PanTiltRobot (bb_servo_pca9685 v0.7.0)

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The pan-tilt robot from the tutorials, compiled.

This mirrors the pan-tilt robot the tutorials build, so the DSL they teach is checked by the build rather than by eye - a missing effort, a duplicated component name or a renamed section fails the suite instead of shipping.

The tutorials omit brackets on DSL calls, per the house style in bb's usage-rules/dsl-topology.md. This copy carries whatever mix format produces, which is not the same thing until bb exports its locals_without_parens under a spelling import_deps can read.

Summary

Functions

arm(goal \\ [])

Execute the arm command.

child_spec(opts \\ [])

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

disarm(goal \\ [])

Execute the disarm command.

robot()

Returns the optimised robot representation.

start_link(opts \\ [])

Starts the robot's supervision tree.

Functions

arm(goal \\ [])

@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)

child_spec(opts \\ [])

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

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

disarm(goal \\ [])

@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)

robot()

@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.PanTiltRobot.robot()
link = BB.Robot.get_link(robot, :base_link)
joint = BB.Robot.get_joint(robot, :shoulder)

start_link(opts \\ [])

@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.