BB.Command.Disarm (bb v0.15.0)

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Standard command handler for disarming a robot.

When executed from the :idle state, this command disarms the robot via BB.Safety.Controller, which calls all registered BB.Safety.disarm/1 callbacks to ensure hardware is made safe.

Usage

Add to your robot's command definitions:

commands do
  command :disarm do
    handler BB.Command.Disarm
    allowed_states [:idle]
  end
end

Then execute:

{:ok, cmd} = MyRobot.disarm()
{:ok, :disarmed} = BB.Command.await(cmd)