Introduction

Warning:	This chapter is about configuration files. Changing one configuration value may damage your robot. Do not change anything unless it's necessary.

The DCM has 2 preference (or configuration) files: Device.xml with the robot electronic description, and DCM.xml that holds parameters specific to the DCM.

These two files are the same for all robots, with all default parameters. They are in the naoqi/preferences folder.

But there are needs of specific parameters (mainly for calibration purposes) linked to some parts of the robot. These parameters are stored in the removable part of the robot, so that even if the part change, the new one will have its own good parameters.

Currently the robot can be divided in two parts: head and body.

So there are two files called "subPref" and names Device_Head.xml , and Device_Body.xml that are specific to each robot (and even more to the part of the robot they describe).

Device_Head.xml is stored in the internal geode board flash (in /media/internal).

Device_Body.xml is stored (in a compressed version) in the flash of the chest board. A copy is dumped in the naoqi/preference folder when the DCM read it.

Both files could be changed by a method to the DCM or simply by changing the file and ask the DCM to reload it.

Note:	There is also an optional file named Device_Local.xml that can also be used. It is read at startup from the naoqi/preference folder.

When these subPref files are read at startup, the value for each of their keys replace the value of the same keys in Device.xml (it's also possible for DCM.xml), even if the DCM keeps in memory a copy of each separate file.

Note:	Most of the keys in these preference files are read at startup only, and even if they change with a request to the D.C.M while it's running, the change won't have any effect until the next start. The joint calibration is one of the only exception.

Note:	Many parameters for the motor boards are sent to them at startup. It won't be sent again until next start.

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