Pepper やNaoで使用されているNaoqi OSのメモです。

NAOqi Sensors & LEDs - 概要 | API


利用

This module allows you to control the LEDs of the robot.
  • It provides simple ways of setting or fading the intensity of a LED or a group of LEDs:
ALLedsProxy::fade, ALLedsProxy::fadeListRGB, ALLedsProxy::fadeRGB, ALLedsProxy::getIntensity, ALLedsProxy::off, ALLedsProxy::on, ALLedsProxy::setIntensity
  • It also provides animations:
ALLedsProxy::earLedsSetAngle, ALLedsProxy::randomEyes, ALLedsProxy::rasta, ALLedsProxy::rotateEyes
  • And useful methods to manage groups and lists:
ALLedsProxy::createGroup, ALLedsProxy::listGroup, ALLedsProxy::listGroups ALLedsProxy::listLED, ALLedsProxy::listLEDs

方法

Colors
  • Ear LEDs are blue.
  • Eye, Chest and Feet 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 NameNameShort NameName
Brain0Head/Led/Front/Right/1/Actuator/ValueBrain6Head/Led/Rear/Left/2/Actuator/Value
Brain1Head/Led/Front/Right/0/Actuator/ValueBrain7Head/Led/Rear/Left/1/Actuator/Value
Brain2Head/Led/Middle/Right/0/Actuator/ValueBrain8Head/Led/Rear/Left/0/Actuator/Value
Brain3Head/Led/Rear/Right/0/Actuator/ValueBrain9Head/Led/Middle/Left/0/Actuator/Value
Brain4Head/Led/Rear/Right/1/Actuator/ValueBrain10Head/Led/Front/Left/0/Actuator/Value
Brain5Head/Led/Rear/Right/2/Actuator/ValueBrain11Head/Led/Front/Left/1/Actuator/Value
Ears
Groups
EarLeds
RightEarLedsLeftEarLeds
RightEarLedsBack
RightEarLedsFront
LeftEarLedsBack
LeftEarLedsFront
RightEarLedsEven
RightEarLedsOdd
LeftEarLedsEven
LeftEarLedsOdd
Short NameNameShort NameName
RightEarLed1Ears/Led/Right/0Deg/Actuator/ValueLeftEarLed1Ears/Led/Left/0Deg/Actuator/Value
RightEarLed2Ears/Led/Right/36Deg/Actuator/ValueLeftEarLed2Ears/Led/Left/36Deg/Actuator/Value
RightEarLed3Ears/Led/Right/72Deg/Actuator/ValueLeftEarLed3Ears/Led/Left/72Deg/Actuator/Value
RightEarLed4Ears/Led/Right/108Deg/Actuator/ValueLeftEarLed4Ears/Led/Left/108Deg/Actuator/Value
RightEarLed5Ears/Led/Right/144Deg/Actuator/ValueLeftEarLed5Ears/Led/Left/144Deg/Actuator/Value
RightEarLed6Ears/Led/Right/180Deg/Actuator/ValueLeftEarLed6Ears/Led/Left/180Deg/Actuator/Value
RightEarLed7Ears/Led/Right/216Deg/Actuator/ValueLeftEarLed7Ears/Led/Left/216Deg/Actuator/Value
RightEarLed8Ears/Led/Right/252Deg/Actuator/ValueLeftEarLed8Ears/Led/Left/252Deg/Actuator/Value
RightEarLed9Ears/Led/Right/288Deg/Actuator/ValueLeftEarLed9Ears/Led/Left/288Deg/Actuator/Value
RightEarLed10Ears/Led/Right/324Deg/Actuator/ValueLeftEarLed10Ears/Led/Left/324Deg/Actuator/Value
Eyes
Groups
FaceLedsRightFaceLedsLeftFaceLeds
FaceLedsBottom
FaceLedsExternal
FaceLedsInternal
FaceLedsTop
FaceLedsRightBottom
FaceLedsRightExternal
FaceLedsRightInternal
FaceLedsRightTop
FaceLedsLeftBottom
FaceLedsLeftExternal
FaceLedsLeftInternal
FaceLedsLeftTop
RightFaceLedsBlue
RightFaceLedsGreen
RightFaceLedsRed
LeftFaceLedsBlue
LeftFaceLedsGreen
LeftFaceLedsRed
GroupsGroupsEquals to Short NameGroupsEquals to Short Name
FaceLed0FaceLedRight0RightFaceLed8FaceLedLeft0LeftFaceLed1
FaceLed1FaceLedRight1RightFaceLed7FaceLedLeft1LeftFaceLed2
FaceLed2FaceLedRight2RightFaceLed6FaceLedLeft2LeftFaceLed3
FaceLed3FaceLedRight3RightFaceLed5FaceLedLeft3LeftFaceLed4
FaceLed4FaceLedRight4RightFaceLed4FaceLedLeft4LeftFaceLed5
