BB.Message.Actuator.Command.Effort (bb v0.15.0)

Command to apply a specific effort (torque/force) to an actuator.

The actuator will apply the specified effort until stopped, a new command is received, or the optional duration expires.

Fields

effort - Target effort (Nm for revolute, N for prismatic)
duration - Optional duration (milliseconds), nil = until stopped
command_id - Optional reference for correlating with feedback messages

Examples

alias BB.Message
alias BB.Message.Actuator.Command.Effort

# Apply torque
{:ok, msg} = Message.new(Effort, :gripper,
  effort: 0.5
)

# Apply torque for fixed duration
{:ok, msg} = Message.new(Effort, :gripper,
  effort: 0.5,
  duration: 1000
)

Summary

Types

t()

Functions

new(frame_id, attrs)

Types

t()

@type t() :: %BB.Message.Actuator.Command.Effort{
  command_id: reference() | nil,
  duration: pos_integer() | nil,
  effort: float()
}

Functions

new(frame_id, attrs)

@spec new(
  atom(),
  keyword()
) :: {:ok, BB.Message.t()} | {:error, term()}