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Beam Bots - The framework for resilient robotics.

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bb lib bb dsl transmission.ex
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lib/bb/dsl/transmission.ex 

# SPDX-FileCopyrightText: 2025 James Harton

#

# SPDX-License-Identifier: Apache-2.0



defmodule BB.Dsl.Transmission do

  @moduledoc """

  Mechanical transmission between a joint and its actuator(s).



  Captures the relationship between joint-space command and motor-space

  command — gear reduction, zero-offset, and polarity. The URDF equivalent

  is `<transmission>`.

  """

  defstruct __identifier__: nil,

            __spark_metadata__: nil,

            reduction: 1.0,

            offset: nil,

            reversed?: false



  alias Spark.Dsl.Entity



  @type t :: %__MODULE__{

          __identifier__: any,

          __spark_metadata__: Entity.spark_meta(),

          reduction: number,

          offset: nil | Localize.Unit.t(),

          reversed?: boolean

        }

end