libstp.step.motion.turn
=======================

.. py:module:: libstp.step.motion.turn


Classes
-------

.. autoapisummary::

   libstp.step.motion.turn.Turn


Functions
---------

.. autoapisummary::

   libstp.step.motion.turn.turn_left
   libstp.step.motion.turn.turn_right


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

.. py:class:: Turn(config: libstp.motion.TurnConfig)

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


   Step wrapper around the native `TurnMotion` controller.


   .. 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:: turn_left(degrees: float, speed: float = 1.0) -> Turn

   Turn counter-clockwise (left) by a specified angle.

   Uses a PID controller on the IMU heading to rotate the robot in place.
   The controller saturates output at the configured max angular rate,
   producing an implicit trapezoidal velocity profile.

   :param degrees: Angle to turn in degrees (positive = counter-clockwise).
   :param speed: Fraction of max angular speed, 0.0 to 1.0 (default 1.0).

   :returns: A Turn step configured for counter-clockwise rotation.

   Example::

       from libstp.step.motion import turn_left

       # Turn 90 degrees to the left
       turn_left(90)

       # Gentle 45-degree turn at half speed
       turn_left(45, speed=0.5)


.. py:function:: turn_right(degrees: float, speed: float = 1.0) -> Turn

   Turn clockwise (right) by a specified angle.

   Uses a PID controller on the IMU heading to rotate the robot in place.
   The controller saturates output at the configured max angular rate,
   producing an implicit trapezoidal velocity profile.

   :param degrees: Angle to turn in degrees (positive = clockwise).
   :param speed: Fraction of max angular speed, 0.0 to 1.0 (default 1.0).

   :returns: A Turn step configured for clockwise rotation.

   Example::

       from libstp.step.motion import turn_right

       # Turn 90 degrees to the right
       turn_right(90)