Low level architecture

See also

Overview | API | Tutorial

Presentation

In order to understand the use of the DCM, we need an overview of all the devices in the robot.

Electronics architecture:

../../../_images/dcm_electronic_arch.png

Device and subDevice definitions

Devices and subDevices are abstract definitions of objects used by the DCM.

  • Devices are subDevice controllers. The DCM communicates with them.

    They are mainly electronic boards in the robot, with their micro-controller. Each device is defined by a bus type and an address on this bus. It also has an unique name and a type.

  • A subDevice is mainly an actuator or a sensor controlled by a device.

    A subDevice is defined by its device, a subDevice type, and a subDevice number. This number is used because there is often more than one subDevice of the same type controlled by the one same device (for example a board with 3 LEDs). It starts at 1 (not 0) and increments. Each subDevice has a unique name (different from the Device one). This name is used for the communication with the upper level.

Both devices and subDevices have a series of keys with a unique value (usually a float, but it could be int, boolean or string) for each of the keys. Keys are for example “Value” (the main value), “Min”, “Max”, “Gain”, “Offset”, “Error”... There are some mandatory keys for devices and subDevices, but there could be many others, depending on the subDevice or the Device type.

If you add a prefix with the subDevice or Device name and the specific key name, you’ll have the string name of the subDevice key directly stored in ALMemory or the string name that you can send to the DCM for actuator change.

LED example:

“Face/Led/Red/Right/0Deg/Actuator”: This is the name of one of the LED actuator, the red LED near the right eyes at 0 angle.

This LED has a main value key named “Value”, this is a float from 0.0 (no light) to 1.0 (full light).

If you add the prefix, that is for subDevice :”Device/SubDeviceList/”, you have the complete key name: “Device/SubDeviceList/Face/Led/Red/Right/0Deg/Actuator/Value”

In ALMemory this is the key name that you can use to get the current LED value.

You can also use this name to send a timed-command value to the DCM for this actuator (for this precise use, the prefix is not mandatory).

Joint sensor example:

“LShoulderPitch/Position/Sensor”: This is the name of one of the joint angle sensor (Left shoulder pitch).

This joint has a main value key named “Value”, this is a float that is the angle in radian.

If you add the prefix, that is for subDevice:”Device/SubDeviceList/”, you have the complete key name: “Device/SubDeviceList/LShoulderPitch/Position/Sensor/Value”

In ALMemory this is the key name that you can use to get the current joint position value.

The joint sensor has also other key like “SensorType” ( “Device/SubDeviceList/LShoulderPitch/Position/Sensor/SensorType”). This is a configuration key that describes the kind of sensor for this joint, used then by motorboard. It’s not a good idea to change it!

You’ll see in next chapters the Device and subDevices names and all their possible keys.

The upper level usually communicates through the DCM with subdevices names (sensors / actuators) and seldom with devices names. But you can get useful information from devices (specific errors, ACK / NACK...).

../../../_images/dcm_virtual_comm.png

Note

This scheme is a virtual point of view. Hardware buses are not shown.

List of communication buses

Here is the list of possible communication buses for devices:

Devices Bus
MotherBoard A virtual bus for devices in the motherboard.
MotherBoardI2C I2C bus into the head
Chest A virtual bus for devices in the chest.
ChestI2C I2C bus into the robot body.
RS485Down RS485 bus for all boards in legs.
RS485Up RS485 bus for all boards in arms/neck.
LeftHandI2C Not implemented
RightHandI2C Not implemented

This is only useful if you want to understand the preference (configuration) file.

Type of device

Here is the list of possible devices:

Device Is ...
MotherBoard The main CPU board in the head with the Geode processor.
ChestBoard The chest board with the ARM processor.
MotorBoard All motor board in the robot that control joints, except for foot and hand. They are specific.
MotorBoardHand Motor board for the hands. Right now strictly equivalent to MotorBoard.
MotorBoardFoot Motor board for the foots. Since the first released version of NAO, these boards do not manage motors anymore.
TouchBoard The board with capacitive sensors at the top of the head.
FaceBoard The board around the eyes of the robot, with LEDs and IR.
USBoard The board with the ultrasonic sensors.
InertialSensor The board with the accelerometer / gyrometer sensors.
EarLeds The board that controls LEDs in both ears.
Battery The board inside the battery.

