Note

>DCM

Introduction

What is the DCM?

Architecture overview

How the DCM handles various NAO models and versions

Upper level architecture

Timed command interpolation algorithm

Low level architecture

Device and subDevice definitions

List of communication bus

Type of subdevice

List of devices

List of subDevices

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

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

Possible actions

DCM architecture

DCM start sequence

Example of use

DCM bound methods

DCM Synchronization methods

"onPreProcess" and "onPostProcess"

Note

Note:	For all the commands involving actuators, you can either send the prefix ("Device/SubDeviceList/") for their name or not.

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