NAO Software 1.14 documentation

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ALLeds

NAOqi Sensors - Overview | API

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See also

• LEDs Hardware
• Meaning of the LEDs

What it does

ALLeds module allows you to control NAO’s LEDs.

• It provides simple ways of setting or fading the intensity of a LED or a group of LEDs:

  ALLeds::fade(), ALLeds::fadeListRGB(), ALLeds::fadeRGB(), ALLeds::getIntensity(), ALLeds::off(), ALLeds::on(), ALLeds::setIntensity()

• It also provides animations:

  ALLeds::earLedsSetAngle(), ALLeds::randomEyes(), ALLeds::rasta(), ALLeds::rotateEyes()

• And useful methods to manage groups and lists:

  ALLeds::createGroup(), ALLeds::listGroup(), ALLeds::listGroups() ALLeds::listLED(), ALLeds::listLEDs()

How it works

Which LEDs

ALLeds module allows you to control all LEDs located on: Ears, Tactile head, Eyes and Feet.

Chest button LEDs can also be controlled using ALLeds but this usage is deprecated in release 1.14. The usage of the Chest button will be soon restricted in order to use it as a system button.

Colors

• Ear and Tactile head LEDs are blue.
• Eye and Foot LEDs are RGB Fullcolour, so it is possible to combine the three primary colors (red, green and blue) in order to obtain different colors.

Intensity

It is possible to control the LEDs intensity (between 0 and 100%).

Getting started

To control:

• a single LED, use Names or Short Names.
• several LEDs, use existing Groups or create your own groups.

# Example showing how to list the devices in a group
proxy.listGroup("FaceLeds")

For more details, see the list of existing Groups, Short Names and Names.

Groups, Short Names and Names

All

Groups
AllLeds
AllLedsBlue AllLedsGreen AllLedsRed

Head tactile sensor

Groups
BrainLeds
BrainLedsBack BrainLedsMiddle BrainLedsFront
BrainLedsLeft BrainLedsRight

Short Name	Name	Short Name	Name
Brain0	Head/Led/Front/Right/1/Actuator/Value	Brain6	Head/Led/Rear/Left/2/Actuator/Value
Brain1	Head/Led/Front/Right/0/Actuator/Value	Brain7	Head/Led/Rear/Left/1/Actuator/Value
Brain2	Head/Led/Middle/Right/0/Actuator/Value	Brain8	Head/Led/Rear/Left/0/Actuator/Value
Brain3	Head/Led/Rear/Right/0/Actuator/Value	Brain9	Head/Led/Middle/Left/0/Actuator/Value
Brain4	Head/Led/Rear/Right/1/Actuator/Value	Brain10	Head/Led/Front/Left/0/Actuator/Value
Brain5	Head/Led/Rear/Right/2/Actuator/Value	Brain11	Head/Led/Front/Left/1/Actuator/Value

Ears

Groups
EarLeds
RightEarLeds	LeftEarLeds
RightEarLedsBack RightEarLedsFront	LeftEarLedsBack LeftEarLedsFront
RightEarLedsEven RightEarLedsOdd	LeftEarLedsEven LeftEarLedsOdd

Short Name	Name	Short Name	Name
RightEarLed1	Ears/Led/Right/0Deg/Actuator/Value	LeftEarLed1	Ears/Led/Left/0Deg/Actuator/Value
RightEarLed2	Ears/Led/Right/36Deg/Actuator/Value	LeftEarLed2	Ears/Led/Left/36Deg/Actuator/Value
RightEarLed3	Ears/Led/Right/72Deg/Actuator/Value	LeftEarLed3	Ears/Led/Left/72Deg/Actuator/Value
RightEarLed4	Ears/Led/Right/108Deg/Actuator/Value	LeftEarLed4	Ears/Led/Left/108Deg/Actuator/Value
RightEarLed5	Ears/Led/Right/144Deg/Actuator/Value	LeftEarLed5	Ears/Led/Left/144Deg/Actuator/Value
RightEarLed6	Ears/Led/Right/180Deg/Actuator/Value	LeftEarLed6	Ears/Led/Left/180Deg/Actuator/Value
RightEarLed7	Ears/Led/Right/216Deg/Actuator/Value	LeftEarLed7	Ears/Led/Left/216Deg/Actuator/Value
RightEarLed8	Ears/Led/Right/252Deg/Actuator/Value	LeftEarLed8	Ears/Led/Left/252Deg/Actuator/Value
RightEarLed9	Ears/Led/Right/288Deg/Actuator/Value	LeftEarLed9	Ears/Led/Left/288Deg/Actuator/Value
RightEarLed10	Ears/Led/Right/324Deg/Actuator/Value	LeftEarLed10	Ears/Led/Left/324Deg/Actuator/Value

Eyes

Groups
FaceLeds	RightFaceLeds	LeftFaceLeds
FaceLedsBottom FaceLedsExternal FaceLedsInternal FaceLedsTop	FaceLedsRightBottom FaceLedsRightExternal FaceLedsRightInternal FaceLedsRightTop	FaceLedsLeftBottom FaceLedsLeftExternal FaceLedsLeftInternal FaceLedsLeftTop
	RightFaceLedsBlue RightFaceLedsGreen RightFaceLedsRed	LeftFaceLedsBlue LeftFaceLedsGreen LeftFaceLedsRed

