Missions

A mission is a single autonomous routine that the robot executes. A project usually has several missions — one for setup, one (or more) for the main tasks, and one for shutdown. They run in order.

Mission Structure

Every mission is a Python class that inherits from Mission and implements a sequence method:

from libstp.mission import Mission

class MyMission(Mission):
    def sequence(self):
        # All your robot actions go here
        self.robot.motion.drive(distance_mm=500)
        self.robot.motion.turn(angle_deg=90)

The sequence method runs top-to-bottom. Each call blocks until the action completes before moving to the next line.

Registering Missions in main.py

Open src/main.py to see (or change) the order missions run:

from hardware.robot import Robot
from missions.my_mission import MyMission
from missions.collect_mission import CollectMission

robot = Robot()
robot.add_mission(MyMission)
robot.add_mission(CollectMission)
robot.start()

Missions run in the order they are added with add_mission.

Setup and Shutdown Missions

When you create a project, raccoon generates two special missions:

  • SetupMission — runs first, before any other missions. Use it to initialize positions (e.g., move a servo to its starting position) or wait for a start button.
  • ShutdownMission — runs last, after all missions. Use it to safely park motors and servos.

These are just regular missions — you can put any code you want in them.

Adding a New Mission

raccoon create mission <name>

This creates a skeleton file in src/missions/. Then register it in src/main.py with robot.add_mission(...).

Accessing Hardware in a Mission

Inside sequence, use self.robot to access the robot’s hardware:

def sequence(self):
    # Motion
    self.robot.motion.drive(distance_mm=300)

    # Read a sensor
    value = self.robot.sensors.analog(port=0)

    # Control a servo
    self.robot.servo(port=0).set_position(90)

See the Motion guide and Sensors guide for all available commands.

Motion →