# Roarm
An Elixir library for controlling Waveshare RoArm robot arms using Circuits.UART for serial communication. This library replicates the functionality of the official [Waveshare RoArm SDK](https://github.com/waveshareteam/waveshare_roarm_sdk) in idiomatic Elixir.
## Supported Hardware
This library is designed for the **Waveshare RoArm-M2-S** and compatible robot arms:
- **[RoArm-M2-S](https://www.waveshare.com/wiki/RoArm-M2-S)** - 4-DOF desktop robotic arm with ESP32 controller
- **RoArm-M2-Pro** - Enhanced version with improved servos
- **RoArm-M3** - 6-DOF model with wrist rotation
- **RoArm-M3-Pro** - Professional version with high-torque servos
**Key Features:**
- High-torque serial bus servos
- ESP32-based controller with dual USB-C ports
- Gripper with LED lighting
- 12V power supply (7-12.6V working range)
- Serial communication at 115200 baud
## Features
- **Serial Communication**: Full UART communication support using Circuits.UART
- **Robot Control**: Position and joint-based movement control
- **Hardware Features**: LED control, torque lock, and status monitoring
- **Concurrent Design**: GenServer-based architecture for reliable concurrent robot control
- **Multiple Models**: Support for RoArm-M2, RoArm-M2-Pro, RoArm-M3, and RoArm-M3-Pro
- **Interactive Demo**: Built-in demo and testing utilities
## Installation
Add `roarm` to your list of dependencies in `mix.exs`:
```elixir
def deps do
[
{:roarm, "~> 0.1.0"}
]
end
```
## Hardware Requirements
- Waveshare RoArm robot arm (M2/M3 series)
- USB-to-Serial adapter or direct serial connection
- Power supply for the robot arm
## Quick Start
```elixir
# Start a registry with the name of the module
{:ok, _} = Registry.start_link(keys: :unique, name: Roarm.Registry)
# Start the robot with your configuration
{:ok, _pid} = Roarm.start_robot(robot_type: :roarm_m2, port: "/dev/cu.usbserial-110", baudrate: 115200)
# Move to a specific position
Roarm.Robot.move_to_position(%{x: 100.0, y: 0.0, z: 150.0, t: 0.0})
# Control individual joints with convenience functions
Roarm.Robot.move_base(45.0) # Move base joint to 45 degrees
Roarm.Robot.move_shoulder(-30.0) # Move shoulder joint to -30 degrees
Roarm.Robot.move_elbow(90.0) # Move elbow joint to 90 degrees
Roarm.Robot.move_wrist(0.0) # Move wrist joint to 0 degrees
# Control RGB LED color (0-255)
Roarm.Robot.set_led(%{r: 255, g: 0, b: 0})
# Control gripper-mounted LED brightness
Roarm.Robot.led_on(200) # Set brightness to 200/255
# Return to home position
Roarm.Robot.home()
# Enable/disable torque lock
Roarm.Robot.set_torque_lock(true)
```
## Complete API Reference
The RoArm protocol uses JSON commands where **"T"** represents the **Type** of command. All commands can be sent using `Roarm.Robot.send_custom_command/1` for maximum flexibility.