This is only useful if you want to understand the preference (configuration) file.

Type of subdevice

Here is the list of possible subDevices:

Type SubDevice Is ...
Actuators Joint the actuator that allows you to control the angle of one robot joint.
JointHardness an actuator that controls the percentage of the total power sent to the motor to control the joint. It’s 0% at the beginning and 100% at normal use (the value is from 0.0 to 1.0). Use this to have smooth increase/decrease of joint control. Hardness is defined as stiffness in motion.
Led a basic LED (one color) where you can control the value from 0 to 100% (0.0 to 1.0).
Power not implemented
Charge not implemented
UsSend an actuator that allows you to send an ultrasonic wave, waiting for the sensor result.
Sensors JointPosition the sensor value for the angle position of one robot joint.
Current the electric current for one motor of a specific joint.
FSR the weight on the FSR sensor (or on all the foot)
CenterOfPressure the position of the force applied on one foot.
Touch state of capacitive proximity switch (press = 1.0 or release = 0.0)
ChestState not implemented
USReceived the ultrasonic distance sensor result. Received after a wave is sent with the UsSend actuator.
Accelerometer the result of one accelerometer axis (acceleration).
Gyrometer the result of one gyrometer axis (rotation speed).
Angle an angle of the robot, returned by the inertial board.
Temperature temperature result for each motor (simulation) or the battery (sensor).
Switch switch state (press = 0.0 or release = 1.0) for chest button or foot bumpers.
Battery the battery state sensor (mainly charge).

List of devices

This is all device name/type/busNumber on the robot. They are mainly electronic boards.

../../../_images/dcm_devices.png

Note

The HeadBoard and the Battery can have the same address as they are not on the same bus.

Note

New Sanyo battery has I2C address 52.

Joint names

Here is the list of all joint names.

These names are used for all joints subDevices. A motorBoard controls one or two joints.

../../../_images/hardware_jointname.jpg

List of subDevices

Here is the list of all the subDevices of the robot.

The number is the subDevice Number. This is not useful, unless you want to understand the preference (configuration) file.

In ALMemory, the name of these subDevices are prefixed by “Device/SubDeviceList/”.

Note

This is only the subDevice list. For all keys and meaning of values, see Description of the mandatory and specific ALMemory keys for each subDevice type.

../../../_images/dcm_nao_arbre.png
For more details, see ...
1. touchBoard 7. ChestBoard, and Battery 13. LeftHandBoard 18. LeftThighBoard
2. EarLeds - Right 8. USBoard 14. RightHandBoard 19. RightThighBoard
3. EarLeds - Left 9. LeftShoulderBoard 15. HipBoard 20. LeftShinBoard
4. FaceBoard - Right 10. RightShoulderBoard 16. LeftHipBoard 21. RightShinBoard
5. FaceBoard - Left 11. LeftArmBoard 17. RightHipBoard 22. LeftFootBoard
6. HeadBoard 12. RightArmBoard   23. RightFootBoard

1. touchBoard

subDevices linked to the touchBoard device (only on Academics Edition).

There are 3 tactile sensors on the head, each return 0 or 1 if a finger is coming near. It may react differently if the battery is connected to its charger. There are also 12 blue LEDs.

Name Type Number
Head/Touch/Front/Sensor Touch 1
Head/Touch/Rear/Sensor Touch 2
Head/Touch/Middle/Sensor Touch 3
Head/Led/Rear/Left/0/Actuator Led 4
Head/Led/Rear/Left/1/Actuator Led 5
Head/Led/Rear/Left/2/Actuator Led 6
Head/Led/Rear/Right/2/Actuator Led 7
Head/Led/Rear/Right/1/Actuator Led 8
Head/Led/Rear/Right/0/Actuator Led 9
Head/Led/Middle/Right/0/Actuator Led 10
Head/Led/Front/Right/0/Actuator Led 11
Head/Led/Front/Right/1/Actuator Led 12
Head/Led/Front/Left/1/Actuator Led 13
Head/Led/Front/Left/0/Actuator Led 14
Head/Led/Middle/Left/0/Actuator Led 15

2. EarLeds - Right

subDevices linked to the device EarLeds.

