libstp.step.motion.arc

Classes

Arc

Step wrapper around the native ArcMotion controller.

Functions

drive_arc_left(→ Arc)

Drive along a circular arc curving to the left.

drive_arc_right(→ Arc)

Drive along a circular arc curving to the right.

drive_arc(→ Arc)

Drive along a circular arc with explicit direction.

Module Contents

class libstp.step.motion.arc.Arc(config: libstp.motion.ArcMotionConfig)

Bases: libstp.step.motion.motion_step.MotionStep

Step wrapper around the native ArcMotion controller.

config
to_simulation_step() → libstp.step.SimulationStep

Convert this step to a simulation-friendly summary.

The default implementation uses timing history only when it can query the tracker synchronously; otherwise it returns conservative defaults. Override in subclasses that know their motion delta or exact duration.

on_start(robot: libstp.robot.api.GenericRobot) → None

Called once before the loop. Override to set up motion/velocity.

on_update(robot: libstp.robot.api.GenericRobot, dt: float) → bool

Called each cycle with dt in seconds. Return True when motion is complete.

libstp.step.motion.arc.drive_arc_left(radius_cm: float, degrees: float, speed: float = 1.0) → Arc

Drive along a circular arc curving to the left.

The robot drives forward while simultaneously turning counter-clockwise, tracing a circular arc of the given radius. The motion completes when the robot has turned by the specified number of degrees.

Parameters:

  • radius_cm – Turning radius in centimeters (center of arc to robot center).

  • degrees – Arc angle in degrees (how much the robot turns).

  • speed – Fraction of max speed, 0.0 to 1.0 (default 1.0).

Returns:

An Arc step configured for a left (CCW) arc.

Example:

from libstp.step.motion import drive_arc_left

# Quarter-circle left with 30 cm radius
drive_arc_left(radius_cm=30, degrees=90)

# Gentle wide arc at half speed
drive_arc_left(radius_cm=50, degrees=45, speed=0.5)
libstp.step.motion.arc.drive_arc_right(radius_cm: float, degrees: float, speed: float = 1.0) → Arc

Drive along a circular arc curving to the right.

The robot drives forward while simultaneously turning clockwise, tracing a circular arc of the given radius. The motion completes when the robot has turned by the specified number of degrees.

Parameters:

  • radius_cm – Turning radius in centimeters (center of arc to robot center).

  • degrees – Arc angle in degrees (how much the robot turns).

  • speed – Fraction of max speed, 0.0 to 1.0 (default 1.0).

Returns:

An Arc step configured for a right (CW) arc.

Example:

from libstp.step.motion import drive_arc_right

# Quarter-circle right with 30 cm radius
drive_arc_right(radius_cm=30, degrees=90)
libstp.step.motion.arc.drive_arc(radius_cm: float, degrees: float, speed: float = 1.0) → Arc

Drive along a circular arc with explicit direction.

Positive degrees = counter-clockwise (left), negative = clockwise (right).

Parameters:

  • radius_cm – Turning radius in centimeters (always positive).

  • degrees – Arc angle in degrees. Positive = left/CCW, negative = right/CW.

  • speed – Fraction of max speed, 0.0 to 1.0 (default 1.0).

Returns:

An Arc step.

Example:

from libstp.step.motion import drive_arc

# Left arc
drive_arc(radius_cm=30, degrees=90)

# Right arc
drive_arc(radius_cm=30, degrees=-90)