB.Command.await/2 for the result
• {:error, term()} - Command could not be started

Example

{:ok, cmd} = disarm(goal_args)
{:ok, result} = BB.Command.await(cmd)

@spec go_home(keyword()) :: {:ok, pid()} | {:error, term()}

Execute the go_home command.

Arguments

• duration: :integer, default: 1000 - Duration in milliseconds

Returns

• {:ok, pid()} - Command started, use BB.Command.await/2 for the result
• {:error, term()} - Command could not be started

Example

{:ok, cmd} = go_home(goal_args)
{:ok, result} = BB.Command.await(cmd)

@spec robot() :: BB.Robot.t()

Returns the optimised robot representation.

This struct is built at compile-time from the DSL definition and contains:

• All physical values converted to SI base units (floats)
• Flat maps for O(1) lookup of links, joints, sensors, and actuators
• Pre-computed topology metadata for efficient traversal

Examples

robot = Elixir.BB.MCP.FixtureRobot.robot()
{:ok, link} = BB.Robot.get_link(robot, :base_link)
{:ok, joint} = BB.Robot.get_joint(robot, :shoulder)

@spec start_link(Keyword.t()) :: Supervisor.on_start()

Starts the robot's supervision tree.

Options

All options are passed through to sensor and actuator child processes.

@spec wave(keyword()) :: {:ok, pid()} | {:error, term()}

Execute the wave command.

Arguments

• cycles: :integer (required) - Number of cycles
• speed: :float, default: 1.0
• style: {:in, [:gentle, :enthusiastic]}, default: :gentle - How to wave
• about: :atom - Joint to wave about

Returns

• {:ok, pid()} - Command started, use BB.Command.await/2 for the result
• {:error, term()} - Command could not be started

Example

{:ok, cmd} = wave(goal_args)
{:ok, result} = BB.Command.await(cmd)