概要> | API>? | Advanced>?
A | A NAOqi module or your code sends a request, listing timed commands to apply to one or more Actuator(s). For further details, see: Building and sending requests. |
B | Timed commands are stored in a buffer. At each cycle, DCM engine analyzes, for each Actuator, the previous and the next order (if there are some) based on the current time and computes the appropriate command to send using a linear interpolation. For further details, see: Learning more about timed commands treatment. |
C | Computed value is sent to the Electronic devices. The Actuator value is also updated in ALMemory with the sent command. |
D | DCM reads the updated Sensor values and updates them in ALMemory. |
Use ... | To update ... |
DCMProxy::set | one Actuator or a list of Actuators (through an Alias) with one unique list of timed commands. Examples -Make one LED or a group of LEDs blinks twice. -Set the Stiffness of all joints, or of the head joints. |
DCMProxy::setAlias | a list of Actuators (through an Alias) with a specific list of timed command for each Actuator. Example Make a group of LEDs blink twice while others fade out slowly and the left arm moves as if to say goodbye. Benefit You could obtain the same result by sending several DCMProxy::set, nevertheless DCMProxy::setAlias saves communication time by grouping commands in one request. |