step.motion.turn_dsl

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

Source: turn.py

Classes

TurnLeftBuilder

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

TurnRightBuilder

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

Functions

turn_left([degrees, speed, until])

Turn left (counter-clockwise) with angle or condition-based termination.

turn_right([degrees, speed, until])

Turn right (clockwise) with angle or condition-based termination.

Module Contents

class step.motion.turn_dsl.TurnLeftBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

degrees(value: float)
speed(value: float)
until(value: raccoon.step.condition.StopCondition)
step.motion.turn_dsl.turn_left(degrees: float = None, speed: float = 1.0, until: raccoon.step.condition.StopCondition = None)

Turn left (counter-clockwise) with angle or condition-based termination.

Uses a PID controller on the IMU heading to rotate the robot in place. The controller saturates output at the configured max angular rate, producing an implicit trapezoidal velocity profile.

Parameters:

  • degrees – Angle in degrees. Omit to use condition-only mode.

  • speed – Fraction of max speed, 0.0 to 1.0.

  • until – Stop condition for early termination (e.g., on_black(sensor)). Can also be chained via the .until() builder method.

Returns:

A TurnLeftBuilder (chainable via .degrees(), .speed(), .until(), .on_anomaly(), .skip_timing()).

Example:

turn_left(90)
turn_left(speed=0.5).until(on_black(s))
class step.motion.turn_dsl.TurnRightBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

degrees(value: float)
speed(value: float)
until(value: raccoon.step.condition.StopCondition)
step.motion.turn_dsl.turn_right(degrees: float = None, speed: float = 1.0, until: raccoon.step.condition.StopCondition = None)

Turn right (clockwise) with angle or condition-based termination.

Uses a PID controller on the IMU heading to rotate the robot in place. The controller saturates output at the configured max angular rate, producing an implicit trapezoidal velocity profile.

Parameters:

  • degrees – Angle in degrees. Omit to use condition-only mode.

  • speed – Fraction of max speed, 0.0 to 1.0.

  • until – Stop condition for early termination (e.g., on_black(sensor)). Can also be chained via the .until() builder method.

Returns:

A TurnRightBuilder (chainable via .degrees(), .speed(), .until(), .on_anomaly(), .skip_timing()).

Example:

turn_right(90)
turn_right(speed=0.5).until(on_black(s))