Masterclass V1.0.6

Autonomous Delivery

Warehouse Suite Fail-Safe Architecture

Introduction

"Step-by-step, we're going to build a professional-grade delivery system. Instead of just looking at code, let's walk through how we build this thing from scratch."

01. Install Engine

$ pip install kenate --no-cache-dir

02. Scaffold Workspace

$ kenate init WarehouseBot
$ cd WarehouseBot

03. The Implementation

from kenate import Robot, BaseState
from kenate.stdlib import WaitState, BlackBoxLogger
from kenate.diag import TerminalVisualizer

# PHASE 1: THE SAFETY LAYER (EMERGENCY LOCKDOWN)
class SafetyLockdown(BaseState):
    def on_enter(self):
        print("\n[CRITICAL] EMERGENCY LOCKDOWN TRIGGERED.")
        # Kill power to actuators here
    
    def on_update(self):
        pass

# PHASE 2: THE STARTUP AUDIT (BATTERY CHECK)
class BatteryCheck(BaseState):
    def on_enter(self):
        self.logger = BlackBoxLogger()
        print("[SYSTEM] Pre-Flight Energy Audit...")

    def on_update(self):
        battery = self.get_battery_level()
        if battery > 20:
            self.transition_to("Navigation")
        else:
            self.transition_to("SafetyLockdown")

# PHASE 3: THE HEARTBEAT LOOP (NAVIGATION)
class Navigation(BaseState):
    def on_enter(self):
        self.viz = TerminalVisualizer(robot_id="MASTER-TRANS-01")
        self.traveled = 0.0

    def on_update(self):
        # 1. SENSE: Gather data
        dist = self.get_distance_sensor()
        temp = self.get_system_temperature()
        
        # 2. THINK: Logic transitions (Fail-safe)
        if temp > 80.0:
            self.transition_to("SafetyLockdown")
            return

        if dist < 30:
            print("\n[ALERT] Obstacle! Braking...")
            self.transition_to("WaitState") 
            return

        # 3. ACT: Move and render
        self.traveled += 0.1 
        self.viz.render(self.name, {'distance': self.traveled})

def main():
    robot = Robot(port="SIMULATION")
    robot.create_state("StartUp", BatteryCheck)
    robot.create_state("Navigation", Navigation)
    robot.create_state("SafetyLockdown", SafetyLockdown)
    robot.start()

Breakdown: To The Bone

The Safety Layer

In a professional warehouse, we want a "Safe Zone" we can jump to if things break. The SafetyLockdown state is isolated, ensuring that even if navigation logic crashes, the actuators are powered down.

Pre-Flight Audit

We don't want a robot dying in the middle of a hallway. The BatteryCheck phase records every audit in the Black Box Logger before the wheels ever turn—providing an engineering "paper trail."

04. Deploying to Hardware

Once the code is on the Raspberry Pi, run:

$ kenate run src/delivery_bot.py

The Python script wakes up the C++ engine inside the robot's brain, and the navigation begins!

Hexapod Walk

Safety & Thermal