step.wait_for
=============

.. py:module:: step.wait_for


Classes
-------

.. autoapisummary::

   step.wait_for.WaitFor


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

.. py:class:: WaitFor(condition: step.condition.StopCondition)

   Bases: :py:obj:`step.base.Step`


   Block until a stop condition is satisfied.

   Initializes the condition, then polls it at 50 Hz until it returns
   True. This lets you reuse any composable ``StopCondition`` — sensor
   triggers, timers, distance thresholds, or combinations — as a
   standalone wait without an accompanying motion.

   :param condition: A ``StopCondition`` instance (or composition) to wait
                     for.  Supports the same ``|``, ``&``, and ``+`` operators as
                     motion ``.until()`` clauses.

   Example::

       from raccoon.step import wait_for
       from raccoon.step.condition import on_black, after_seconds

       # Wait until the front-left IR sensor sees black
       wait_for(on_black(Defs.front.left))

       # Wait for black OR a 5-second timeout
       wait_for(on_black(sensor) | after_seconds(5))