libstp.step.timing.wait_for_checkpoint

Classes

WaitForCheckpoint

Wait until the robot synchronizer reaches a mission-relative checkpoint.

Functions

wait_for_checkpoint(→ WaitForCheckpoint)

Wait until a mission-relative time checkpoint is reached.

Module Contents

class libstp.step.timing.wait_for_checkpoint.WaitForCheckpoint(checkpoint_seconds: float | int)

Bases: libstp.step.Step

Wait until the robot synchronizer reaches a mission-relative checkpoint.

checkpoint_seconds

libstp.step.timing.wait_for_checkpoint.wait_for_checkpoint(checkpoint_seconds: float) → WaitForCheckpoint

Wait until a mission-relative time checkpoint is reached.

Pauses execution until the robot’s global synchronizer clock reaches the specified number of seconds since mission start. If the checkpoint time has already passed, the step returns immediately. This is useful for synchronizing actions to absolute times within a timed Botball run (e.g. “at T=20s, start collecting”).

Prerequisites:

The robot must have a synchronizer configured. The synchronizer clock starts when the mission begins.

Parameters:

checkpoint_seconds – The mission-relative time (in seconds) to wait for. Must be non-negative.

Returns:

A step that blocks until the checkpoint time.

Return type:

WaitForCheckpoint

Example:

from libstp.step.timing import wait_for_checkpoint

seq([
    drive_forward(50),
    # Ensure we don't start the next action before T=10s
    wait_for_checkpoint(10.0),
    pick_up_tribble(),
    # Gate the final action to T=25s
    wait_for_checkpoint(25.0),
    drive_to_bin(),
])