step.motion.wall_align_dsl

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

Source: wall_align.py

Classes

WallAlignForwardBuilder	Builder for WallAlignForward. Auto-generated — do not edit.
WallAlignBackwardBuilder	Builder for WallAlignBackward. Auto-generated — do not edit.
WallAlignStrafeLeftBuilder	Builder for WallAlignStrafeLeft. Auto-generated — do not edit.
WallAlignStrafeRightBuilder	Builder for WallAlignStrafeRight. Auto-generated — do not edit.

Functions

wall_align_forward([speed, accel_threshold, ...])	Drive forward into a wall and align the front of the robot.
wall_align_backward([speed, accel_threshold, ...])	Drive backward into a wall and align the back of the robot.
wall_align_strafe_left([speed, accel_threshold, ...])	Strafe left into a wall and align the left side of the robot.
wall_align_strafe_right([speed, accel_threshold, ...])	Strafe right into a wall and align the right side of the robot.

Module Contents

class step.motion.wall_align_dsl.WallAlignForwardBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

speed(value: float)

accel_threshold(value: float)

settle_duration(value: float)

max_duration(value: float)

grace_period(value: float)

step.motion.wall_align_dsl.wall_align_forward(speed: float = 1.0, accel_threshold: float = 0.5, settle_duration: float = 0.2, max_duration: float = 5.0, grace_period: float = 0.3)

Drive forward into a wall and align the front of the robot.

Apply constant forward velocity without heading correction so the robot naturally rotates flush against the wall surface. The step monitors gravity-compensated linear acceleration from the IMU and stops once a collision spike is detected followed by a short settle period.

The grace period prevents false triggers from the initial acceleration transient when the robot starts moving.

After the step completes, step.bump_result contains the impact magnitude, estimated wall misalignment angle, and the heading correction applied during the settle push.

Parameters:

• speed – Drive speed in m/s (default 1.0).

• accel_threshold – Minimum XY linear-acceleration magnitude in m/s² to classify as a bump (default 0.5). Lower values are more sensitive but may false-trigger on rough surfaces.

• settle_duration – Seconds to keep pushing after the bump is detected, letting the chassis rotate flush (default 0.2).

• max_duration – Safety timeout in seconds — the step finishes even if no bump is detected (default 5.0).

• grace_period – Seconds to ignore acceleration after starting, so the robot’s own acceleration doesn’t trigger detection (default 0.3).

Returns:

A WallAlignForwardBuilder (chainable via .speed(), .accel_threshold(), .settle_duration(), .max_duration(), .grace_period(), .on_anomaly(), .skip_timing()).

Example:

from raccoon.step.motion import wall_align_forward, drive_forward

# Drive near the wall, then bump-align against it
seq([drive_forward(30), wall_align_forward()])

# More sensitive detection at slower speed
wall_align_forward(speed=0.3, accel_threshold=0.3)

class step.motion.wall_align_dsl.WallAlignBackwardBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

speed(value: float)

accel_threshold(value: float)

settle_duration(value: float)

max_duration(value: float)

grace_period(value: float)

step.motion.wall_align_dsl.wall_align_backward(speed: float = 1.0, accel_threshold: float = 0.5, settle_duration: float = 0.2, max_duration: float = 5.0, grace_period: float = 0.3)

Drive backward into a wall and align the back of the robot.

Apply constant backward velocity without heading correction so the robot naturally rotates flush against the wall surface. Uses IMU bump detection to know when the wall has been reached.

Parameters:

• speed – Drive speed in m/s (default 1.0).

• accel_threshold – Minimum XY linear-acceleration magnitude in m/s² to classify as a bump (default 0.5).

• settle_duration – Seconds to keep pushing after impact (default 0.2).

• max_duration – Safety timeout in seconds (default 5.0).

• grace_period – Seconds to ignore acceleration at start (default 0.3).

Returns:

A WallAlignBackwardBuilder (chainable via .speed(), .accel_threshold(), .settle_duration(), .max_duration(), .grace_period(), .on_anomaly(), .skip_timing()).

Example:

from raccoon.step.motion import wall_align_backward, drive_backward

# Drive to the wall in reverse, then align against it
seq([drive_backward(30), wall_align_backward()])

class step.motion.wall_align_dsl.WallAlignStrafeLeftBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

speed(value: float)

accel_threshold(value: float)

settle_duration(value: float)

max_duration(value: float)

grace_period(value: float)

step.motion.wall_align_dsl.wall_align_strafe_left(speed: float = 0.5, accel_threshold: float = 0.5, settle_duration: float = 0.2, max_duration: float = 5.0, grace_period: float = 0.3)

Strafe left into a wall and align the left side of the robot.

Apply constant leftward velocity without heading correction so the robot naturally rotates flush against the wall surface. Uses IMU bump detection. Requires a mecanum or omni drivetrain capable of lateral movement.

Parameters:

• speed – Strafe speed in m/s (default 0.5).

• accel_threshold – Minimum XY linear-acceleration magnitude in m/s² to classify as a bump (default 0.5).

• settle_duration – Seconds to keep pushing after impact (default 0.2).

• max_duration – Safety timeout in seconds (default 5.0).

• grace_period – Seconds to ignore acceleration at start (default 0.3).

Returns:

A WallAlignStrafeLeftBuilder (chainable via .speed(), .accel_threshold(), .settle_duration(), .max_duration(), .grace_period(), .on_anomaly(), .skip_timing()).

Example:

from raccoon.step.motion import wall_align_strafe_left

# Strafe-align the left side against a wall
wall_align_strafe_left(speed=0.4)

class step.motion.wall_align_dsl.WallAlignStrafeRightBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

speed(value: float)

accel_threshold(value: float)

settle_duration(value: float)

max_duration(value: float)

grace_period(value: float)

step.motion.wall_align_dsl.wall_align_strafe_right(speed: float = 0.5, accel_threshold: float = 0.5, settle_duration: float = 0.2, max_duration: float = 5.0, grace_period: float = 0.3)

Strafe right into a wall and align the right side of the robot.

Apply constant rightward velocity without heading correction so the robot naturally rotates flush against the wall surface. Uses IMU bump detection. Requires a mecanum or omni drivetrain capable of lateral movement.

Parameters:

• speed – Strafe speed in m/s (default 0.5).

• accel_threshold – Minimum XY linear-acceleration magnitude in m/s² to classify as a bump (default 0.5).

• settle_duration – Seconds to keep pushing after impact (default 0.2).

• max_duration – Safety timeout in seconds (default 5.0).

• grace_period – Seconds to ignore acceleration at start (default 0.3).

Returns:

A WallAlignStrafeRightBuilder (chainable via .speed(), .accel_threshold(), .settle_duration(), .max_duration(), .grace_period(), .on_anomaly(), .skip_timing()).

Example:

from raccoon.step.motion import wall_align_strafe_right

# Strafe-align the right side against a wall
wall_align_strafe_right(speed=0.4)