What it does ¶
ALBodyTemperature is responsible for raising events when some part of the hardware, able to overheat, has reach a concerning level of temperature.
It could be:
- Joints or Actuators,
How it works ¶
CPU - Temperature ¶
ALBodyTemperature retrieves temperature information from the CPU hardware and publish it in ALMemory key : Device/SubDeviceList/Head/Temperature/Sensor/Value.
For further details, see: CPU .
Joint, Actuator and Battery Temperature ¶
retrieves temperature information from the
of the Joints, the Actuators, and the Battery.
If at least one of item has a non null status, an
event is raised.
For further details about the temperature automatic limitation, see: Temperature status .
If one Joint, one Actuator or the battery is hot (non null Temperature status ), a notification is sent.
For further details about the temperature notification, see: Diagnosis - NAO , or Diagnosis - Pepper .
The notification can be disabled using
Temperature Diagnosis ¶
ALBodyTemperature generates a diagnosis based on the Temperature status but with a threshold as shown on the figure below:
Based on this diagnosis, ALMemory error keys are updated for each joint or actuator, the key format is: Diagnosis/Temperature/ JointName /Error. For further details see Diagnosis keys in: Diagnosis key list or Diagnosis key list .
A summary of the temperature diagnosis is available using
This temperature diagnosis has the same behavior than the passive diagnosis (see ALDiagnosis ) and if the Level of failure severity requires it, ALMotion module reacts in order to protect the robot and the user.
For further details about the motion diagnosis reflexes, see: Diagnosis effect .
Use Cases ¶
It allows you to be notified if the temperature of a joint reaches the limit triggering an automatic limitation of the Stiffness .