Type of subdevice

Here is the list of possible subdevices:

  • Actuators

    > Joint: a Joint is the actuator that allows you to control the angle of one robot joint.

    > JointHardness: a jointHardness is an actuator that controls the percentage of the total power sent to the motor to control the joint. It's 0% at the beginning and 100% at normal use (the value is from 0.0 to 1.0). Use this to have smooth increase/decrease of joint control. Hardness is defined as stiffness in motion.

    > Led: a basic LED (one color) where you can control the value from 0 to 100% (0.0 to 1.0).

    > Power: not implemented

    > Charge: not implemented

    > UsSend: an actuator that allows you to send an ultrasonic wave, waiting for the sensor result.

  • Sensors

    > JointPosition: the sensor value for the angle position of one robot joint.

    > Current: the electric current for one motor of a specific joint.

    > FSR: the weight on the FSR sensor (or on all the foot)

    > CenterOfPressure: The position of the force applied on one foot.

    > Touch: state of capacitive proximity switch (press = 1.0 or release = 0.0)

    > ChestState: not implemented

    > USReceived: the ultrasonic distance sensor result. Received after a wave is sent with the UsSend actuator.

    > Accelerometer: the result of one accelerometer axis (acceleration).

    > Gyrometer: the result of one gyrometer axis (rotation speed).

    > Angle: an angle of the robot, returned by the inertial board.

    > Temperature: temperature result for each motor (simulation) or the battery (sensor).

    > Switch: switch state (press = 0.0 or release = 1.0) for chest button or foot bumpers.

    > Battery: the battery state sensor (mainly charge).





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