BB.Kino.Examples.TestRobot (bb_kino v0.3.3)

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An example robot for testing BB.Kino widgets.

This robot has a simple 2-joint arm topology with commands for:

  • Arming/disarming
  • Cycling joints through their range of motion
  • Moving to home position

Usage in Livebook

{:ok, _pid} = BB.Kino.Examples.TestRobot.start_link()

# Create the management widget
BB.Kino.safety(BB.Kino.Examples.TestRobot)

Summary

Functions

arm(goal \\ [])

Execute the arm command.

child_spec(opts \\ [])

Returns a child specification for starting this robot under a supervisor.

cycle_joint(goal \\ [])

Execute the cycle_joint command.

disarm(goal \\ [])

Execute the disarm command.

go_home(goal \\ [])

Execute the go_home command.

robot()

Returns the optimised robot representation.

start_link(opts \\ [])

Starts the robot's supervision tree.

wave(goal \\ [])

Execute the wave command.

Functions

arm(goal \\ [])

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

Execute the arm command.

Returns

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

Example

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

child_spec(opts \\ [])

@spec child_spec(Keyword.t()) :: Supervisor.child_spec()

Returns a child specification for starting this robot under a supervisor.

cycle_joint(goal \\ [])

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

Execute the cycle_joint command.

Arguments

  • joint: :atom, default: :shoulder_joint - Joint to cycle (shoulder_joint or elbow_joint)
  • duration: :integer, default: 2000 - Duration in milliseconds

Returns

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

Example

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

disarm(goal \\ [])

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

Execute the disarm command.

Returns

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

Example

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

go_home(goal \\ [])

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

Execute the go_home command.

Arguments

  • duration: :integer, default: 1000 - Duration in milliseconds

Returns

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

Example

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

robot()

@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.BB.Kino.Examples.TestRobot.robot()
link = BB.Robot.get_link(robot, :base_link)
joint = BB.Robot.get_joint(robot, :shoulder)

start_link(opts \\ [])

@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.

wave(goal \\ [])

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

Execute the wave command.

Arguments

  • cycles: :integer, default: 3 - Number of wave cycles
  • speed: :float, default: 1.0 - Speed multiplier (0.5 = half speed, 2.0 = double speed)

Returns

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

Example

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