step.motion.turn_dsl
====================

.. py:module:: step.motion.turn_dsl

.. autoapi-nested-parse::

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

   Source: turn.py



Classes
-------

.. autoapisummary::

   step.motion.turn_dsl.TurnLeftBuilder
   step.motion.turn_dsl.TurnRightBuilder


Functions
---------

.. autoapisummary::

   step.motion.turn_dsl.turn_left
   step.motion.turn_dsl.turn_right


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

.. py:class:: TurnLeftBuilder

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


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


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


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


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


.. py:function:: turn_left(degrees: float = None, speed: float = 1.0, until: raccoon.step.condition.StopCondition = None)

   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.

   :param degrees: Angle in degrees. Omit to use condition-only mode.
   :param speed: Fraction of max speed, 0.0 to 1.0.
   :param until: Stop condition for early termination (e.g., ``on_black(sensor)``). Can also be chained via the ``.until()`` builder method.

   :returns: A TurnLeftBuilder (chainable via ``.degrees()``, ``.speed()``, ``.until()``, ``.on_anomaly()``, ``.skip_timing()``).

   Example::

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


.. py:class:: TurnRightBuilder

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


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


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


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


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


.. py:function:: turn_right(degrees: float = None, speed: float = 1.0, until: raccoon.step.condition.StopCondition = None)

   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.

   :param degrees: Angle in degrees. Omit to use condition-only mode.
   :param speed: Fraction of max speed, 0.0 to 1.0.
   :param until: Stop condition for early termination (e.g., ``on_black(sensor)``). Can also be chained via the ``.until()`` builder method.

   :returns: A TurnRightBuilder (chainable via ``.degrees()``, ``.speed()``, ``.until()``, ``.on_anomaly()``, ``.skip_timing()``).

   Example::

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