B. 2.

Choregraphe

Screen 3.1 – Choregraphe symbol

Choregraphe you can create programs, write dialogs, or set NAO's behavior. However,
Choregraphe provides you with many more options, too. For example, you can have it
display what the camera sees, change settings like volume and language, create
a preview for your program, or change the source code for boxes. As the interface

are explained in more detail at the end.

Menu panel

Project management

Flow diagram panel

Screen 3.2 – Choregraphe

Robot management

10
 Choregraphe can be split into these sections:

The toolbar, left side:

Screen 3.3 – Choregraphe: Top toolbar, left side

Here you can open or save your project or create a new project, just like in other
programs. You can also undo actions
options with the robot. First of all, you can connect it to the computer.

Screen 3.4 – Connect to the robot

Click on the green antenna and select the robot. (If you have problems connecting,

Screen 3.5 – Choregraphe: Top toolbar, left side, detail

one) you can start your program with the green play button and stop it with the red
stop button. If there is an error in your program, the red warning triangle is displayed.
The progress bar shows the progress when loading a program (when the bar is com-
pletely green, the program is running).

11
The toolbar, right side:

Screen 3.6 – Choregraphe: Top toolbar, right side

You can use these buttons to control your NAO. Here you can activate the Animation
, which allows you to move NAO into any position you like manually. You can also
put NAO into the Autonomous Life mode here. Plus, you can change the volume
or switch between the rest and active modes. Finally, if a connection is established
a battery indicator shows you how full NAO's battery is.

Properties you can change

them to your project.

There are several options available to you: You can create new directories, import other

12
 The project objects

Screen 3.9 – Choregraphe: Project objects

Here you can look at a list of all the boxes used in the project. You will learn how this
box principle works C.1.
To help you understand: Your program will later be built from several building blocks;
these building blocks are all listed here.

box quickly.

The box libraries

Screen 3.10 – Choregraphe: Box libraries

This section is one of the two most important ones when programming with Chore-

are required for programming) that you can use as building blocks. If you click on
the magnifying glass button, you can search for boxes. (A more detailed explanation
of the boxes is given in chapters C.2., C.3., and C.4.)

13
This is the most important section in Choregraphe. It is where you create, modify,
and connect all programs. You can drag and drop the boxes from the box library onto

with the box here and connect it to other boxes.

The source code

Screen 3.12 – Choregraphe: Script editor

In simple terms, the source code is the script that tells the program what should hap-
pen and when. In order to modify the source code, you need certain other programs

Here, this is a display window for the content of a box. That means you can change
the source code of a box or write your own box. You can also create a dialog with it
(see C.3.1.1.).

14
 The video monitor

Screen 3.13 – Choregraphe: Video monitor

This window shows a live feed of NAO's camera. If you want, you can stop it.

You can teach, import, or export an object.

Now you are familiar with the Choregraphe interface and can create programs.

Save as project folder

Screen 3.14 – Choregraphe: Save as/open project folder

15
If you click on File > Save project as..., you can give the project a name and select the
Open project...
and select the in the project folder. You can also double-click on it, but make
sure that the version of Choregraphe is correct. (If you have several versions installed,
the oldest version always opens.)

Import project
. Now you need to give the new project folder a name and select
the save location. Then select the You can also double click

16
 B. 3. Autonomous Life
Autonomous Life is activated by default on every robot, which means that your NAO
stands up and looks around expectantly and inquisitively each time you start it.

Screen 4.1 – The “Autonomous Life” button

You can deactivate

screen in Choregraphe. However, if you do this, NAO will no longer be able to commu-
nicate or move independently.
In order for it to begin to develop its "own life", you need to download the Basic Chan-
nel and other applications from the Aldebaran store.
(See A.3.)

been implemented in the Basic Channel.

robot page.

http://doc.aldebaran.com/2-8/family/nao_user_guide/basic_channel_conversa-
tion_nao.html?highlight=basic

or scan QR code

17
Some examples of speech commands:

"Can you stand up?"

"Raise your arms."

"Introduce yourself." NAO introduces itself.

"Can we be friends?" You are asking NAO if you can be friends.