There are 10 blue LEDs on each ear of the robot. Their name has left/right info and an angle 0° is toward up. <180° are toward the front of the robot (angles are approximate)

Name Type Number
Ears/Led/Right/0Deg/Actuator Led 15
Ears/Led/Right/36Deg/Actuator Led 14
Ears/Led/Right/72Deg/Actuator Led 13
Ears/Led/Right/108Deg/Actuator Led 12
Ears/Led/Right/144Deg/Actuator Led 11
Ears/Led/Right/180Deg/Actuator Led 20
Ears/Led/Right/216Deg/Actuator Led 19
Ears/Led/Right/252Deg/Actuator Led 18
Ears/Led/Right/288Deg/Actuator Led 17
Ears/Led/Right/324Deg/Actuator Led 16

3. EarLeds - Left

subDevices linked to the device EarLeds.

There are 10 blue LEDs on each ear of the robot. Their name has left/right info and an angle 0° is toward up. <180° are toward the front of the robot (angles are approximate)

Name Type Number
Ears/Led/Left/0Deg/Actuator Led 5
Ears/Led/Left/36Deg/Actuator Led 6
Ears/Led/Left/72Deg/Actuator Led 7
Ears/Led/Left/108Deg/Actuator Led 8
Ears/Led/Left/144Deg/Actuator Led 9
Ears/Led/Left/180Deg/Actuator Led 10
Ears/Led/Left/216Deg/Actuator Led 1
Ears/Led/Left/252Deg/Actuator Led 2
Ears/Led/Left/288Deg/Actuator Led 3
Ears/Led/Left/324Deg/Actuator Led 4

4. FaceBoard - Right

subDevices linked to the device FaceBoard.

There are 8 red, 8 green, and 8 blue LEDs on each eyes.

Their name has left/right info and an angle. 0 is toward up. <180° are toward the right side of the robot

Name Type Number
Face/Led/Red/Right/0Deg/Actuator Led 15
Face/Led/Red/Right/45Deg/Actuator Led 16
Face/Led/Red/Right/90Deg/Actuator Led 9
Face/Led/Red/Right/135Deg/Actuator Led 10
Face/Led/Red/Right/180Deg/Actuator Led 11
Face/Led/Red/Right/225Deg/Actuator Led 12
Face/Led/Red/Right/270Deg/Actuator Led 13
Face/Led/Red/Right/315Deg/Actuator Led 14
Name Type Number
Face/Led/Green/Right/0Deg/Actuator Led 31
Face/Led/Green/Right/45Deg/Actuator Led 32
Face/Led/Green/Right/90Deg/Actuator Led 25
Face/Led/Green/Right/135Deg/Actuator Led 26
Face/Led/Green/Right/180Deg/Actuator Led 27
Face/Led/Green/Right/225Deg/Actuator Led 28
Face/Led/Green/Right/270Deg/Actuator Led 29
Face/Led/Green/Right/315Deg/Actuator Led 30
Name Type Number
Face/Led/Blue/Right/0Deg/Actuator Led 47
Face/Led/Blue/Right/45Deg/Actuator Led 48
Face/Led/Blue/Right/90Deg/Actuator Led 41
Face/Led/Blue/Right/135Deg/Actuator Led 42
Face/Led/Blue/Right/180Deg/Actuator Led 43
Face/Led/Blue/Right/225Deg/Actuator Led 44
Face/Led/Blue/Right/270Deg/Actuator Led 45
Face/Led/Blue/Right/315Deg/Actuator Led 46

5. FaceBoard - Left

subDevices linked to the device FaceBoard.

There are 8 red, 8 green, and 8 blue LEDs on each eye.

Their name has left/right info and an angle. 0 is toward up. <180° are toward the right side of the robot.