### Movement Commands
- **Home Position** (T:100)
- **Purpose**: Move robot to initialization/home position
- **Variables**: None required
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Function**: `Roarm.Robot.home()`
- **JSON Examples**:
```json
{"T": 100}
```
- **Direct Position Control** (T:1041)
- **Purpose**: Move robot end effector to specific coordinates
- **Variables**:
- `x` - X-coordinate in millimeters (-500.0 to +500.0)
- `y` - Y-coordinate in millimeters (-500.0 to +500.0)
- `z` - Z-coordinate in millimeters (0.0 to +500.0)
- `t` - Tool angle in degrees (-180.0 to +180.0, default: 0.0)
- `spd` - Movement speed (1 to 4096, default: 1000)
- `acc` - Acceleration (1 to 254, default: 100)
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Function**: `Roarm.Robot.move_to_position/1`
- **JSON Examples**:
```json
{"T": 1041, "x": -500.0, "y": -500.0, "z": 0.0, "t": -180.0, "spd": 1, "acc": 1}
{"T": 1041, "x": 200.0, "y": 100.0, "z": 150.0, "t": 0.0, "spd": 1000, "acc": 100}
{"T": 1041, "x": 500.0, "y": 500.0, "z": 500.0, "t": 180.0, "spd": 4096, "acc": 254}
```
- **Single Joint Control (Degrees)** (T:121)
- **Purpose**: Control individual joint in degrees
- **Variables**:
- `joint` - Joint number (1-4 for M2, 1-6 for M3)
- `angle` - Target angle in degrees (-180 to +180)
- `spd` - Movement speed (1 to 4096, default: 1000)
- **Joint Mapping**: 1=Base, 2=Shoulder, 3=Elbow, 4=Wrist, 5=Wrist-X (M3), 6=Wrist-Y (M3)
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Functions**: `Roarm.Robot.move_joint/3`, `Roarm.Robot.move_base/2`, `Roarm.Robot.move_shoulder/2`, `Roarm.Robot.move_elbow/2`, `Roarm.Robot.move_wrist/2`, `Roarm.Robot.move_wrist_x/2`, `Roarm.Robot.move_wrist_y/2`
- **JSON Examples**:
```json
{"T": 121, "joint": 1, "angle": -180, "spd": 1}
{"T": 121, "joint": 2, "angle": 45, "spd": 1000}
{"T": 121, "joint": 4, "angle": 180, "spd": 4096}
```
- **All Joints Control (Degrees)** (T:122)
- **Purpose**: Control multiple joints simultaneously in degrees
- **Variables**:
- `b` - Base joint angle in degrees (-180.0 to +180.0, default: 0.0)
- `s` - Shoulder joint angle in degrees (-180.0 to +180.0, default: 0.0)
- `e` - Elbow joint angle in degrees (-180.0 to +180.0, default: 0.0)
- `h` - Hand/Wrist joint angle in degrees (-180.0 to +180.0, default: 0.0)
- `w` - Wrist joint angle in degrees, M3 only (-180.0 to +180.0, default: 0.0)
- `g` - Gripper joint angle in degrees, M3 only (-180.0 to +180.0, default: 0.0)
- `spd` - Movement speed (1 to 4096, default: 1000)
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Function**: `Roarm.Robot.move_joints/1`
- **JSON Examples**:
```json
{"T": 122, "b": -180.0, "s": -180.0, "e": -180.0, "h": -180.0, "spd": 1}
{"T": 122, "b": 30.0, "s": 45.0, "e": -30.0, "h": 15.0, "spd": 1000}
{"T": 122, "b": 180.0, "s": 180.0, "e": 180.0, "h": 180.0, "w": 180.0, "g": 180.0, "spd": 4096}
```
- **Single Joint Control (Radians)** (T:101)
- **Purpose**: Control individual joint in radians
- **Variables**:
- `joint` - Joint number (1 to 6)
- `radian` - Target angle in radians (-3.14159 to +3.14159)
- `spd` - Movement speed (1 to 4096, default: 1000)
- **Joint Mapping**: 1=Base, 2=Shoulder, 3=Elbow, 4=Wrist, 5=Wrist-X (M3), 6=Wrist-Y (M3)
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 101, "joint": 1, "radian": -3.14159, "spd": 1}
{"T": 101, "joint": 2, "radian": 0.785, "spd": 1000}
