Configuration keys for robots
Configurations keys are specific ALMemory entries that describe
the hardware of the robot. Theses keys are stored in two separate
location: One is in the Geode board internal flash, and concern the
configuration of the head, and the other is in the chestboard (same
place as calibration) and deal with the configuration of the
body.
| Note: |
This is only available for this new version of NAO, and new keys
will be created while the robot is updated.
|
Keys for the head:
| Key |
Value |
Description |
| RobotConfig/Head/BaseVersion |
V3Plus |
"Base" configuration of the V3+ head. |
|
V3PlusExtendedHead |
Special head with more extension (USB, serial...) and
specific design. A laser range finder could be included or
not. |
|
V3.2 |
"Base" configuration of the V3.2 head |
|
V3.3 |
"Base" configuration of the V3.3 head |
| Key |
Value |
Description |
| RobotConfig/Head/Device/TouchBoard/Version |
0 (or none) |
No capacitive sensor |
|
1 |
First version of capacitive sensor. Same for V3.3 version |
| Key |
Value |
Description |
| RobotConfig/Head/Device/FaceBoard/Leds/Rotation |
0 (or none) |
Old version (less or equal than 3.2) |
|
1 |
New version (>=3.2), with rotation of LEDs |
| Key |
Value |
Description |
| RobotConfig/Head/Device/LaserRangeFinder/Version |
0 (or none) |
No laser range finder |
|
1 |
URG-04LX laser range finder included (only possible with
extended head) |
| Key |
Value |
Description |
| RobotConfig/Head/Device/Camera/Version |
0 (or none) |
Version anterior or equal to 3.2) |
|
1 |
Version 3.3 with camera up down of 8° and camera down up to 8° |
|
2 |
Version 3.3 with the angles of the 3.2 |
Keys for the body:
| Key |
Value |
Description |
| RobotConfig/Body/BaseVersion |
V3Plus |
"Base" version for the body. |
|
V3.2 |
"Base" version for the body V3.2. |
|
V3.3 |
"Base" version for the body V3.3. Extended arms has to be tested with key below. |
| Key |
Value |
Description |
| RobotConfig/Body/Device/Hand/Left/Version |
0 (or none) |
No left hand |
|
1 |
V3 academics hand version |
|
2 |
Hand version V3+/V3.2 |
|
3 |
Hand version V3.3 with capacitive sensor. |
| Key |
Value |
Description |
| RobotConfig/Body/Device/Hand/Right/Version |
0 (or none) |
No right hand |
|
1 |
V3 academics hand version |
|
2 |
Hand version V3+/V3.2 |
|
3 |
Hand version V3.3 with capacitive sensor. |
| Key |
Value |
Description |
| RobotConfig/Body/Device/FSR/Calibration/Version |
0 (or none) |
No calibration on FSR |
|
1 |
FSR calibrated (version 1 of the calibration
process) |
|
2 |
FSR calibrated (version 2 of the calibration
process) |
| Key |
Value |
Description |
| RobotConfig/Body/Device/Joints/Calibration/Version |
2 |
Version 2 of the calibration process |
| Key |
Value |
Description |
| RobotConfig/Body/Device/LeftArm/Version |
1 (or none) |
Left arm normal version |
|
-1 |
No left arm |
|
2 |
Extended arms (introduce with 3.3 version, but also available for some 3.2) |
| Key |
Value |
Description |
| RobotConfig/Body/Device/RightArm/Version |
1 (or none) |
Right arm normal version |
|
-1 |
No right arm |
|
2 |
Extended arms (introduce with 3.3 version, but also available for some 3.2) |
| Key |
Value |
Description |
| RobotConfig/Body/Device/Legs/Version |
1 (or none) |
Legs normal version |
|
-1 |
No legs |
| Key |
Value |
Description |
| RobotConfig/Body/Device/Foot/Left/Version |
1 (or none) |
Normal foot |
|
0 |
No left foot |
| Key |
Value |
Description |
| RobotConfig/Body/Device/Foot/Right/Version |
1 (or none) |
Normal foot |
|
0 |
No right foot |
| Key |
Value |
Description |
| RobotConfig/Body/Version |
For exemple "3.3.0" |
Version of the body of the robot |
| Key |
Value |
Description |
| RobotConfig/Body/Type |
NAO |
Type of the robot |
| Key |
Value |
Description |
| RobotConfig/Body/SoftwareRequirement |
For exemple 1.8.0 |
Minimal software version compatible with this hardware |
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