What is the DCM?
DCM stands for "Device Communication Manager".
The DCM is the NAO software module, part of the NAOqi system, that is in charge of the communication with every electronic devices in the robot (boards, sensors, actuators...) with the only exception of the sound (in or out) and the camera. It manages the main communication line: the USB link with the ChestBoard. But there is also an I2C link with devices in the robot head. Thus, the DCM is the link between the "upper level" software (others modules) and the "lower level" software (soft in electronic boards). Modules like "Motion" and "LEDs" directly send commands to actuators using the DCM, while extractors and other modules use sensor results returned by the DCM in ALMemory.
| Warning: |
Although the DCM itself and electronic boards have many securities, it is possible to damage the robot with bad configuration parameters or inappropriate series of actuator commands. Using directly the DCM means that you know what you are doing. First of all, read this documentation carefully. |
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