Note:

Once you have worked with NAO for a while, you can play with the parameters. How?
– This is explained in the following section.

To make more detailed settings to your Autonomous Life, you can use

Screen 4.2 – “Autonomous Abilities” box

18
 C. First programs
C. 1. What is a box?

Screen 5.1 – Box in Choregraphe

Basically, you can program in Choregraphe by dragging and dropping boxes onto

program parts and their functions are explained in the following chapters. However,
program parts don't always have to run in the same way but can be changed or modi-

Screen 5.2 – The parameters of a box

To do this, you can click on the wrench in the corner of a box. As most boxes have
their own parameter options, they are explained individually in the following chapters.
In order to be able to use the function of a box, the boxes need a signal that tells them
to start and how.

Screen 5.3 – In/outputs of a box

This is done using inputs for starting and outputs for

raphe has one or more inputs (on the left of the box).
Almost every box also has one or more outputs (on the

19
right of the box). Inputs with a black triangle or play symbol start the box. Inputs
with a red cross stop the box. (In this book, these inputs are referred to collectively
as "standard inputs".)

Screen 5.4 – Starting the program

To start the program you have made later, there is a start signal which is sent when
you start the program by pressing the play button (see B.2.). To make the program
stop automatically at the end you can connect the last box(es) to an end.

Screen 5.5 – Connecting boxes

To better visualize the signal transfer, outputs emit green objects at their connection
which move along the connection to the input.

Screen 5.6 – Colored outputs

A signal is not simply just a signal. There are various types

(types of signal are also called "data types").

by the color of the stripe on the edge.

The standard data type "bang" is visualized by a black
stripe. It simply transfers a signal to start the box.
The data type "dynamic"
number, a letter, a text, etc.) and is mostly used for positions or coordinates. The color
of this type is gray. The data type number is indicated by a yellow stripe. A blue
stripe indicates the "string" data type.

20
 You will need inputs and outputs later. Here is a brief explanation of how you create
them.

Screen 5.7 – Adding a new output

Under "Type" you set the data type.

"Nature" describes when the output is
triggered, "onStopped" is triggered as
soon as the box is stopped or has run.
"Punctual" means that you have to speci-
fy when the output is triggered within the
box or the source code.

21
C. 2. Level 1: Beginner
C. 2. 1. Simple boxes
1. The “Say” box

to make your NAO say a text.

Screen 6.1 – Parameters of the “Say” box

By clicking on the wrench in the box you

can set several parameters. (Have you
forgotten what the wrench is?
No problem, see C.1.) You can set the
voice shaping and the speed. You can
also enter the text here that you want
NAO to say.

Screen 6.2 – “Set Language” box with “Say” box

Note:

in front of this box.

Screen 6.3 – Flow diagram with “Say Text” box

If you want to say longer texts, use the

What you need:

22
 2. The “Set Language” box

You can use this box to tell your NAO which language it should speak.

Screen 6.4 – Parameters of the “Set Language” box

All you need to do is select the language from the

menu.
The input is on the left side of the box. On the right
side of the box, at the top, is the output once the
language has been set. In the event of an error, the
box issues a signal at the bottom output.

Note:
Setting the language is important, otherwise NAO will

What you need:

NAO language packages

3. The “Move To” box

one meter forward then turns 90° and walks forward

again 50 cm. This requires 3 boxes.

You can use this box to make your NAO move to a

23
Screen 6.5 – Parameters of the “Move To” box Fig. 7 – The theta angle

First, NAO turns by the theta angle, that's the angle by which it turns away from its cur-
rent axis. Then it processes the at the same time.

Screen 6.6 - Outputs of the “Move To” box

As soon as the values have been processed, it stands still and issues a signal at the
Success output.
If it is stopped by anything, for example if it falls or something similar, it issues a signal
at the bottom .

Note:

24
 4. The “Move Toward” box

You can use this box to make your NAO walk in a particular direction.

Screen 6.7 – Parameters of the “Move Toward” box

how far NAO walks

forward, the Y-parameter controls how far it
walks to the side. The theta-parameter de-
scribes the angle of rotation.