Name Type Number
Face/Led/Red/Left/0Deg/Actuator Led 3
Face/Led/Red/Left/45Deg/Actuator Led 4
Face/Led/Red/Left/90Deg/Actuator Led 5
Face/Led/Red/Left/135Deg/Actuator Led 6
Face/Led/Red/Left/180Deg/Actuator Led 7
Face/Led/Red/Left/225Deg/Actuator Led 8
Face/Led/Red/Left/270Deg/Actuator Led 1
Face/Led/Red/Left/315Deg/Actuator Led 2
Name Type Number
Face/Led/Green/Left/0Deg/Actuator Led 19
Face/Led/Green/Left/45Deg/Actuator Led 20
Face/Led/Green/Left/90Deg/Actuator Led 21
Face/Led/Green/Left/135Deg/Actuator Led 22
Face/Led/Green/Left/180Deg/Actuator Led 23
Face/Led/Green/Left/225Deg/Actuator Led 24
Face/Led/Green/Left/270Deg/Actuator Led 17
Face/Led/Green/Left/315Deg/Actuator Led 18
Name Type Number
Face/Led/Blue/Left/0Deg/Actuator Led 35
Face/Led/Blue/Left/45Deg/Actuator Led 36
Face/Led/Blue/Left/90Deg/Actuator Led 37
Face/Led/Blue/Left/135Deg/Actuator Led 38
Face/Led/Blue/Left/180Deg/Actuator Led 39
Face/Led/Blue/Left/225Deg/Actuator Led 40
Face/Led/Blue/Left/270Deg/Actuator Led 33
Face/Led/Blue/Left/315Deg/Actuator Led 34

6. HeadBoard

subDevices linked to the device HeadBoard.

There are here two joints, with all their actuators/sensors:

Joint HeadPitch:

Name Type Number
HeadPitch/Position/Actuator Joint 1
HeadPitch/Hardness/Actuator JointHardness 1
HeadPitch/Position/Sensor jointPosition 1
HeadPitch/ElectricCurrent/Sensor Current 1
HeadPitch/Temperature/Sensor Temperature 1

Joint HeadYaw:

Name Type Number
HeadYaw/Position/Actuator Joint 2
HeadYaw/Hardness/Actuator JointHardness 2
HeadYaw/Position/Sensor jointPosition 2
HeadYaw/ElectricCurrent/Sensor Current 2
HeadYaw/Temperature/Sensor Temperature 2

7. ChestBoard, and Battery

subDevices linked to the device ChestBoard, and the Battery.

The ChestBoard has many subDevices: 3 LEDs, battery, button.

There are here two joints, with all their actuators/sensors.

LEDs:

Name Type Number
ChestBoard/Led/Red/Actuator Led 1
ChestBoard/Led/Green/Actuator Led 2
ChestBoard/Led/Blue/Actuator Led 3

Power/status:

Name Type Number
ChestBoard/Power/Actuator Led 1
ChestBoard/ChestState/Actuator Led 1

Note

This is not implemented yet.

Button:

Name Type Number
ChestBoard/Button/Sensor Switch 1

The Battery Device has 3 subDevices:

Name Type Number
Battery/Charge/Sensor Battery 1
Battery/ElectricCurrent/Sensor Current 1
Battery/Temperature/Sensor Temperature 1

Note

The Temperature subdevice is not implemented yet, except in the new Sanyo battery.

8. USBoard

subDevices linked to the USBoard device.

There is an actuator to send an ultrasonic wave, and a sensor for the result.

Name Type Number
US/Actuator UsSend 1
US/Sensor USReceived 1
US/Left/Sensor USReceived 1
US/Right/Sensor USReceived 1

SubDevices linked to the InertialSensor device:

The inertial sensor board has a 3 axes accelerometer and a 2 axis Gyrometer. It also returns a computed angle, computed with an internal algorithm.

Name Type Number
InertialSensor/AccX/Sensor Accelerometer 1
InertialSensor/AccY/Sensor Accelerometer 2
InertialSensor/AccZ/Sensor Accelerometer 3
InertialSensor/GyrX/Sensor Gyrometer 1
InertialSensor/GyrY/Sensor Gyrometer 2
InertialSensor/GyrRef/Sensor Gyrometer 3
InertialSensor/AngleX/Sensor Angle 1
InertialSensor/AngleY/Sensor Angle 2

Note

These 2 last subDevices are now implemented.

