raccoon create

Create can be used to either create an entirely new project or a mission for an project.

raccoon create project

raccoon create project <name>
raccoon create project <name> --path /path/to/parent/dir
raccoon create project <name> --no-wizard

• Scaffolds a complete project directory,
• initializes a local git history
• and unless --no-wizard is passed — immediately launches the setup wizard to configure hardware.

Options

What it does

1. Creates a new directory <name> at the target path
2. Renders the project scaffold templates into the directory (see structure below)
3. Assigns a unique UUID to the project in raccoon.project.yml
4. Initializes a local git repository with an initial snapshot commit
5. Unless --no-wizard: prompts for a Pi connection and launches the setup wizard
6. Opens PyCharm if available and prints SSH interpreter setup instructions

Generated project structure

<name>/
├── config/
│   ├── connection.yml        # Pi address, port, SSH user
│   ├── hardware.yml          # Hardware definitions (motors, servos, sensors)
│   ├── missions.yml          # Ordered list of missions to run
│   ├── motors.yml            # Per-motor port and calibration settings
│   ├── robot.yml             # Drivetrain, odometry, motion PID, physical dims
│   └── servos.yml            # Servo port and named-position settings
├── src/
│   ├── __init__.py
│   ├── main.py               # Entry point — instantiates Robot and calls start()
│   ├── hardware/
│   │   └── __init__.py       # Populated by raccoon codegen
│   ├── missions/
│   │   ├── __init__.py
│   │   └── setup_mission.py  # Pre-built setup mission (calibrate + wait for button)
│   └── steps/
│       └── __init__.py       # Place for reusable step helpers
├── run.sh                    # Convenience script for local execution
├── upload.sh                 # Convenience script for uploading to the robot
├── raccoon.project.yml       # Main project config — name, UUID, includes
├── .gitignore
└── .raccoonignore            # Files excluded from raccoon sync

Config files

raccoon.project.yml — the root config file that raccoon reads for every command. It contains the project name and UUID, and pulls in the four subsections via YAML includes:

name: MyRobot
uuid: 3f2a1b9c-...

robot:       !include 'config/robot.yml'
missions:    !include 'config/missions.yml'
definitions: !include 'config/hardware.yml'
connection:  !include 'config/connection.yml'

config/connection.yml — stores the Pi’s IP address, port, and SSH username. Written automatically by raccoon connect.

config/hardware.yml — lists every hardware component (motors, servos, IMU, sensors). The _motors and _servos keys merge in the separate motors.yml and servos.yml files.

config/motors.yml — one entry per drive motor with port, inversion flag, and calibration data (ticks-to-radians conversion, velocity low-pass filter alpha). Populated by raccoon wizard and raccoon calibrate.

config/robot.yml — drivetrain kinematics (type, wheel radius, wheelbase), per-axis velocity PID/feedforward controllers, odometry type, motion PID tuning, and the robot’s physical dimensions and start pose.

config/missions.yml — the ordered list of missions the robot executes. Entries can include an optional mode key:

- SetupMission: setup
- M01DriveToConeMission
- M02CollectConeMission

config/servos.yml — servo port assignments and named positions (e.g. up: 30, down: 160). Commented-out examples are included in the scaffold.

Example

raccoon create project ConeBot
# Creates ./ConeBot/, scaffolds all files, initializes git, launches wizard

raccoon create project ConeBot --path ~/robots
# Creates ~/robots/ConeBot/

raccoon create project ConeBot --no-wizard
# Scaffolds only — run 'cd ConeBot && raccoon wizard' to configure later

raccoon create mission

raccoon create mission <name>

Must be run from inside a project directory (any subdirectory works — raccoon searches upward for raccoon.project.yml).

What it does

1. Converts the name to snake_case and PascalCase
2. Creates src/missions/<snake_case>_mission.py from the mission template
3. Appends the mission class name to the missions list in config/missions.yml
4. Inserts the corresponding import into src/main.py

Generated mission file

from libstp import *

from src.hardware.defs import Defs


class DriveToConeMission(Mission):
    def sequence(self) -> Sequential:
        return seq([])

Fill in the seq([...]) body with libstp steps. See the Steps documentation for available steps.

Naming conventions

raccoon accepts any casing — PascalCase, kebab-case, or snake_case — and normalises it automatically:

The Mission suffix is added automatically. If you accidentally include it in the name (e.g. DriveToZoneMission), raccoon strips the duplicate and prints a note.

Recommended: use an M## prefix to encode the execution order directly in the name. This keeps both the class names and filenames self-documenting:

raccoon create mission M01DriveToZone
raccoon create mission M02CollectSamples
raccoon create mission M03ReturnToBase

This produces:

src/missions/
├── m01_drive_to_zone_mission.py     → class M01DriveToZoneMission
├── m02_collect_samples_mission.py   → class M02CollectSamplesMission
└── m03_return_to_base_mission.py    → class M03ReturnToBaseMission

And in config/missions.yml:

- SetupMission: setup
- M01DriveToZoneMission
- M02CollectSamplesMission
- M03ReturnToBaseMission

The M00 slot is reserved by convention for the setup mission that ships with every new project.

Example

cd ConeBot

raccoon create mission M01DriveToGate
# Created: src/missions/m01_drive_to_gate_mission.py
# Added:   M01DriveToGateMission to config/missions.yml
# Imported in src/main.py

raccoon create mission M02CollectBall
# Created: src/missions/m02_collect_ball_mission.py