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

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


Classes
-------

.. autoapisummary::

   step.motion.turn.TurnLeft
   step.motion.turn.TurnRight


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

.. py:class:: TurnLeft(degrees: float = None, speed: float = 1.0, until: step.condition.StopCondition = None)

   Bases: :py:obj:`_ConditionalTurn`


   Turn left (counter-clockwise) with angle or condition-based termination.

   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.

   Example::

       turn_left(90)
       turn_left(speed=0.5).until(on_black(s))


.. py:class:: TurnRight(degrees: float = None, speed: float = 1.0, until: step.condition.StopCondition = None)

   Bases: :py:obj:`_ConditionalTurn`


   Turn right (clockwise) with angle or condition-based termination.

   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.

   Example::

       turn_right(90)
       turn_right(speed=0.5).until(on_black(s))