step.motion.at_heading_dsl
==========================

.. py:module:: step.motion.at_heading_dsl

.. autoapi-nested-parse::

   Auto-generated step builders and DSL functions — DO NOT EDIT.

   Source: at_heading.py



Classes
-------

.. autoapisummary::

   step.motion.at_heading_dsl.WaitUntilDegreesBuilder


Functions
---------

.. autoapisummary::

   step.motion.at_heading_dsl.wait_until_degrees


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

.. py:class:: WaitUntilDegreesBuilder

   Bases: :py:obj:`raccoon.step.step_builder.StepBuilder`


   Builder for WaitUntilDegrees. Auto-generated — do not edit.


   .. py:method:: degrees(value: float)


   .. py:method:: origin(value: step.motion.at_heading.HeadingOrigin)


.. py:function:: wait_until_degrees(degrees: float = _UNSET, origin: step.motion.at_heading.HeadingOrigin = HeadingOrigin.STEP_START)

   Wait until the robot has turned at least the given number of degrees.

   Polls heading at 100 Hz and compares the angular distance from the
   chosen origin against the threshold.  Designed to run inside a
   ``parallel()`` branch alongside a turn step, enabling actions to trigger
   at specific angles during a turn.

   The origin (zero point) is controlled by the ``origin`` parameter — see
   :class:`HeadingOrigin` for the three available modes.

   :param degrees: Heading-change threshold in degrees (always positive).
   :param origin: Which reference point to count degrees from. Defaults to ``HeadingOrigin.STEP_START``.

   :returns: A WaitUntilDegreesBuilder (chainable via ``.degrees()``, ``.origin()``, ``.on_anomaly()``, ``.skip_timing()``).

   Example::

       from raccoon.step import parallel, seq
       from raccoon.step.motion import turn_left, wait_until_degrees, HeadingOrigin
       from raccoon.step.servo import servo

       # Default: fires 45° after this step starts executing
       parallel([
           turn_left(90),
           seq([wait_until_degrees(45), servo(claw, 90)]),
       ])

       # TURN_START: fires at 45° from the turn's own start
       parallel([
           turn_left(90),
           seq([prepare_arm(), wait_until_degrees(45, origin=HeadingOrigin.TURN_START), servo(claw, 90)]),
       ])

       # HEADING_REFERENCE: fires at 45° from the global reference
       parallel([
           turn_left(90),
           seq([wait_until_degrees(45, origin=HeadingOrigin.HEADING_REFERENCE), servo(claw, 90)]),
       ])