step.motion.drive

Classes

DriveForward	Drive forward with distance or condition-based termination.
DriveBackward	Drive backward with distance or condition-based termination.
StrafeLeft	Strafe left with distance or condition-based termination.
StrafeRight	Strafe right with distance or condition-based termination.

Module Contents

class step.motion.drive.DriveForward(cm: float = None, speed: float = 1.0, until: step.condition.StopCondition = None, heading: float = None)

Bases: _ConditionalDrive

Drive forward with distance or condition-based termination.

Uses profiled PID motion control with a trapezoidal velocity profile. The robot accelerates, cruises, and decelerates while maintaining heading via IMU feedback. When heading is given, the controller holds that absolute heading (degrees from heading reference) instead of the heading at start, preventing drift accumulation across consecutive drives.

Requires calibrate_distance() for distance-based mode. Requires mark_heading_reference() when using heading.

Parameters:

heading – Absolute heading in degrees from the heading reference to hold during this drive. None (default) holds the heading at the start of the drive (relative mode).

Example:

drive_forward(25)                            # 25 cm, relative heading
drive_forward(25, heading=90)                # hold 90° absolute
drive_forward(speed=0.8).until(on_black(s))  # until sensor

class step.motion.drive.DriveBackward(cm: float = None, speed: float = 1.0, until: step.condition.StopCondition = None, heading: float = None)

Bases: _ConditionalDrive

Drive backward with distance or condition-based termination.

Identical to drive_forward() but in reverse. Uses profiled PID motion control while maintaining heading via IMU feedback. Supports the same heading parameter for absolute heading hold.

Requires calibrate_distance() for distance-based mode. Requires mark_heading_reference() when using heading.

Parameters:

heading – Absolute heading in degrees from the heading reference to hold during this drive. None (default) holds the heading at the start of the drive (relative mode).

Example:

drive_backward(20)
drive_backward(20, heading=0)                # hold 0° absolute
drive_backward(speed=0.5).until(on_white(s))

class step.motion.drive.StrafeLeft(cm: float = None, speed: float = 1.0, until: step.condition.StopCondition = None, heading: float = None)

Bases: _ConditionalDrive

Strafe left with distance or condition-based termination.

Requires a mecanum or omni-wheel drivetrain. The robot moves laterally to the left while maintaining heading via IMU feedback. Supports the same heading parameter for absolute heading hold.

Requires mark_heading_reference() when using heading.

Parameters:

heading – Absolute heading in degrees from the heading reference to hold during this strafe. None (default) holds the heading at the start of the strafe (relative mode).

Example:

strafe_left(15)
strafe_left(15, heading=90)                  # hold 90° absolute
strafe_left(speed=0.6).until(on_black(s))

class step.motion.drive.StrafeRight(cm: float = None, speed: float = 1.0, until: step.condition.StopCondition = None, heading: float = None)

Bases: _ConditionalDrive

Strafe right with distance or condition-based termination.

Requires a mecanum or omni-wheel drivetrain. The robot moves laterally to the right while maintaining heading via IMU feedback. Supports the same heading parameter for absolute heading hold.

Requires mark_heading_reference() when using heading.

Parameters:

heading – Absolute heading in degrees from the heading reference to hold during this strafe. None (default) holds the heading at the start of the strafe (relative mode).

Example:

strafe_right(15)
strafe_right(15, heading=0)                  # hold 0° absolute
strafe_right(speed=0.6).until(on_black(s))