@spec __bb_default_parameters__() :: [{[atom()], term()}]

Returns default parameter values.

Returns a list of {path, value} tuples for parameters that have defaults.

@spec __bb_parameter_schema__() :: [{[atom()], keyword()}]

Returns the parameter schema for validation.

The schema is a list of {path, opts} tuples where opts is a keyword list compatible with Spark.Options.

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

Execute the calibrate command.

Returns

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

Example

{:ok, cmd} = calibrate(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 home(keyword()) :: {:ok, pid()} | {:error, term()}

Execute the home command.

Returns

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

Example

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

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

Execute the log command.

Arguments

• message: :string, default: "hello" - Free-form note attached to the entry.
• level: :integer, default: 1 - Severity 1..5; higher is louder.

Returns

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

Example

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

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

Execute the move command.

Arguments

• joint: {:in, [:waist, :shoulder, :elbow, :wrist_angle, :wrist_rotate, :gripper]}, default: :waist - Joint to drive.
• angle: :float, default: 0.0 - Target joint angle, in radians.

Returns

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

Example

{:ok, cmd} = move(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.Dev.TestRobot.robot()
link = BB.Robot.get_link(robot, :base_link)
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 stream(keyword()) :: {:ok, pid()} | {:error, term()}

Execute the stream command.

Arguments

• joint: {:in, [:waist, :shoulder, :elbow, :wrist_angle, :wrist_rotate, :gripper]}, default: :waist - Joint to sweep.

Returns

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

Example

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

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

Execute the wobble command.

Returns

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

Example

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