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Button Presses For Nao
Peter Schmidt edited this page Dec 19, 2015
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libagent is a Naoqi module that listens for commands from runswift and pushes new sensors readings.
libagent uses the chest-button to communicate its state (along with speech). It has chest button and the foot bumpers combinations that perform actions.
| Chest button colour | runswift State | libagent State |
|---|---|---|
| Flashing Red | runswift is not responding | libagent is in limp mode |
| Flashing Yellow | runswift is not responding | libagent is in stand mode |
| Flashing Green | runswift is responding | libagent is in limp mode |
| Solid Red | runswift is not responding | libagent is in sit mode |
| Solid Green | runswift is responding | libagent is in sit mode |
| Button presses | + foot bumper | Action |
|---|---|---|
| 2 | No | Make body limp or stiff |
| 2 | Yes | Make head limp or stiff |
| 3 | No | Start or Stop runswift |
| 3 | Yes | Restart (or at least stop) naoqi |
| 4 | No | Fix networking |
| 4 | Yes | Flash chestboard |
| hold | No | Shut down |
| hold | Yes | Flash various boards, then reboot |
runswift can be started or killed by "stroking" the 3 head buttons forwards or backwards.