Groups	Groups	Equals to Short Name	Groups	Equals to Short Name
FaceLed0	FaceLedRight0	RightFaceLed8	FaceLedLeft0	LeftFaceLed1
FaceLed1	FaceLedRight1	RightFaceLed7	FaceLedLeft1	LeftFaceLed2
FaceLed2	FaceLedRight2	RightFaceLed6	FaceLedLeft2	LeftFaceLed3
FaceLed3	FaceLedRight3	RightFaceLed5	FaceLedLeft3	LeftFaceLed4
FaceLed4	FaceLedRight4	RightFaceLed4	FaceLedLeft4	LeftFaceLed5
FaceLed5	FaceLedRight5	RightFaceLed3	FaceLedLeft5	LeftFaceLed6
FaceLed6	FaceLedRight6	RightFaceLed2	FaceLedLeft6	LeftFaceLed7
FaceLed7	FaceLedRight7	RightFaceLed1	FaceLedLeft7	LeftFaceLed8

Note

Group Names and Short Names are not numbered the same way.

This helps to animate both eyes either:

• symmetrically (using Group Names) or
• similarly (using Short Names).

Short Name	Names	Short Name	Names
RightFaceLed1	Face/Led/Red/Right/0Deg/Actuator/Value, Face/Led/Green/Right/0Deg/Actuator/Value, Face/Led/Blue/Right/0Deg/Actuator/Value	LeftFaceLed1	Face/Led/Red/Left/0Deg/Actuator/Value, Face/Led/Green/Left/0Deg/Actuator/Value, Face/Led/Blue/Left/0Deg/Actuator/Value
RightFaceLed2	Face/Led/Red/Right/45Deg/Actuator/Value, Face/Led/Green/Right/45Deg/Actuator/Value, Face/Led/Blue/Right/45Deg/Actuator/Value	LeftFaceLed2	Face/Led/Red/Left/45Deg/Actuator/Value, Face/Led/Green/Left/45Deg/Actuator/Value, Face/Led/Blue/Left/45Deg/Actuator/Value
RightFaceLed3	Face/Led/Red/Right/90Deg/Actuator/Value, Face/Led/Green/Right/90Deg/Actuator/Value, Face/Led/Blue/Right/90Deg/Actuator/Value	LeftFaceLed3	Face/Led/Red/Left/90Deg/Actuator/Value, Face/Led/Green/Left/90Deg/Actuator/Value, Face/Led/Blue/Left/90Deg/Actuator/Value
RightFaceLed4	Face/Led/Red/Right/135Deg/Actuator/Value, Face/Led/Green/Right/135Deg/Actuator/Value, Face/Led/Blue/Right/135Deg/Actuator/Value	LeftFaceLed4	Face/Led/Red/Left/135Deg/Actuator/Value, Face/Led/Green/Left/135Deg/Actuator/Value, Face/Led/Blue/Left/135Deg/Actuator/Value
RightFaceLed5	Face/Led/Red/Right/180Deg/Actuator/Value, Face/Led/Green/Right/180Deg/Actuator/Value, Face/Led/Blue/Right/180Deg/Actuator/Value	LeftFaceLed5	Face/Led/Red/Left/180Deg/Actuator/Value, Face/Led/Green/Left/180Deg/Actuator/Value, Face/Led/Blue/Left/180Deg/Actuator/Value
RightFaceLed6	Face/Led/Red/Right/225Deg/Actuator/Value, Face/Led/Green/Right/225Deg/Actuator/Value, Face/Led/Blue/Right/225Deg/Actuator/Value	LeftFaceLed6	Face/Led/Red/Left/225Deg/Actuator/Value, Face/Led/Green/Left/225Deg/Actuator/Value, Face/Led/Blue/Left/225Deg/Actuator/Value
RightFaceLed7	Face/Led/Red/Right/270Deg/Actuator/Value, Face/Led/Green/Right/270Deg/Actuator/Value, Face/Led/Blue/Right/270Deg/Actuator/Value	LeftFaceLed7	Face/Led/Red/Left/270Deg/Actuator/Value, Face/Led/Green/Left/270Deg/Actuator/Value, Face/Led/Blue/Left/270Deg/Actuator/Value
RightFaceLed8	Face/Led/Red/Right/315Deg/Actuator/Value, Face/Led/Green/Right/315Deg/Actuator/Value, Face/Led/Blue/Right/315Deg/Actuator/Value	LeftFaceLed8	Face/Led/Red/Left/315Deg/Actuator/Value, Face/Led/Green/Left/315Deg/Actuator/Value, Face/Led/Blue/Left/315Deg/Actuator/Value

Chest button

Warning

• Usage of the Chest button LEDs is deprecated in release 1.14.
• The next release will also remove these LEDs from the following groups: AllLeds, AllLedsRed, AllLedsGreen, AllLedsBlue.

Groups
ChestLeds

Short Name	Name
ChestLedsBlue	ChestBoard/Led/Blue/Actuator/Value
ChestLedsGreen	ChestBoard/Led/Green/Actuator/Value
ChestLedsRed	ChestBoard/Led/Red/Actuator/Value

Feet

Groups
FeetLeds
LeftFootLeds RightFootLeds

Short Name	Name	Short Name	Name
RightFootLedsBlue	RFoot/Led/Blue/Actuator/Value	LeftFootLedsBlue	LFoot/Led/Blue/Actuator/Value
RightFootLedsGreen	RFoot/Led/Green/Actuator/Value	LeftFootLedsGreen	LFoot/Led/Green/Actuator/Value
RightFootLedsRed	RFoot/Led/Red/Actuator/Value	LeftFootLedsRed	LFoot/Led/Red/Actuator/Value

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