Sensors

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This section shows how to get sensors values from ALMemory in Python.

To execute them, modify the robot’s IP adress inside the example file.

FSR values

sensors_getFsrValues.py

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


def main(robotIP):
    PORT = 9559

    # Create proxy to ALMemory
    try:
        memoryProxy = ALProxy("ALMemory", robotIP, PORT)
    except Exception, e:
        print "Could not create proxy to ALMemory"
        print "Error was: ", e

    # 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) )


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python sensors_getFsrValues.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)

Inertial Sensor values

sensors_getIntertialValues.py

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


def main(robotIP):
    PORT = 9559

    # Create proxy to ALMemory
    try:
        memoryProxy = ALProxy("ALMemory", robotIP, PORT)
    except Exception, e:
        print "Could not create proxy to ALMemory"
        print "Error was: ", e

    # Get the Gyrometers Values
    GyrX = memoryProxy.getData("Device/SubDeviceList/InertialSensor/GyrX/Sensor/Value")
    GyrY = memoryProxy.getData("Device/SubDeviceList/InertialSensor/GyrY/Sensor/Value")
    print ("Gyrometers value X: %.3f, Y: %.3f" % (GyrX, GyrY))

    # Get the Accelerometers Values
    AccX = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AccX/Sensor/Value")
    AccY = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AccY/Sensor/Value")
    AccZ = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AccZ/Sensor/Value")
    print ("Accelerometers value X: %.3f, Y: %.3f, Z: %.3f" % (AccX, AccY,AccZ))

    # Get the Compute Torso Angle in radian
    TorsoAngleX = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value")
    TorsoAngleY = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value")
    print ("Torso Angles [radian] X: %.3f, Y: %.3f" % (TorsoAngleX, TorsoAngleY))


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python sensors_getInertialValues.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)

Sonar

sensors_sonar.py

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


def main(robotIP):
    PORT = 9559

    # Create proxy to ALMemory
    try:
        memoryProxy = ALProxy("ALMemory", robotIP, PORT)
    except Exception, e:
        print "Could not create proxy to ALMemory"
        print "Error was: ", e

    # Create proxy to ALSonar
    try:
        sonarProxy = ALProxy("ALSonar", robotIP, PORT)
    except Exception, e:
        print "Could not create proxy to ALSonar"
        print "Error was: ", e

    # Subscribe to sonars, this will launch sonars (at hardware level)
    # and start data acquisition.
    sonarProxy.subscribe("myApplication")

    # Now you can retrieve sonar data from ALMemory.
    # Get sonar left first echo (distance in meters to the first obstacle).
    memoryProxy.getData("Device/SubDeviceList/US/Left/Sensor/Value")

    # Same thing for right.
    memoryProxy.getData("Device/SubDeviceList/US/Right/Sensor/Value")

    # Unsubscribe from sonars, this will stop sonars (at hardware level)
    sonarProxy.unsubscribe("myApplication")

    # Please read Sonar ALMemory keys section
    # if you want to know the other values you can get.


if __name__ == "__main__":
    robotIp = "127.0.0.1"

    if len(sys.argv) <= 1:
        print "Usage python sensors_sonar.py robotIP (optional default: 127.0.0.1)"
    else:
        robotIp = sys.argv[1]

    main(robotIp)
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