step.calibration.calibrate_analog_sensor

Analog sensor (ET/distance) position calibration step.

Captures a reference raw reading from any AnalogSensor at a user-defined robot position so that drive_to_analog_target() can reproduce the same sensor-distance during a mission.

Attributes

ANALOG_SENSOR_STORE_SECTION

Classes

AnalogSensorCalibration	Reference reading captured during calibration.
CalibrateAnalogSensor	Capture a reference analog sensor reading at a target robot position.

Functions

analog_sensor_store_key(→ str)

Return the CalibrationStore set key for sensor / set_name.

Module Contents

step.calibration.calibrate_analog_sensor.ANALOG_SENSOR_STORE_SECTION = 'analog-sensor'

step.calibration.calibrate_analog_sensor.analog_sensor_store_key(sensor: raccoon.hal.AnalogSensor, set_name: str) → str

Return the CalibrationStore set key for sensor / set_name.

class step.calibration.calibrate_analog_sensor.AnalogSensorCalibration

Reference reading captured during calibration.

target_value: float

std: float

sample_count: int

class step.calibration.calibrate_analog_sensor.CalibrateAnalogSensor(sensor: raccoon.hal.AnalogSensor, set_name: str = 'default', sample_duration: float = 3.0)

Bases: step.calibration.calibrate_step.CalibrateStep[AnalogSensorCalibration]

Capture a reference analog sensor reading at a target robot position.

Guides the operator to position the robot at a reference location, then samples the analog sensor for a short period to derive a stable reference raw value. The result is persisted in racoon.calibration.yml under the analog-sensor section and consumed at runtime by drive_to_analog_target().

Typical use: position the robot next to an object, run this step during setup, then use drive_to_analog_target() in the mission to reliably drive to that sensor distance every run.

Supports --no-calibrate: loads the stored reference without running the interactive flow when the flag is active and data already exists.

Prerequisites:

The sensor must be passed directly. No auto-discovery from robot.defs is performed.

Parameters:

• sensor – The analog sensor to calibrate (e.g. an ETSensor).

• set_name – Label for this calibration point (default "default"). Use different names for multiple reference distances on the same sensor port.

• sample_duration – How long to sample the sensor in seconds. Longer durations produce more stable averages.

Returns:

A CalibrateAnalogSensor instance.

Raises:

RuntimeError – If the sensor has no valid reading during sampling.

Example:

from raccoon.step.calibration import calibrate_analog_sensor

# Calibrate ET sensor at the default target position
calibrate_analog_sensor(robot.defs.et_sensor)

# Two named positions on the same sensor
calibrate_analog_sensor(robot.defs.et_sensor, set_name="near")
calibrate_analog_sensor(robot.defs.et_sensor, set_name="far")