Sensors

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This section shows how to get sensors values from ALMemory in Python.

To execute them, modify the robot’s IP adress inside the example file.

FSR values

sensors_getFsrValues.py

# -*- encoding: UTF-8 -*-
from naoqi import ALProxy

IP = "127.0.0.1" # set your Ip address here
PORT = 9559

# ====================
# Create proxy to ALMemory
memoryProxy = ALProxy("ALMemory", IP, PORT)

# Get The Left Foot Force Sensor Values
LFsrFL = memoryProxy.getData("Device/SubDeviceList/LFoot/FSR/FrontLeft/Sensor/Value")
LFsrFR = memoryProxy.getData("Device/SubDeviceList/LFoot/FSR/FrontRight/Sensor/Value")
LFsrBL = memoryProxy.getData("Device/SubDeviceList/LFoot/FSR/RearLeft/Sensor/Value")
LFsrBR = memoryProxy.getData("Device/SubDeviceList/LFoot/FSR/RearRight/Sensor/Value")

print( "Left FSR [Kg] : %.2f %.2f %.2f %.2f" %  (LFsrFL, LFsrFR, LFsrBL, LFsrBR) )

# Get The Right Foot Force Sensor Values
RFsrFL = memoryProxy.getData("Device/SubDeviceList/RFoot/FSR/FrontLeft/Sensor/Value")
RFsrFR = memoryProxy.getData("Device/SubDeviceList/RFoot/FSR/FrontRight/Sensor/Value")
RFsrBL = memoryProxy.getData("Device/SubDeviceList/RFoot/FSR/RearLeft/Sensor/Value")
RFsrBR = memoryProxy.getData("Device/SubDeviceList/RFoot/FSR/RearRight/Sensor/Value")

print( "Right FSR [Kg] : %.2f %.2f %.2f %.2f" %  (RFsrFL, RFsrFR, RFsrBL, RFsrBR) )

Inertial Sensor values

sensors_getIntertialValues.py

# -*- encoding: UTF-8 -*-
from naoqi import ALProxy

IP = "127.0.0.1" # set your Ip address here
PORT = 9559

# ====================
# Create proxy to ALMemory
memoryProxy = ALProxy("ALMemory", IP, PORT)

# Get the Gyrometers Values
GyrX = memoryProxy.getData("Device/SubDeviceList/InertialSensor/GyrX/Sensor/Value")
GyrY = memoryProxy.getData("Device/SubDeviceList/InertialSensor/GyrY/Sensor/Value")
print ("Gyrometers value X: %.3f, Y: %.3f" % (GyrX, GyrY))

# Get the Accelerometers Values
AccX = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AccX/Sensor/Value")
AccY = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AccY/Sensor/Value")
AccZ = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AccZ/Sensor/Value")
print ("Accelerometers value X: %.3f, Y: %.3f, Z: %.3f" % (AccX, AccY,AccZ))

# Get the Compute Torso Angle in radian
TorsoAngleX = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AngleX/Sensor/Value")
TorsoAngleY = memoryProxy.getData("Device/SubDeviceList/InertialSensor/AngleY/Sensor/Value")
print ("Torso Angles [radian] X: %.3f, Y: %.3f" % (TorsoAngleX, TorsoAngleY))

Sonar

sensors_sonar.py

# -*- encoding: UTF-8 -*-
# Before running this command please check your PYTHONPATH is set correctly to the folder of your pynaoqi sdk.
from naoqi import ALProxy 

# Set the IP address of your NAO.
ip = "10.0.252.97"

# Connect to ALSonar module.
sonarProxy = ALProxy("ALSonar", ip, 9559)

# Subscribe to sonars, this will launch sonars (at hardware level) and start data acquisition.
sonarProxy.subscribe("myApplication")

#Now you can retrieve sonar data from ALMemory.
memoryProxy = ALProxy("ALMemory", ip, 9559)

# Get sonar left first echo (distance in meters to the first obstacle).
memoryProxy.getData("Device/SubDeviceList/US/Left/Sensor/Value")

# Same thing for right.
memoryProxy.getData("Device/SubDeviceList/US/Right/Sensor/Value")

# Please read Sonar ALMemory keys section if you want to know the other values you can get.
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