step.motion.custom_velocity
===========================

.. py:module:: step.motion.custom_velocity

.. autoapi-nested-parse::

   Motion step driven by a user-supplied velocity function.

   Each update cycle the function is called with the current robot and dt;
   it returns (vx, vy, omega) as fractions of each axis's configured max
   velocity (-1.0 to 1.0) and these are scaled before being forwarded to
   the drive velocity controller.  Stops when the optional stop condition
   triggers or when an external combinator (e.g. ``do_until_checkpoint``)
   cancels it.



Attributes
----------

.. autoapisummary::

   step.motion.custom_velocity.VelocityFn


Classes
-------

.. autoapisummary::

   step.motion.custom_velocity.CustomVelocity


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

.. py:data:: VelocityFn

.. py:class:: CustomVelocity(velocity_fn: VelocityFn, until: Optional[raccoon.step.condition.StopCondition] = None)

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


   Motion step driven by a user-supplied velocity function.

   Each update cycle ``velocity_fn(robot, dt)`` is called and the returned
   ``(vx_pct, vy_pct, omega_pct)`` fractions (-1.0 to 1.0) are multiplied
   by the configured max velocities for each axis before being applied to
   the drive velocity controller.  The loop runs until the optional
   ``until`` condition fires, at which point the base ``MotionStep`` calls
   ``on_stop`` and executes ``robot.drive.hard_stop()``.


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


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