This section describes the functionality and properties of each primitive.  The Garcia object offers the mechanism for accessing the available primitives in the Garcia API.  The primitives are then used to construct behaviors.  A behavior is a collection of primitives with specific parameters.

Some primitives are associated with robot motions.  Others are associated with IO tasks.  When motion primitives start execution, they clear the 32-bit odometers for each wheel.  This makes it possible to determine how far each wheel traveled during execution of the primitive.  These wheel travel distances are useful for mapping and navigation.