config.toml

# SPDX-FileCopyrightText: 2025 James Harton
#
# SPDX-License-Identifier: Apache-2.0

base_url = "https://beambots.dev"
title = "Beam Bots"
description = "Resilient Robotics on the BEAM - A framework for building fault-tolerant robotics applications in Elixir"
compile_sass = true
build_search_index = true
generate_feeds = true
feed_filenames = ["atom.xml"]
taxonomies = [
  {name = "tags", render = false}
]

[markdown.highlighting]
style = "class"
light_theme = "github-light"
dark_theme = "github-dark"

[extra]
author = "James Harton"
github_url = "https://github.com/beam-bots/bb"
docs_url = "https://hexdocs.pm/bb"
hex_url = "https://hex.pm/packages/bb"
discord_url = "https://discord.gg/QSag7Vuc4N"

[extra.docs]
tutorials = [
  { title = "Your First Robot", path = "01-first-robot.html" },
  { title = "Understanding the DSL", path = "02-understanding-the-dsl.html" },
  { title = "Multiple Segments", path = "03-multiple-segments.html" },
  { title = "Adding an Actuator", path = "04-adding-an-actuator.html" },
  { title = "Adding a Sensor", path = "05-adding-a-sensor.html" },
  { title = "Understanding Transforms", path = "06-understanding-transforms.html" },
  { title = "Adding More Links", path = "07-adding-more-links.html" },
  { title = "Adding Inverse Kinematics", path = "08-adding-inverse-kinematics.html" },
  { title = "Working with Tasks", path = "09-working-with-tasks.html" },
  { title = "Custom Commands", path = "10-custom-commands.html" },
  { title = "Calibration", path = "11-calibration.html" },
]
how_to = [
  { title = "Add a Custom Command", path = "add-custom-command.html" },
  { title = "Create a Custom Actuator", path = "create-custom-actuator.html" },
  { title = "Create a Custom Sensor", path = "create-custom-sensor.html" },
  { title = "Define Robot Limits", path = "define-robot-limits.html" },
  { title = "Handle Errors", path = "handle-errors.html" },
  { title = "Implement Safety Controls", path = "implement-safety-controls.html" },
  { title = "Use Inverse Kinematics", path = "use-inverse-kinematics.html" },
]
topics = [
  { title = "Understanding the Command System", path = "command-system.html" },
  { title = "Kinematics and Transforms", path = "kinematics-transforms.html" },
  { title = "The Safety System", path = "safety.html" },
  { title = "Supervision and Fault Tolerance", path = "supervision-fault-tolerance.html" },
  { title = "Working with Units", path = "working-with-units.html" },
]
reference = [
  { title = "Error Types", path = "error-types.html" },
  { title = "Configuration Options", path = "configuration-options.html" },
  { title = "DSL Reference", path = "dsl-reference.html" },
  { title = "Message Types", path = "message-types.html" },
]

[[extra.ecosystem]]
name = "Core"
packages = [
  { name = "bb", description = "Core framework for robot topologies, supervision trees, kinematics, and commands" },
]

[[extra.ecosystem]]
name = "Visualisation"
packages = [
  { name = "bb_kino", description = "Livebook widgets for robot control and 3D visualisation" },
  { name = "bb_liveview", description = "Phoenix LiveView dashboard for real-time robot control" },
]

[[extra.ecosystem]]
name = "Servo Drivers"
packages = [
  { name = "bb_servo_pca9685", description = "PCA9685 PWM servo driver (I2C, 16-channel)" },
  { name = "bb_servo_pigpio", description = "pigpio servo driver (Raspberry Pi GPIO PWM)" },
  { name = "bb_servo_robotis", description = "Robotis/Dynamixel servo driver (serial)" },
  { name = "bb_servo_feetech", description = "Feetech/SCS servo driver (serial)" },
]

[[extra.ecosystem]]
name = "IK Solvers"
packages = [
  { name = "bb_ik_dls", description = "Damped Least Squares inverse kinematics solver" },
  { name = "bb_ik_fabrik", description = "FABRIK inverse kinematics solver" },
]

[[extra.ecosystem]]
name = "Utilities"
packages = [
  { name = "bb_reactor", description = "Reactor integration for orchestrating multi-step workflows" },
  { name = "bb_pid_controller", description = "PID controller for closed-loop control" },
  { name = "feetech", description = "Feetech/SCS protocol driver" },
]

[[extra.ecosystem]]
name = "Examples"
packages = [
  { name = "bb_example_wx200", description = "Example Phoenix app with WidowX 200 robot arm", github_only = true },
]