{"T": 101, "joint": 6, "radian": 3.14159, "spd": 4096}
```
- **All Joints Control (Radians)** (T:102)
- **Purpose**: Control multiple joints simultaneously in radians
- **Variables**:
- `b` - Base joint angle in radians (-3.14159 to +3.14159, default: 0.0)
- `s` - Shoulder joint angle in radians (-3.14159 to +3.14159, default: 0.0)
- `e` - Elbow joint angle in radians (-3.14159 to +3.14159, default: 0.0)
- `h` - Hand/Wrist joint angle in radians (-3.14159 to +3.14159, default: 0.0)
- `w` - Wrist joint angle in radians, M3 only (-3.14159 to +3.14159, default: 0.0)
- `g` - Gripper joint angle in radians, M3 only (-3.14159 to +3.14159, default: 0.0)
- `spd` - Movement speed (1 to 4096, default: 1000)
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 102, "b": -3.14159, "s": -3.14159, "e": -3.14159, "h": -3.14159, "spd": 1}
{"T": 102, "b": 0.5, "s": 0.8, "e": -0.5, "h": 0.0, "spd": 1000}
{"T": 102, "b": 3.14159, "s": 3.14159, "e": 3.14159, "h": 3.14159, "w": 3.14159, "g": 3.14159, "spd": 4096}
```
- **Pose Control with Orientation** (T:104)
- **Purpose**: Control position with full 6DOF orientation (M3 only)
- **Variables**:
- `x` - X-coordinate in millimeters (-500 to +500)
- `y` - Y-coordinate in millimeters (-500 to +500)
- `z` - Z-coordinate in millimeters (0 to +500)
- `roll` - Roll rotation in radians (-π to +π)
- `pitch` - Pitch rotation in radians (-π to +π)
- `yaw` - Yaw rotation in radians (-π to +π)
- **Supported Models**: M3, M3-Pro only
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 104, "x": -500, "y": -500, "z": 0, "roll": -3.14, "pitch": -3.14, "yaw": -3.14}
{"T": 104, "x": 200, "y": 100, "z": 150, "roll": 0, "pitch": 0, "yaw": 0}
{"T": 104, "x": 500, "y": 500, "z": 500, "roll": 3.14, "pitch": 3.14, "yaw": 3.14}
```
- **Set Middle Position** (T:502)
- **Purpose**: Move all joints to their middle/neutral positions
- **Variables**: None required
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 502}
```
### System Control Commands
- **Get Current Position/Status** (T:105)
- **Purpose**: Query robot's current position, joint angles, and status
- **Variables**: None required
- **Returns**: Position data including joints and coordinates
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Functions**: `Roarm.Robot.get_position/0`, `Roarm.Robot.get_joints/0`
- **JSON Examples**:
```json
{"T": 105}
```
- **Torque Control** (T:210)
- **Purpose**: Enable or disable joint torque (lock/unlock joints)
- **Variables**:
- `cmd` - Command (0=disable torque/free movement, 1=enable torque/lock joints)
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Functions**: `Roarm.Robot.set_torque_enabled/1`, `Roarm.Robot.set_torque_lock/1`
- **JSON Examples**:
```json
{"T": 210, "cmd": 0}
{"T": 210, "cmd": 1}
```
- **Dynamic External Force Adaptation** (T:112)
- **Purpose**: Enable adaptive torque control for external force handling
- **Variables**:
- `mode` - Operation mode (0=disable, 1=enable)
- `b` - Base joint force threshold (0 to 1000, default: 500)
- `s` - Shoulder joint force threshold (0 to 1000, default: 500)
- `e` - Elbow joint force threshold (0 to 1000, default: 500)
- `h` - Wrist joint force threshold (0 to 1000, default: 500)
- `w` - Additional joint force threshold (0 to 1000, default: 500)
- `g` - Additional joint force threshold (0 to 1000, default: 500)
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 112, "mode": 0}
