step.motion.drive_angle_dsl
===========================

.. py:module:: step.motion.drive_angle_dsl

.. autoapi-nested-parse::

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

   Source: drive_angle.py



Classes
-------

.. autoapisummary::

   step.motion.drive_angle_dsl.DriveAngleBuilder
   step.motion.drive_angle_dsl.DriveAngleLeftBuilder
   step.motion.drive_angle_dsl.DriveAngleRightBuilder


Functions
---------

.. autoapisummary::

   step.motion.drive_angle_dsl.drive_angle
   step.motion.drive_angle_dsl.drive_angle_left
   step.motion.drive_angle_dsl.drive_angle_right


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

.. py:class:: DriveAngleBuilder

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


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


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


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


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


   .. py:method:: until(value: raccoon.step.condition.StopCondition)


.. py:function:: drive_angle(angle_deg: float = _UNSET, cm: float = None, speed: float = 1.0, until: raccoon.step.condition.StopCondition = None)

   Drive at an arbitrary angle with distance or condition-based termination.

   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. Omit to use condition-only mode.
   :param speed: Fraction of max speed, 0.0 to 1.0.
   :param until: Stop condition for early termination.

   :returns: A DriveAngleBuilder (chainable via ``.angle_deg()``, ``.cm()``, ``.speed()``, ``.until()``, ``.on_anomaly()``, ``.skip_timing()``).

   Example::

       from raccoon.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)


.. py:class:: DriveAngleLeftBuilder

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


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


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


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


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


   .. py:method:: until(value: raccoon.step.condition.StopCondition)


.. py:function:: drive_angle_left(angle_deg: float = _UNSET, cm: float = None, speed: float = 1.0, until: raccoon.step.condition.StopCondition = None)

   Drive at an angle to the left with distance or condition-based termination.

   Convenience wrapper around ``DriveAngle`` that negates the angle so
   that the ``angle_deg`` parameter is always positive (pointing left).

   The angle is measured as degrees to the left of forward:
   ``0`` = forward, ``45`` = forward-left diagonal, ``90`` = pure left.

   :param angle_deg: Degrees to the left of forward (0 = forward, 90 = pure left).
   :param cm: Distance to travel in centimeters. Omit to use condition-only mode.
   :param speed: Fraction of max speed, 0.0 to 1.0.
   :param until: Stop condition for early termination.

   :returns: A DriveAngleLeftBuilder (chainable via ``.angle_deg()``, ``.cm()``, ``.speed()``, ``.until()``, ``.on_anomaly()``, ``.skip_timing()``).

   Example::

       from raccoon.step.motion import drive_angle_left

       # Drive diagonally forward-left at 45 degrees
       drive_angle_left(45, cm=30)

       # Drive pure left until sensor
       drive_angle_left(90, speed=0.6).until(on_black(s))


.. py:class:: DriveAngleRightBuilder

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


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


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


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


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


   .. py:method:: until(value: raccoon.step.condition.StopCondition)


.. py:function:: drive_angle_right(angle_deg: float = _UNSET, cm: float = None, speed: float = 1.0, until: raccoon.step.condition.StopCondition = None)

   Drive at an angle to the right with distance or condition-based termination.

   Convenience wrapper around ``DriveAngle`` that passes the angle
   directly (positive = right in the robot frame).

   The angle is measured as degrees to the right of forward:
   ``0`` = forward, ``45`` = forward-right diagonal, ``90`` = pure right.

   :param angle_deg: Degrees to the right of forward (0 = forward, 90 = pure right).
   :param cm: Distance to travel in centimeters. Omit to use condition-only mode.
   :param speed: Fraction of max speed, 0.0 to 1.0.
   :param until: Stop condition for early termination.

   :returns: A DriveAngleRightBuilder (chainable via ``.angle_deg()``, ``.cm()``, ``.speed()``, ``.until()``, ``.on_anomaly()``, ``.skip_timing()``).

   Example::

       from raccoon.step.motion import drive_angle_right

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

       # Drive pure right until sensor
       drive_angle_right(90, speed=0.6).until(on_black(s))