FaceLed5FaceLedRight5RightFaceLed3FaceLedLeft5LeftFaceLed6
FaceLed6FaceLedRight6RightFaceLed2FaceLedLeft6LeftFaceLed7
FaceLed7FaceLedRight7RightFaceLed1FaceLedLeft7LeftFaceLed8
Note
Group Names and Short Names are not numbered the same way.
This helps to animate both eyes either:
symmetrically (using Group Names) orsimilarly (using Short Names).
Short NameNameShort NameNames
RightFaceLed1Face/Led/Red/Right/0Deg/Actuator/Value,
Face/Led/Green/Right/0Deg/Actuator/Value,Face/Led/Blue/Right/0Deg/Actuator/Value
LeftFaceLed1Face/Led/Red/Left/0Deg/Actuator/Value,
Face/Led/Green/Left/0Deg/Actuator/Value,
Face/Led/Blue/Left/0Deg/Actuator/Value
RightFaceLed2Face/Led/Red/Right/45Deg/Actuator/Value,
Face/Led/Green/Right/45Deg/Actuator/Value,
Face/Led/Blue/Right/45Deg/Actuator/Value
LeftFaceLed2Face/Led/Red/Left/45Deg/Actuator/Value,
Face/Led/Green/Left/45Deg/Actuator/Value,
Face/Led/Blue/Left/45Deg/Actuator/Value
RightFaceLed3Face/Led/Red/Right/90Deg/Actuator/Value,
Face/Led/Green/Right/90Deg/Actuator/Value,
Face/Led/Blue/Right/90Deg/Actuator/Value
LeftFaceLed3Face/Led/Red/Left/90Deg/Actuator/Value,
Face/Led/Green/Left/90Deg/Actuator/Value,
Face/Led/Blue/Left/90Deg/Actuator/Value
RightFaceLed4Face/Led/Red/Right/135Deg/Actuator/Value,
Face/Led/Green/Right/135Deg/Actuator/Value,
Face/Led/Blue/Right/135Deg/Actuator/Value
LeftFaceLed4Face/Led/Red/Left/135Deg/Actuator/Value,
Face/Led/Green/Left/135Deg/Actuator/Value,
Face/Led/Blue/Left/135Deg/Actuator/Value
RightFaceLed5Face/Led/Red/Right/180Deg/Actuator/Value,
Face/Led/Green/Right/180Deg/Actuator/Value,
Face/Led/Blue/Right/180Deg/Actuator/Value
LeftFaceLed5Face/Led/Red/Left/180Deg/Actuator/Value,
Face/Led/Green/Left/180Deg/Actuator/Value,
Face/Led/Blue/Left/180Deg/Actuator/Value
RightFaceLed6Face/Led/Red/Right/225Deg/Actuator/Value,
Face/Led/Green/Right/225Deg/Actuator/Value,
Face/Led/Blue/Right/225Deg/Actuator/Value
LeftFaceLed6Face/Led/Red/Left/225Deg/Actuator/Value,
Face/Led/Green/Left/225Deg/Actuator/Value,
Face/Led/Blue/Left/225Deg/Actuator/Value
RightFaceLed7Face/Led/Red/Right/270Deg/Actuator/Value,
Face/Led/Green/Right/270Deg/Actuator/Value,
Face/Led/Blue/Right/270Deg/Actuator/Value
LeftFaceLed7Face/Led/Red/Left/270Deg/Actuator/Value,
Face/Led/Green/Left/270Deg/Actuator/Value,
Face/Led/Blue/Left/270Deg/Actuator/Value
RightFaceLed8Face/Led/Red/Right/315Deg/Actuator/Value,
Face/Led/Green/Right/315Deg/Actuator/Value,
Face/Led/Blue/Right/315Deg/Actuator/Value
LeftFaceLed8Face/Led/Red/Left/315Deg/Actuator/Value,
Face/Led/Green/Left/315Deg/Actuator/Value,
Face/Led/Blue/Left/315Deg/Actuator/Value
Chest button
Groups
ChestLeds
Short NameName
ChestLedsBlueChestBoard/Led/Blue/Actuator/Value
ChestLedsGreenChestBoard/Led/Green/Actuator/Value
ChestLedsRedChestBoard/Led/Red/Actuator/Value
Feet
Groups
FeetLeds
LeftFootLeds
RightFootLeds
Short NameNameShort NameName
RightFootLedsBlueRFoot/Led/Blue/Actuator/Value LeftFootLedsBlueLFoot/Led/Blue/Actuator/Value
RightFootLedsGreenRFoot/Led/Green/Actuator/ValueLeftFootLedsGreenLFoot/Led/Green/Actuator/Value
RightFootLedsRedRFoot/Led/Red/Actuator/ValueLeftFootLedsRedLFoot/Led/Red/Actuator/Value

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