libstp.step.motion.drive_angle
==============================

.. py:module:: libstp.step.motion.drive_angle


Classes
-------

.. autoapisummary::

   libstp.step.motion.drive_angle.DriveAngle


Functions
---------

.. autoapisummary::

   libstp.step.motion.drive_angle.drive_angle


Module Contents
---------------

.. py:class:: DriveAngle(config: libstp.motion.DiagonalMotionConfig)

   Bases: :py:obj:`libstp.step.motion.motion_step.MotionStep`


   .. py:attribute:: config


   .. py:method:: to_simulation_step() -> libstp.step.SimulationStep


   .. py:method:: on_start(robot: libstp.robot.api.GenericRobot) -> None


   .. py:method:: on_update(robot: libstp.robot.api.GenericRobot, dt: float) -> bool


.. py:function:: drive_angle(angle_deg: float, cm: float, speed: float = 1.0) -> DriveAngle

   Drive at an arbitrary angle for a specified distance.

   Decomposes the desired heading into forward and lateral velocity
   components, then runs a profiled PID controller in a rotated
   coordinate frame with heading maintenance and cross-track correction.

   Requires a mecanum or omni-wheel drivetrain.

   Angle convention (robot-centric):
       - ``0`` = forward
       - ``90`` = right
       - ``-90`` = left
       - ``180`` = backward

   :param angle_deg: Travel angle in degrees.
   :param cm: Distance to travel in centimeters.
   :param speed: Fraction of max speed, 0.0 to 1.0 (default 1.0).

   :returns: A DriveAngle step.

   Example::

       from libstp.step.motion import drive_angle

       # Drive diagonally forward-right at 45 degrees
       drive_angle(45, cm=30)

       # Drive pure right (same as strafe_right)
       drive_angle(90, cm=20)