9. LeftShoulderBoard

SubDevices linked to the LeftShoulderBoard devices.

There are here two joints, with all their actuators/sensors.

LShoulderPitch joint:

Name Type Number
LShoulderPitch/Position/Actuator Joint 1
LShoulderPitch/Hardness/Actuator JointHardness 1
LShoulderPitch/Position/Sensor jointPosition 1
LShoulderPitch/ElectricCurrent/Sensor Current 1
LShoulderPitch/Temperature/Sensor Temperature 1

LShoulderRoll joint:

Name Type Number
LShoulderRoll/Position/Actuator Joint 2
LShoulderRoll/Hardness/Actuator JointHardness 2
LShoulderRoll/Position/Sensor jointPosition 2
LShoulderRoll/ElectricCurrent/Sensor Current 2
LShoulderRoll/Temperature/Sensor Temperature 2

10. RightShoulderBoard

SubDevices linked to the RightShoulderBoard device.

There are here two joints, with all their actuators/sensors.

RShoulderPitch joint:

Name Type Number
RShoulderPitch/Position/Actuator Joint 1
RShoulderPitch/Hardness/Actuator JointHardness 1
RShoulderPitch/Position/Sensor jointPosition 1
RShoulderPitch/ElectricCurrent/Sensor Current 1
RShoulderPitch/Temperature/Sensor Temperature 1

RShoulderRoll joint:

Name Type Number
RShoulderRoll/Position/Actuator Joint 2
RShoulderRoll/Hardness/Actuator JointHardness 2
RShoulderRoll/Position/Sensor jointPosition 2
RShoulderRoll/ElectricCurrent/Sensor Current 2
RShoulderRoll/Temperature/Sensor Temperature 2

11. LeftArmBoard

subDevices linked to the LeftArmBoard device.

There are here two joints, with all their actuators/sensors.

LElbowRoll joint:

Name Type Number
LElbowRoll/Position/Actuator Joint 1
LElbowRoll/Hardness/Actuator JointHardness 1
LElbowRoll/Position/Sensor jointPosition 1
LElbowRoll/ElectricCurrent/Sensor Current 1
LElbowRoll/Temperature/Sensor Temperature 1

LElbowYaw joint:

Name Type Number
LElbowYaw/Position/Actuator Joint 2
LElbowYaw/Hardness/Actuator JointHardness 2
LElbowYaw/Position/Sensor jointPosition 2
LElbowYaw/ElectricCurrent/Sensor Current 2
LElbowYaw/Temperature/Sensor Temperature 2

12. RightArmBoard

SubDevices linked to the RightArmBoard device.

There are here two joints, with all their actuators/sensors.

RElbowRoll joint:

Name Type Number
RElbowRoll/Position/Actuator Joint 1
RElbowRoll/Hardness/Actuator JointHardness 1
RElbowRoll/Position/Sensor jointPosition 1
RElbowRoll/ElectricCurrent/Sensor Current 1
RElbowRoll/Temperature/Sensor Temperature 1

RElbowYaw joint:

Name Type Number
RElbowYaw/Position/Actuator Joint 2
RElbowYaw/Hardness/Actuator JointHardness 2
RElbowYaw/Position/Sensor jointPosition 2
RElbowYaw/ElectricCurrent/Sensor Current 2
RElbowYaw/Temperature/Sensor Temperature 2

13. LeftHandBoard

SubDevices linked to the LeftHandBoard devices.

There are here two joints, with all their actuators/sensors.

LWristYaw joint:

Name Type Number
LWristYaw/Position/Actuator Joint 1
LWristYaw/Hardness/Actuator JointHardness 1
LWristYaw/Position/Sensor jointPosition 1
LWristYaw/ElectricCurrent/Sensor Current 1
LWristYaw/Temperature/Sensor Temperature 1

LHand joint:

Name Type Number
LHand/Position/Actuator Joint 2
LHand/Hardness/Actuator JointHardness 2
LHand/Position/Sensor jointPosition 2
LHand/ElectricCurrent/Sensor Current 2
LHand/Temperature/Sensor Temperature 2

Capacitive sensors:

Name Type Number
LHand/Touch/Back/Sensor TouchHand 3
LHand/Touch/Left/Sensor/ TouchHand 4
LHand/Touch/Right/Sensor/ TouchHand 5

14. RightHandBoard

SubDevices linked to the RightHandBoard device.

