step.calibration.sensors.step_dsl

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

Source: step.py

Classes

CalibrateSensorsBuilder

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

Functions

calibrate_sensors([calibration_time, ...])

Calibrate IR sensors by sampling black and white surface readings.

Module Contents

class step.calibration.sensors.step_dsl.CalibrateSensorsBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

calibration_time(value: float)
allow_use_existing(value: bool)
calibration_sets(value: List[str] | None)
step.calibration.sensors.step_dsl.calibrate_sensors(calibration_time: float = 5.0, allow_use_existing: bool = True, calibration_sets: List[str] | None = None)

Calibrate IR sensors by sampling black and white surface readings.

Guides the operator through sampling each IR sensor over calibration surfaces to establish black/white thresholds. The operator places the robot on the calibration surface and the step samples readings for the configured duration. Supports multiple named calibration sets (e.g. "default" and "transparent") for surface-specific thresholds.

Parameters:

  • calibration_time – Duration for calibration sampling in seconds.

  • allow_use_existing – If True, offer to reuse existing calibration values instead of re-sampling.

  • calibration_sets – Named calibration sets to calibrate (e.g. ["default", "transparent"]). Defaults to ["default"].

Returns:

A CalibrateSensorsBuilder (chainable via .calibration_time(), .allow_use_existing(), .calibration_sets(), .on_anomaly(), .skip_timing()).

Example:

from raccoon.step.calibration import calibrate_sensors

# Basic IR calibration
calibrate_sensors()

# Two surface sets with longer sampling
calibrate_sensors(
    calibration_time=8.0,
    calibration_sets=["default", "transparent"],
)