{"T": 112, "mode": 1, "b": 0, "s": 0, "e": 0, "h": 0, "w": 0, "g": 0}
{"T": 112, "mode": 1, "b": 1000, "s": 1000, "e": 1000, "h": 1000, "w": 1000, "g": 1000}
```
- **Command Echo Control** (T:605)
- **Purpose**: Enable or disable command echo responses
- **Variables**:
- `echo` - Echo setting (0=disable, 1=enable)
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 605, "echo": 0}
{"T": 605, "echo": 1}
```
### LED and Hardware Control Commands
- **LED Control** (T:114)
- **Purpose**: Control gripper-mounted LED brightness or RGB color
- **Variables**:
- `led` - LED brightness (0 to 255, default: 255)
- `r` - Red component (0 to 255, default: 0)
- `g` - Green component (0 to 255, default: 0)
- `b` - Blue component (0 to 255, default: 0)
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Functions**: `Roarm.Robot.led_on/1`, `Roarm.Robot.led_off/0`, `Roarm.Robot.set_led/1`
- **JSON Examples**:
```json
{"T": 114, "led": 0, "r": 0, "g": 0, "b": 0}
{"T": 114, "led": 128, "r": 128, "g": 128, "b": 128}
{"T": 114, "led": 255, "r": 255, "g": 0, "b": 0}
{"T": 114, "led": 255, "r": 0, "g": 255, "b": 0}
{"T": 114, "led": 255, "r": 255, "g": 255, "b": 255}
```
- **Gripper Control (M3 Models)** (T:222)
- **Purpose**: Control gripper opening/closing on M3 models
- **Variables**:
- `mode` - Gripper mode (0=position mode, 1=force mode)
- `angle` - Gripper angle/force (0 to 100, 0=closed/min force, 100=open/max force)
- **Supported Models**: M3, M3-Pro only
- **Elixir Functions**: `Roarm.Robot.gripper_control/1`, `Roarm.Robot.gripper_open/0`, `Roarm.Robot.gripper_close/0`
- **JSON Examples**:
```json
{"T": 222, "mode": 0, "angle": 0}
{"T": 222, "mode": 0, "angle": 50}
{"T": 222, "mode": 1, "angle": 100}
```
### PID Control Commands
- **Set Joint PID Parameters** (T:108)
- **Purpose**: Configure PID control parameters for specific joint
- **Variables**:
- `joint` - Joint number (1-4 for M2, 1-6 for M3)
- `p` - Proportional gain (0 to 100)
- `i` - Integral gain (0 to 100)
- `d` - Derivative gain (0 to 100)
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 108, "joint": 1, "p": 0, "i": 0, "d": 0}
{"T": 108, "joint": 2, "p": 16, "i": 0, "d": 1}
{"T": 108, "joint": 4, "p": 100, "i": 100, "d": 100}
```
- **Reset PID to Defaults** (T:109)
- **Purpose**: Reset all PID parameters to factory defaults
- **Variables**: None required
- **Supported Models**: M2, M3, M2-Pro, M3-Pro
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 109}
```
### Mission and Task Commands
- **Create Mission** (T:220)
- **Purpose**: Create a new mission file for recording sequences
- **Variables**:
- `name` - Mission name (string, any length)
- `intro` - Mission description (string, optional)
- **Supported Models**: M2-S, M3 (models with flash storage)
- **Elixir Function**: `Roarm.Robot.create_mission/2`
- **JSON Examples**:
```json
{"T": 220, "name": "", "intro": ""}
{"T": 220, "name": "demo", "intro": "Demo mission"}
{"T": 220, "name": "pick_and_place_sequence", "intro": "Complex pick and place operation with multiple waypoints"}
```
- **Append JSON Command to Mission** (T:222)
- **Purpose**: Add a custom JSON command to existing mission
- **Variables**:
- `mission` - Mission name (string)
- `command` - JSON command to add (string)
- **Supported Models**: M2-S, M3 (models with flash storage)
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 222, "mission": "demo", "command": "{\"T\": 100}"}
