- id: REQ-001
  title: E-stop halts motion within 100 ms
  type: safety
  asil_pl: PLd
  text: |
    On assertion of the E-stop input, all actuators must reach
    a safe stop state within 100 ms, as measured at the wheel encoders.

pip install roboticks

# tests/test_estop.py
import time
from roboticks import confirms, deadline

@confirms("REQ-001")
@deadline(milliseconds=100)
def test_estop_halts_motion(robot):
    robot.command_velocity(1.0)
    t0 = time.monotonic()
    robot.assert_estop()
    robot.wait_until_stopped()
    assert (time.monotonic() - t0) * 1000 < 100

pytest tests/test_estop.py

git checkout -b first-traced-pr
git add roboticks/requirements.yaml tests/test_estop.py
git commit -m "Add E-stop deadline test"
git push origin first-traced-pr
gh pr create --fill

✓ Roboticks · 1/1 requirements confirmed · 1 test, 1 pass
  REQ-001  confirmed by tests/test_estop.py::test_estop_halts_motion