ALFsr Tutorial

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See also

Using the values in ALMemory

This Python example shows how to retrieve the values in ALMemory. It gives the values of the total weight on both feet until foot contact is lost.

sensors_fsr.py

# -*- encoding: UTF-8 -*-
from naoqi import ALProxy
import time

IP = "127.0.0.1" # set your Ip address here
PORT = 9559

# ====================
# Create proxy to ALMemory
memoryProxy = ALProxy("ALMemory", IP, PORT)

footContact = True

footContact = memoryProxy.getData("footContact")


while (footContact):
  footContact = memoryProxy.getData("footContact")
  leftFoot = memoryProxy.getData("leftFootTotalWeight")
  rightFoot = memoryProxy.getData("rightFootTotalWeight")
  print ("Total weight on left foot: %.2f kg, on right foot: %.2f kg" % (leftFoot, rightFoot))
  time.sleep(1.0)

print("Foot contact lost")

Another possible application is to implement a module with a callback on the event “footContactChanged” (see Event subscription for information on how to do so).

Direct access

It is also possible to access sensors values directly, such as in the following example: sensors_getFsrValues.py.

# -*- encoding: UTF-8 -*-
from naoqi import ALProxy

IP = "127.0.0.1" # set your Ip address here
PORT = 9559

# ====================
# Create proxy to ALMemory
memoryProxy = ALProxy("ALMemory", IP, PORT)

# Get The Left Foot Force Sensor Values
LFsrFL = memoryProxy.getData("Device/SubDeviceList/LFoot/FSR/FrontLeft/Sensor/Value")
LFsrFR = memoryProxy.getData("Device/SubDeviceList/LFoot/FSR/FrontRight/Sensor/Value")
LFsrBL = memoryProxy.getData("Device/SubDeviceList/LFoot/FSR/RearLeft/Sensor/Value")
LFsrBR = memoryProxy.getData("Device/SubDeviceList/LFoot/FSR/RearRight/Sensor/Value")

print( "Left FSR [Kg] : %.2f %.2f %.2f %.2f" %  (LFsrFL, LFsrFR, LFsrBL, LFsrBR) )

# Get The Right Foot Force Sensor Values
RFsrFL = memoryProxy.getData("Device/SubDeviceList/RFoot/FSR/FrontLeft/Sensor/Value")
RFsrFR = memoryProxy.getData("Device/SubDeviceList/RFoot/FSR/FrontRight/Sensor/Value")
RFsrBL = memoryProxy.getData("Device/SubDeviceList/RFoot/FSR/RearLeft/Sensor/Value")
RFsrBR = memoryProxy.getData("Device/SubDeviceList/RFoot/FSR/RearRight/Sensor/Value")

print( "Right FSR [Kg] : %.2f %.2f %.2f %.2f" %  (RFsrFL, RFsrFR, RFsrBL, RFsrBR) )
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