step.motion.arc_segment

Convenience wrapper that parameterises a drive arc by heading change + arc distance.

Functions

drive_arc_segment(→ raccoon.step.step_builder.StepBuilder)

Drive along a circular arc specified by heading change and travel distance.

Module Contents

step.motion.arc_segment.drive_arc_segment(heading_degrees: float = _UNSET, distance_cm: float = _UNSET, speed: float = 1.0) → raccoon.step.step_builder.StepBuilder

Drive along a circular arc specified by heading change and travel distance.

Instead of choosing a radius and arc angle separately, specify the desired heading change and how far the robot should travel along the arc. The radius is computed automatically: radius = distance_cm / radians(|heading_degrees|).

Positive heading_degrees = left (CCW), negative = right (CW).

Parameters:

  • heading_degrees – Desired heading change in degrees. Positive = left/CCW, negative = right/CW.

  • distance_cm – Distance the robot travels along the arc path in centimeters (always positive).

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

Raises:

ValueError – If heading_degrees is zero (arc would have infinite radius) or distance_cm is not positive.

Returns:

A DriveArcLeftBuilder or DriveArcRightBuilder configured with the computed radius and heading.

Example:

from raccoon.step.motion import drive_arc_segment

# Gently curve left by 10 degrees over 25 cm of travel
drive_arc_segment(heading_degrees=10, distance_cm=25)

# Curve right by 30 degrees over 40 cm at half speed
drive_arc_segment(heading_degrees=-30, distance_cm=40, speed=0.5)