Code Generation

Code generation turns your raccoon.project.yml configuration into Python files that your mission code can use. You never write these files yourself — raccoon writes them for you.

Running Code Generation

From inside your project directory:

raccoon codegen

This produces two files:

src/hardware/defs.py

Contains the individual hardware objects — one object per motor, per servo, per sensor. You import these in your mission code when you need to interact with a specific piece of hardware directly.

src/hardware/robot.py

Contains the Robot class, which bundles everything together: the drivetrain, the motion controller, odometry, and all sensors. This is the main entry point for your mission code.

When to Re-run codegen

Run raccoon codegen again any time you change raccoon.project.yml, for example after:

  • Running raccoon wizard and changing any settings
  • Adding or removing motors or sensors
  • Running raccoon calibrate (calibration values are stored in the YAML and need to be baked into the generated files)

raccoon run automatically re-runs codegen if the configuration has changed since the last generation, so in normal development you do not need to think about this.

Important Notes

  • Do not manually edit src/hardware/defs.py or src/hardware/robot.py. Your changes will be overwritten the next time codegen runs.
  • All your custom code belongs in src/missions/, src/steps/, and src/main.py.
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