There are here two joints, with all their actuators/sensors.

RWristYaw joint:

Name Type Number
RWristYaw/Position/Actuator Joint 1
RWristYaw/Hardness/Actuator JointHardness 1
RWristYaw/Position/Sensor jointPosition 1
RWristYaw/ElectricCurrent/Sensor Current 1
RWristYaw/Temperature/Sensor Temperature 1

RHand joint:

Name Type Number
RHand/Position/Actuator Joint 2
RHand/Hardness/Actuator JointHardness 2
RHand/Position/Sensor jointPosition 2
RHand/ElectricCurrent/Sensor Current 2
RHand/Temperature/Sensor Temperature 2

Capacitive sensors:

Name Type Number
RHand/Touch/Back/Sensor TouchHand 3
RHand/Touch/Left/Sensor/ TouchHand 4
RHand/Touch/Right/Sensor/ TouchHand 5

15. HipBoard

SubDevices linked to the LeftHipBoard device.

There is here one joint, and its actuators/sensors.

LHipYawPitch and RHipYawPitch share the same motor so they move simultaneously and symmetrically.

LHipYawPitch joint:

Name Type Number
LHipYawPitch/Position/Actuator Joint 2
LHipYawPitch/Hardness/Actuator JointHardness 2
LHipYawPitch/Position/Sensor jointPosition 2
LHipYawPitch/ElectricCurrent/Sensor Current 2
LHipYawPitch/Temperature/Sensor Temperature 2

16. LeftHipBoard

subDevices linked to the LeftHipBoard device.

There is here one joint, and its actuators/sensors.

LHipRoll joint:

Name Type Number
LHipRoll/Position/Actuator Joint 1
LHipRoll/Hardness/Actuator JointHardness 1
LHipRoll/Position/Sensor jointPosition 1
LHipRoll/ElectricCurrent/Sensor Current 1
LHipRoll/Temperature/Sensor Temperature 1

17. RightHipBoard

subDevices linked to the RightHipBoard device.

There is here one joint, and its actuators/sensors.

RHipRoll joint:

Name Type Number
RHipRoll/Position/Actuator Joint 1
RHipRoll/Hardness/Actuator JointHardness 1
RHipRoll/Position/Sensor jointPosition 1
RHipRoll/ElectricCurrent/Sensor Current 1
RHipRoll/Temperature/Sensor Temperature 1

18. LeftThighBoard

SubDevices linked to the LeftThighBoard device.

There are here two joints, with all their actuators/sensors.

LHipPitch joint:

Name Type Number
LHipPitch/Position/Actuator Joint 1
LHipPitch/Hardness/Actuator JointHardness 1
LHipPitch/Position/Sensor jointPosition 1
LHipPitch/ElectricCurrent/Sensor jointPosition 1
LHipPitch/Temperature/Sensor Temperature 1

LKneePitch joint:

Name Type Number
LKneePitch/Position/Actuator Joint 2
LKneePitch/Hardness/Actuator JointHardness 2
LKneePitch/Position/Sensor jointPosition 2
LKneePitch/ElectricCurrent/Sensor Current 2
LKneePitch/Temperature/Sensor Temperature 2

19. RightThighBoard

SubDevices linked to the RightThighBoard device.

There are here two joints, with all their actuators/sensors.

RHipPitch joint:

Name Type Number
RHipPitch/Position/Actuator Joint 1
RHipPitch/Hardness/Actuator JointHardness 1
RHipPitch/Position/Sensor jointPosition 1
RHipPitch/ElectricCurrent/Sensor Current 1
RHipPitch/Temperature/Sensor Temperature 1

RKneePitch joint:

Name Type Number
RKneePitch/Position/Actuator Joint 2
RKneePitch/Hardness/Actuator JointHardness 2
RKneePitch/Position/Sensor jointPosition 2
RKneePitch/ElectricCurrent/Sensor Current 2
RKneePitch/Temperature/Sensor Temperature 2

20. LeftShinBoard

SubDevices linked to the LeftShinBoard device.

