>DCM

Possible actions

You can see a description of the APIs in the chapter 6.

• Load:

  You can ask the DCM to (re)load a file, either Chest or Head or both. In both case, the DCM loads again the files from the NAOqi/preference (and not from the chest board flash), copy them in its memory, and also in ALMemory.

• Save:

  For the Head file, the save will write again the Device_Head.xml file from the copy in the DCM RAM.

  For the Chest file, the save command will write in the chest board flash the copy in the DCM RAM and also in the Device_Body.xml file.

  You can also write the Device.xml file using "save". But this file is not supposed to change.

  Note:	During the save in the chest board, every USB communication is lost with the robot for 1 or 2 seconds. Do not use this when the robot is moving, and even when the control loop of joint is activated (the robot may fall).

  Note:	Do not use Save just after a load/add/calibration. Wait a while (one second for example) before using it.

• Add

  You can add a specific key/value in a specific file with a special request. This key is only stored in ram, and copy to ALMemory. Use after the "save" command to save it in the chest or in files.

  If the key already exists, you can change its value using this command.

• Calibration

  The calibration stores the new calibration value using the same method that the "Add". You have to do a "Save" after it.