Installs an SO-101 robot definition into a project
Composes bb.install to scaffold a robot module + supervision, fills in the
full SO-101 6-DOF topology, and wires the Feetech servo bus via
bb_servo_feetech.install.
The application.ex generated by the composed bb.install boots the robot
in :kinematic simulation mode when the SIMULATE environment variable is
set. The Feetech serial device is read from FEETECH_DEVICE at runtime,
falling back to the configured device default.
To add a live dashboard, run mix igniter.install bb_liveview after this
task.
Example
mix igniter.install bb_so101
mix igniter.install bb_so101 --robot MyApp.Arm --device /dev/ttyACM0
# Run the generated app in simulation mode (no hardware needed)
SIMULATE=1 iex -S mix
Options
--robot- Robot module name (defaults to{AppPrefix}.Robot)--device- Fallback serial device path (default/dev/ttyUSB0)
Joint limits
The generated robot declares 300 degree_per_second and 400 degree_per_square_second on every joint. These are measured figures rather than round ones — an STS3215 tops out near 300 deg/s, and its acceleration register clamps at 439.5 deg/s^2 regardless of what is written to it.
They are what BB.Message.Actuator.BeginMotion computes arrival times
from, so raising them makes motion estimates wrong rather than making the
arm faster. BB.Servo.Feetech.Actuator reads the acceleration register
back at startup and refuses to run if the servo did not accept what it was
given.