>DCM

DCM start sequence

Here is what the DCM does at startup:

• reads the DCM.xml and Device.xml preference file
• reads the subPrefs files (Device_Head and Chest)
• Initializes the communication
• Initializes the Devices:

  - initializes chest board

  - initializes all boards except motor board

  - initializes all motor boards: sends a request to the motorboard to get their own parameters, fills a configuration structure with all data, sends the configuration structure for all boards.

• Runs the DCM cycle

  Creates the main thread for the DCM cycle

  Creates the thread for the I2C Head

  Creates and sends all read requests

  Runs the DCM cycle at least 10 times

Then the NAOqi thread returns out of the DCM and resets others modules.