{"T": 222, "mission": "demo", "command": "{\"T\": 122, \"b\": 45, \"s\": 30, \"e\": -15, \"h\": 0}"}
```
- **Append Current Position to Mission** (T:223)
- **Purpose**: Record current robot position as mission step
- **Variables**:
- `mission` - Mission name (string, required)
- `spd` - Movement speed for this step (0.1 to 1.0, default: 0.25)
- **Supported Models**: M2-S, M3 (models with flash storage)
- **Elixir Function**: `Roarm.Robot.add_mission_step/2`
- **JSON Examples**:
```json
{"T": 223, "mission": "demo", "spd": 0.1}
{"T": 223, "mission": "demo", "spd": 0.25}
{"T": 223, "mission": "demo", "spd": 1.0}
```
- **Append Delay to Mission** (T:224)
- **Purpose**: Add a pause/delay to mission sequence
- **Variables**:
- `mission` - Mission name (string)
- `delay` - Delay duration in milliseconds (0 to 60000)
- **Supported Models**: M2-S, M3 (models with flash storage)
- **Elixir Function**: `Roarm.Robot.add_mission_delay/2`
- **JSON Examples**:
```json
{"T": 224, "mission": "demo", "delay": 0}
{"T": 224, "mission": "demo", "delay": 2000}
{"T": 224, "mission": "demo", "delay": 60000}
```
- **Play Mission** (T:242)
- **Purpose**: Execute a recorded mission sequence
- **Variables**:
- `name` - Mission name (string, required)
- `times` - Number of repetitions (1 to 1000, default: 1)
- **Supported Models**: M2-S, M3 (models with flash storage)
- **Elixir Function**: `Roarm.Robot.play_mission/2`
- **JSON Examples**:
```json
{"T": 242, "name": "demo", "times": 1}
{"T": 242, "name": "demo", "times": 5}
{"T": 242, "name": "demo", "times": 1000}
```
### File System Commands
- **Scan Files** (T:200)
- **Purpose**: List all files stored in robot's flash memory
- **Variables**: None required
- **Returns**: List of stored files
- **Supported Models**: M2-S, M3 (models with flash storage)
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 200}
```
- **Create File** (T:201)
- **Purpose**: Create new file in robot's flash memory
- **Variables**:
- `name` - File name (string)
- `content` - File content (string)
- **Supported Models**: M2-S, M3 (models with flash storage)
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 201, "name": "", "content": ""}
{"T": 201, "name": "config.txt", "content": "robot_config_data"}
{"T": 201, "name": "very_long_filename_with_lots_of_content.json", "content": "extensive file content with lots of data and configuration parameters"}
```
### WiFi Configuration Commands
- **WiFi Boot Mode** (T:401)
- **Purpose**: Set WiFi mode on robot startup
- **Variables**:
- `mode` - WiFi mode (0=off, 1=STA, 2=AP, 3=STA+AP)
- **Supported Models**: M2-S, M3 (models with WiFi)
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 401, "mode": 0}
{"T": 401, "mode": 1}
{"T": 401, "mode": 2}
{"T": 401, "mode": 3}
```
- **Configure Access Point** (T:402)
- **Purpose**: Set robot as WiFi access point
- **Variables**:
- `ssid` - Access point name (string)
- `password` - Access point password (string, minimum 8 characters)
- **Supported Models**: M2-S, M3 (models with WiFi)
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 402, "ssid": "", "password": ""}
{"T": 402, "ssid": "RoARM_AP", "password": "12345678"}
{"T": 402, "ssid": "MyRobotAccessPoint", "password": "very_secure_password_123"}
```
- **Configure Station Mode** (T:403)
- **Purpose**: Connect robot to existing WiFi network
