Interacting 
| Use ... | To ... |
| ALLeds | Control the LEDs of the robot. |
| ALTactileGesture | Manage tactile gestures performed on the head tactile sensors. |
Event managers
| Module ... | is responsible for raising events ... |
| ALBattery | related to the robot battery hardware. |
| ALBodyTemperature | when some part of the hardware has reach a concerning level of temperature. |
| ALChestButton | related to the robot chest button. |
| ALFsr | whenever the foot contact changes. |
| ALSensors | related to the robot’s sensors. |
| ALSonar | related to the robot’s ultrasonic sensors. |
| ALTouch | whenever the robot is touched. |
Device management
| Use ... | To ... |
| ALLaser | Retrieve data sent by the Laser head. |
Deprecated
| Deprecated modules | |
| ALInfrared | Use WiFi instead. |