How the DCM handles various NAO models and versions

>DCM

Introduction

What is the DCM?

Architecture overview

Installation

How the DCM handles various NAO models and versions

Upper level architecture

Overview

Timed command

Timed command interpolation algorithm

Low level architecture

Presentation

Device and subDevice definitions

List of communication bus

Architecture of the pref file Device.xml / of key/values in ALMemory

BaseName

Default ALMemory keys for all subDevices

Default value for all devices

Specific ALMemory keys for each device type

Description of the mandatory and specific ALMemory keys for each subDevice type

Configuration keys for robots

Pref files and sub pref files

DCM architecture

Example of use

DCM bound methods

DCM Synchronization methods

"onPreProcess" and "onPostProcess"

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How the DCM handles various NAO models and versions

The DCM deals with many different NAO versions (V3+, V3.2, V3.3) and models (T2, T14, H21, H25)

In the DCM, all the options managed are present by default (hands, arms, legs ...). When a robot that do not have some parts:

DCM sends back 0 for the missing sensors,
actuator changes do not have effect,
eletronics boards won't answered to request.

In the chapter "configuration keys", you will found how to determine the robot precise version.

See the Hardware documentation to have more details on NAO models and versions.

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