There are here two joints, and its actuators/sensors.

LAnklePitch Joint:

Name Type Number
LAnklePitch/Position/Actuator Joint 1
LAnklePitch/Hardness/Actuator JointHardness 1
LAnklePitch/Position/Sensor jointPosition 1
LAnklePitch/ElectricCurrent/Sensor Current 1
LAnklePitch/Temperature/Sensor Temperature 1

LAnkleRoll joint:

Name Type Number
LAnkleRoll/Position/Actuator Joint 2
LAnkleRoll/Hardness/Actuator JointHardness 2
LAnkleRoll/Position/Sensor jointPosition 2
LAnkleRoll/ElectricCurrent/Sensor Current 2
LAnkleRoll/Temperature/Sensor Temperature 2

21. RightShinBoard

SubDevices linked to the RightShinBoard device.

There is here one joint, and its actuators/sensors.

RAnklePitch joint:

Name Type Number
RAnklePitch/Position/Actuator Joint 1
RAnklePitch/Hardness/Actuator JointHardness 1
RAnklePitch/Position/Sensor jointPosition 1
RAnklePitch/ElectricCurrent/Sensor Current 1
RAnklePitch/Temperature/Sensor Temperature 1

RAnkleRoll joint:

Name Type Number
RAnkleRoll/Position/Actuator Joint 2
RAnkleRoll/Hardness/Actuator JointHardness 2
RAnkleRoll/Position/Sensor jointPosition 2
RAnkleRoll/ElectricCurrent/Sensor jointPosition 2
RAnkleRoll/Temperature/Sensor jointPosition 2

22. LeftFootBoard

SubDevices linked to the LeftFootBoard device.

There are 3 LEDs, 2 bumpers, 4 FSR sensors, 1 Total Weight (sum of all FSR), and 2 center of pressure.

LEDs:

Name Type Number
LFoot/Led/Red/Actuator Led 1
LFoot/Led/Green/Actuator Led 2
LFoot/Led/Blue/Actuator Led 3

Bumpers:

Name Type Number
LFoot/Bumper/Left/Sensor Switch 1
LFoot/Bumper/Right/Sensor Switch 2

FSRs:

Name Type Number
LFoot/FSR/FrontLeft/Sensor FSR 1
LFoot/FSR/FrontRight/Sensor FSR 2
LFoot/FSR/RearLeft/Sensor FSR 3
LFoot/FSR/RearRight/Sensor FSR 4

Total Weight of FSR:

Name Type Number
LFoot/FSR/TotalWeight/Sensor FSR 10

Center of Pressure:

Name Type Number
LFoot/FSR/CenterOfPressure/X/Sensor CenterOfForcePosition 1
LFoot/FSR/CenterOfPressure/Y/Sensor CenterOfForcePosition 2

23. RightFootBoard

SubDevices linked to the RightFootBoard device.

There are 3 LEDs, 2 bumpers, 4 FSR sensors, 1 Total Weight (sum of all FSR), and 2 center of pressure.

LEDs:

Name Type Number
RFoot/Led/Red/Actuator Led 1
RFoot/Led/Green/Actuator Led 2
RFoot/Led/Blue/Actuator Led 3

Bumpers:

Name Type Number
RFoot/Bumper/Left/Sensor Switch 1
RFoot/Bumper/Right/Sensor Switch 2

FSRs:

Name Type Number
RFoot/FSR/FrontLeft/Sensor FSR 1
RFoot/FSR/FrontRight/Sensor FSR 2
RFoot/FSR/RearLeft/Sensor FSR 3
RFoot/FSR/RearRight/Sensor FSR 4

Total Weight of FSR:

Name Type Number
RFoot/FSR/TotalWeight/Sensor FSR 10

Center of Pressure:

Name Type Number
RFoot/FSR/CenterOfPressure/X/Sensor CenterOfForcePosition 1
RFoot/FSR/CenterOfPressure/Y/Sensor CenterOfForcePosition 2
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