API Reference

Standard Library

Pre-built states for common tasks. Import from kenate.stdlib. Why reinvent the wheel?

Available States

State	Purpose
WaitState	Pause for a duration
SequenceState	Chain states in order
ParallelState	Run states simultaneously
StopState	Emergency shutdown
LogState	Debug logging

`WaitState(duration, next_state)`

Do nothing for a specified duration. Optionally transition to another state when done. Sometimes waiting is the correct thing to do.

from kenate.stdlib import WaitState

# Wait 2 seconds, then go to Patrol
engine.register_state("Wait", WaitState(2.0, "Patrol"))

# Wait 5 seconds, then return to previous state
engine.register_state("Pause", WaitState(5.0))

`SequenceState(states)`

Execute a list of states in order. Great for scripted behaviors and not losing track of what comes next.

from kenate.stdlib import SequenceState

# Pick up object: move to it, grab it, return
pickup_sequence = SequenceState([
    MoveToObjectState(),
    GrabState(),
    ReturnHomeState()
])

engine.register_state("Pickup", pickup_sequence)

`ParallelState(states)`

Run multiple states at the same time. Useful for multitasking. Walk and chew gum simultaneously.

from kenate.stdlib import ParallelState

# Move AND scan at the same time
patrol = ParallelState([
    MoveForwardState(),
    ScanForTargetsState()
])

engine.register_state("Patrol", patrol)

`StopState()`

Emergency shutdown. Sets all motors to 0 and locks the robot. Use sparingly. Hopefully never.

from kenate.stdlib import StopState

engine.register_state("EmergencyStop", StopState())

# Trigger from any state:
# self.change_state("EmergencyStop")

`LogState(message, level)`

One-shot state that logs a message and immediately returns to the previous state. Handy for debugging.

from kenate.stdlib import LogState

# Debug your state chains
engine.register_state("Debug", LogState("Entered debug point", "INFO"))

Sensor API

CLI Commands