Programming

This section covers how to write mission code using the LibStp robotics library that raccoon projects use by default.

All your code lives in src/missions/ and src/steps/. The src/hardware/ folder is auto-generated — do not edit it.

Sections

• Missions — what missions are and how to structure them
• Motion — driving, turning, and strafing commands
• Sensors & Actuators — reading sensors and controlling servos
• Step Framework — building complex sequences with Sequential and Parallel steps

The Robot Object

Every mission receives a Robot object via self.robot. This is your primary interface to all hardware:

self.robot.motion     # high-level motion commands (drive, turn, strafe)
self.robot.drive      # lower-level drive control
self.robot.sensors    # sensor readings

The Robot class and everything it exposes is generated based on your raccoon.project.yml configuration, so the exact attributes available depend on what hardware you configured.