Operations
Recovery Protocols
What happens when things go wrong? Kenate ensures that a software crash doesn't lead to a hardware catastrophe.
Kernel Watchdog
If the Python Heartbeat skips 3 consecutive ticks (3ms), the C++ Kernel assumes the logic layer has hung. It will:
Step 1: Safe Stop
Kill all PWM signals to the motors immediately.
Step 2: State Reset
Reload the last known stable state defined in the Robot Profile.
Loss of Signal
When the robot loses connection to the control station, it enters the Auto-Nav Recovery pattern.
# recovery.toml
[connection_loss]
action = "RETURN_TO_HOME"
timeout_ms = 500