step.motion.drive_to_analog_target_dsl

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

Source: drive_to_analog_target.py

Classes

DriveToAnalogTargetBuilder

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

Functions

drive_to_analog_target([sensor, speed, set_name, ...])

Drive until an analog sensor reaches its calibrated reference value.

Module Contents

class step.motion.drive_to_analog_target_dsl.DriveToAnalogTargetBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

sensor(value: AnalogSensor)
speed(value: float)
set_name(value: str)
timeout_cm(value: float | None)
step.motion.drive_to_analog_target_dsl.drive_to_analog_target(sensor: AnalogSensor = _UNSET, speed: float = 0.3, set_name: str = 'default', timeout_cm: float | None = None)

Drive until an analog sensor reaches its calibrated reference value.

Reads the reference raw value stored by calibrate_analog_sensor() for the given sensor and set name, then drives forward or backward at the specified speed until sensor.read() crosses that threshold. Direction is chosen automatically: if the current reading is below the target the robot drives forward (toward the target); if it is already above the target the robot drives backward.

A timeout_cm can be provided as a safety backstop — the step stops after that distance even if the sensor has not reached the target.

Prerequisites:

calibrate_analog_sensor(sensor, set_name=...) must have been run (or a stored calibration must exist) before this step executes. Raises RuntimeError if no calibration data is found.

Parameters:

  • sensor – The analog sensor used to detect the target position.

  • speed – Drive speed as a fraction of maximum (0.0–1.0, default 0.3). Use a slow speed for precise positioning.

  • set_name – Which stored calibration point to target (default "default").

  • timeout_cm – Maximum distance to drive in centimetres before giving up. None disables the distance limit (default).

Returns:

A DriveToAnalogTargetBuilder (chainable via .sensor(), .speed(), .set_name(), .timeout_cm(), .on_anomaly(), .skip_timing()).

Example:

from raccoon.step.motion import drive_to_analog_target

# Drive to the default calibrated ET-sensor position
drive_to_analog_target(robot.defs.et_sensor)

# Slower approach to a named position with 30 cm safety backstop
drive_to_analog_target(
    robot.defs.et_sensor,
    speed=0.2,
    set_name="near",
    timeout_cm=30,
)