step.motion.heading_reference_dsl

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

Source: heading_reference.py

Classes

MarkHeadingReferenceBuilder

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

Functions

mark_heading_reference([origin_offset_deg, ...])

Mark the current IMU heading as a reference point for absolute turns.

Module Contents

class step.motion.heading_reference_dsl.MarkHeadingReferenceBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

origin_offset_deg(value: float)
positive_direction(value: Literal['left', 'right'])
step.motion.heading_reference_dsl.mark_heading_reference(origin_offset_deg: float = 0.0, positive_direction: Literal['left', 'right'] = 'left')

Mark the current IMU heading as a reference point for absolute turns.

Captures the robot’s current absolute IMU heading and stores it as a reference. Subsequent calls to turn_to_heading_right() and turn_to_heading_left() will compute turn angles relative to this stored reference, enabling absolute heading control even after the robot has moved and turned through other motion steps.

The reference uses the raw IMU heading which is unaffected by odometry resets that occur during normal motion steps.

Multiple calls overwrite the previous reference.

Place this step right after wait_for_light() so the heading origin is captured before the robot moves.

Parameters:

  • origin_offset_deg – Offset in degrees added to the captured heading. Use this to define a consistent board-relative origin regardless of the robot’s physical starting rotation. For example, if the robot always starts angled 30° clockwise from “forward on the board”, pass origin_offset_deg=-30 so that 0° means “forward on the board”.

  • positive_direction – Which physical direction is treated as positive for subsequent turn_to_heading_left and turn_to_heading_right calls. "left" (default) means counter-clockwise angles are positive, matching the standard mathematical convention. "right" flips the sign so clockwise angles are positive.

Returns:

A MarkHeadingReferenceBuilder (chainable via .origin_offset_deg(), .positive_direction(), .on_anomaly(), .skip_timing()).

Example:

from raccoon.step.motion import mark_heading_reference, turn_to_heading_right

# Capture heading origin right after wait-for-light
mark_heading_reference()

# ... robot drives around ...

# Turn to face 90 degrees clockwise from origin
turn_to_heading_right(90)

# With offset: robot starts 30° CW from board forward
mark_heading_reference(origin_offset_deg=-30)

# Positive direction is clockwise (right)
mark_heading_reference(positive_direction="right")