- **Variables**:
- `ssid` - Network name (string)
- `password` - Network password (string)
- **Supported Models**: M2-S, M3 (models with WiFi)
- **Elixir Function**: None (use `send_custom_command/1`)
- **JSON Examples**:
```json
{"T": 403, "ssid": "", "password": ""}
{"T": 403, "ssid": "HomeWiFi", "password": "wifipassword"}
{"T": 403, "ssid": "CorporateNetwork_5GHz", "password": "complex_enterprise_password_123"}
```
## Robot Model Differences
- **RoArm-M2**: 4 joints (base, shoulder, elbow, hand/wrist), gripper controlled via joint 4
- **RoArm-M2-Pro**: Enhanced M2 with improved servos and precision
- **RoArm-M2-S**: M2 with flash storage for missions and file operations
- **RoArm-M3**: 6 joints (base, shoulder, elbow, hand, wrist, gripper), dedicated gripper control
- **RoArm-M3-Pro**: Enhanced M3 with high-torque servos and improved precision
### Joint Layout Reference
#### RoArm-M2 (4-DOF)
```
[4] Hand/Wrist + Gripper
|
[3] Elbow
|
[2] Shoulder
|
[1] Base (rotates entire arm)
```
#### RoArm-M3 (6-DOF)
```
[6] Gripper
|
[5] Wrist
|
[4] Hand
|
[3] Elbow
|
[2] Shoulder
|
[1] Base (rotates entire arm)
```
## Convenience Functions
The library provides semantic convenience functions that map to the underlying joint numbers:
```elixir
# Instead of remembering joint numbers:
Roarm.Robot.move_joint(1, 45.0) # Base
Roarm.Robot.move_joint(2, -30.0) # Shoulder
Roarm.Robot.move_joint(3, 90.0) # Elbow
Roarm.Robot.move_joint(4, 0.0) # Wrist
# Use semantic names:
Roarm.Robot.move_base(45.0) # Joint 1
Roarm.Robot.move_shoulder(-30.0) # Joint 2
Roarm.Robot.move_elbow(90.0) # Joint 3
Roarm.Robot.move_wrist(0.0) # Joint 4
# Extended models (M3):
Roarm.Robot.move_wrist_x(15.0) # Joint 5
Roarm.Robot.move_wrist_y(-20.0) # Joint 6
```
## Common Usage Examples
### Basic Movement Sequence
```elixir
# Start from home
Roarm.Robot.home()
# Move to pickup position
Roarm.Robot.move_to_position(%{x: 150, y: 100, z: 100, t: 0})
# Close gripper (works for all models)
Roarm.Robot.gripper_close()
# Lift object
Roarm.Robot.move_to_position(%{x: 150, y: 100, z: 200, t: 0})
# Move to drop location
Roarm.Robot.move_to_position(%{x: 200, y: 200, z: 100, t: 0})
# Release object
Roarm.Robot.gripper_open()
# Return home
Roarm.Robot.home()
```
### Custom Command Examples
```elixir
# Slow precise movement
Roarm.Robot.send_custom_command(~s({"T": 122, "b": 45, "s": 30, "e": -15, "h": 0, "spd": 500}))
# Maximum speed movement
Roarm.Robot.send_custom_command(~s({"T": 121, "joint": 1, "angle": 90, "spd": 4096}))
# Enable force adaptation
Roarm.Robot.send_custom_command(~s({"T": 112, "mode": 1, "b": 60, "s": 110, "e": 50, "h": 50}))
# Create and play a mission
Roarm.Robot.send_custom_command(~s({"T": 220, "name": "test", "intro": "Test sequence"}))
Roarm.Robot.send_custom_command(~s({"T": 223, "mission": "test", "spd": 0.5}))
Roarm.Robot.send_custom_command(~s({"T": 242, "name": "test", "times": 3}))
```
## Interactive Demo
Run the interactive demo to test your robot setup:
```elixir
# Start the interactive demo
Roarm.Demo.interactive_demo()
# Or run specific tests
Roarm.Demo.test_connection("/dev/ttyUSB0")
Roarm.Demo.full_test_suite("/dev/ttyUSB0")
```
## Documentation
Documentation can be generated with [ExDoc](https://github.com/elixir-lang/ex_doc)
and published on [HexDocs](https://hexdocs.pm). Once published, the docs can
be found at <https://hexdocs.pm/roarm>.
