step.calibration.calibrate_analog_sensor_dsl

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

Source: calibrate_analog_sensor.py

Classes

CalibrateAnalogSensorBuilder

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

Functions

calibrate_analog_sensor([sensor, set_name, ...])

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

Module Contents

class step.calibration.calibrate_analog_sensor_dsl.CalibrateAnalogSensorBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

sensor(value: AnalogSensor)
set_name(value: str)
sample_duration(value: float)
step.calibration.calibrate_analog_sensor_dsl.calibrate_analog_sensor(sensor: AnalogSensor = _UNSET, set_name: str = 'default', sample_duration: float = 3.0)

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 CalibrateAnalogSensorBuilder (chainable via .sensor(), .set_name(), .sample_duration(), .on_anomaly(), .skip_timing()).

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")