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

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Command to set an actuator's velocity.

The actuator will move at the specified velocity until stopped, a new command is received, or the optional duration expires.

Fields

  • velocity - Target velocity (rad/s for revolute, m/s 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.Velocity

# Continuous velocity
{:ok, msg} = Message.new(Velocity, :wheel,
  velocity: 1.0
)

# Velocity for fixed duration
{:ok, msg} = Message.new(Velocity, :wheel,
  velocity: 1.0,
  duration: 500
)

Summary

Types

t()

Functions

new(frame_id, attrs)

Types

t()

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

Functions

new(frame_id, attrs)

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