step.motion.at_heading_dsl

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

Source: at_heading.py

Classes

WaitUntilDegreesBuilder

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

Functions

wait_until_degrees([degrees, origin])

Wait until the robot has turned at least the given number of degrees.

Module Contents

class step.motion.at_heading_dsl.WaitUntilDegreesBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

degrees(value: float)
origin(value: step.motion.at_heading.HeadingOrigin)
step.motion.at_heading_dsl.wait_until_degrees(degrees: float = _UNSET, origin: step.motion.at_heading.HeadingOrigin = HeadingOrigin.STEP_START)

Wait until the robot has turned at least the given number of degrees.

Polls heading at 100 Hz and compares the angular distance from the chosen origin against the threshold. Designed to run inside a parallel() branch alongside a turn step, enabling actions to trigger at specific angles during a turn.

The origin (zero point) is controlled by the origin parameter — see HeadingOrigin for the three available modes.

Parameters:

  • degrees – Heading-change threshold in degrees (always positive).

  • origin – Which reference point to count degrees from. Defaults to HeadingOrigin.STEP_START.

Returns:

A WaitUntilDegreesBuilder (chainable via .degrees(), .origin(), .on_anomaly(), .skip_timing()).

Example:

from raccoon.step import parallel, seq
from raccoon.step.motion import turn_left, wait_until_degrees, HeadingOrigin
from raccoon.step.servo import servo

# Default: fires 45° after this step starts executing
parallel([
    turn_left(90),
    seq([wait_until_degrees(45), servo(claw, 90)]),
])

# TURN_START: fires at 45° from the turn's own start
parallel([
    turn_left(90),
    seq([prepare_arm(), wait_until_degrees(45, origin=HeadingOrigin.TURN_START), servo(claw, 90)]),
])

# HEADING_REFERENCE: fires at 45° from the global reference
parallel([
    turn_left(90),
    seq([wait_until_degrees(45, origin=HeadingOrigin.HEADING_REFERENCE), servo(claw, 90)]),
])