step.motion.sensor_group
========================

.. py:module:: step.motion.sensor_group

.. autoapi-nested-parse::

   SensorGroup: pre-bind IR sensor pairs with default threshold, speed, and
   PID gains so mission code doesn't repeat them on every call.

   Usage::

       from raccoon.step.motion.sensor_group import SensorGroup

       front = SensorGroup(
           left=front_left_ir,
           right=front_right_ir,
       )

       # In a mission:
       front.lineup_on_black()
       front.drive_until_black()
       front.drive_over_line()
       front.follow_right_edge(cm=125)

       # Override defaults per-call:
       front.lineup_on_black(threshold=0.5)
       front.strafe_left_until_black(speed=0.3, threshold=0.3)

       # Single-sensor access for raw builder calls:
       strafe_left(speed=0.3).until(on_black(front.right))



Classes
-------

.. autoapisummary::

   step.motion.sensor_group.SensorGroup


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

.. py:class:: SensorGroup(left=None, right=None, threshold: float = 0.7, speed: float = 1.0, follow_speed: float = 0.8, follow_kp: float = 0.5, follow_ki: float = 0.02, follow_kd: float = 0.0)

   A named sensor pair with pre-bound defaults for threshold, speed, and PID.

   Provides convenience methods for common sensor-triggered operations:
   lineup, drive-until, strafe-until, and line-following. All methods
   return Step builders that can be used directly in ``seq([...])``.

   :param left: IR sensor mounted on the left side (or None).
   :param right: IR sensor mounted on the right side (or None).
   :param threshold: Default confidence threshold (0.0--1.0) for black/white
                     detection. Defaults to 0.7.
   :param speed: Default motion speed fraction (0.0--1.0). Defaults to 1.0.
   :param follow_speed: Default speed for line-following. Defaults to 0.8.
   :param follow_kp: Proportional gain for line-follow PID. Defaults to 0.5.
   :param follow_ki: Integral gain for line-follow PID. Defaults to 0.02.
   :param follow_kd: Derivative gain for line-follow PID. Defaults to 0.0.


   .. py:attribute:: left
      :value: None



   .. py:attribute:: right
      :value: None



   .. py:method:: lineup_on_black(threshold=None)


   .. py:method:: lineup_on_white(threshold=None)


   .. py:method:: lineup(target=None, threshold=None)


   .. py:method:: backward_lineup_on_black()


   .. py:method:: backward_lineup_on_white()


   .. py:method:: drive_until_black(speed=None, threshold=None)


   .. py:method:: drive_until_white(speed=None, threshold=None)


   .. py:method:: drive_over_line(speed=None, threshold=None)

      Drive forward through black then white (crosses one line).



   .. py:method:: drive_backward_until_black(sensor=None, speed=None, threshold=None)


   .. py:method:: strafe_left_until_black(sensor=None, speed=None, threshold=None)


   .. py:method:: strafe_right_until_black(sensor=None, speed=None, threshold=None)


   .. py:method:: strafe_right_until_white(sensor=None, speed=None, threshold=None)


   .. py:method:: follow_right_edge(cm, speed=None)


   .. py:method:: follow_right_until_black(speed=None)