Screen 6.8 - Outputs of the “Move Toward” box

As soon as it has been stopped by a Stop

input, NAO issues a signal at the top output.
The bottom output is triggered if NAO was
stopped by an obstacle.

Note:
Negative values mean that NAO walks backward or to the left. NAO will carry on
walking until the box is stopped. So always watch it and use the box with care.

5. The “Stand Up” box

This is what NAO looks like when it has just stood

up.

This box is also a fundamental box in Choregraphe.

You can use this box to make your NAO stand
upright from any position, so it's a very important
box.

Fig. 8 – NAO is standing

25
 Screen 6.9 - Outputs of the “Stand Up” box

right side. The top one is for when NAO has

stood up successfully, the bottom one is for
when NAO has not managed to stand up.

Screen 6.10 – Parameters of the “Stand Up” box

You can now see a black wrench in the bottom

left corner of this box. Here you can set how
often NAO should try to stand up.

Screen 6.11 – Parameters of the “Goto Posture” box

where you can click on the wrench in the box

and set the speed of the sitting procedure. You
can also set the type of position that NAO
should move to here.

Note:

this endangers your NAO; it could overheat or NAO could overbalance and fall.

26
 6. The “Sit Down” box

This is what NAO looks like when it has

just sat down.

Now your NAO can stand up, however it

should also be able to sit down. The Sit
Down box is very similar to the Stand Up
box. It also has two outputs on the right,

Fig. 9 – NAO is sitting

Screen 6.12 – Parameters of the “Sit Down” box

Double-click to go to the box, where you can

click on the wrench and set the speed of the
sitting procedure. You can also set the type of
position that NAO should move to here.

Note:
For the speed, don't use anything higher than

avoid damaging your NAO.

7. The “Tactile Head” box

This box manages the selection buttons on NAO's head. The box issues a separate
signal for each button.

Screen 6.13 – Outputs of the “Tactile Head” box

27
 Fig. 10 – The tactile sensors

The top output is for the front sensor, the

middle one for the middle sensor, and the
bottom one for the rear sensor.
In addition to the standard inputs Start and
Cancel and the Stop output, the three other
outputs are important here. They each
represent one of the three head sensors.

Note:
You can also make all three outputs run on one input. This way you can start a box
when the head is touched – regardless of which of the sensors was touched.

8. The “Tactile Right/Left Hand” box

NAO doesn't just have sensors on its head but also on its hands. To manage the

for each of the three sensors.

Screen 6.14 – Outputs of the “Tactile Left Hand” box

Fig. 11 – The “Tactile Left Hand” sensors

The top box is for the left sensor, the middle

one for the rear sensor, and the bottom one for
the right sensor.
For each of the two boxes there are the stan-
dard inputs Start and Cancel, the Stop output,
and the three outputs: the top one for a touch
on the left side of NAO's hand, the middle one
for a touch on the underside, and the bottom
one for a touch on the right side. The sides are correct when NAO's palm is facing up.

Note:

28
 9. The “Hands” box

You can use this box to control NAO's hands.

You can choose whether NAO opens or closes
both hands or only one.

Screen 6.15 – Parameters of the “Hands” box

To set the parameters, click on the wrench.

You can now select the side(s) and the action
here.
On this box there is only the standard input
and the output.

10. The “Play Sound” box

This box allows you to make your NAO play any sound you choose. However, it does
require several steps. First, click on the wrench in the bottom left corner.

To do this, click on the folder, click the plus

. Now you
can .

Screen 6.17 – Parameters of the “Play Sound” box

Next you can set several parameters. You can

specify the begin position, change the volume,
and set the balance for both speakers on NAO.
Plus, you can set the check mark next to play
in loop. This makes NAO play the sound over
and over.
For this box there are only the two standard
inputs and the output.

29
Note:

create another subfolder for this.

Screen 6.18 – File in the project folder

What you need:

11. The “Wait for Signals” box

Screen 6.19 – Example of the “Wait for Signals” box

Here is the box with two connected inputs. This means that in this case, NAO must

conditions need to be met.

30
 12. The “Bumpers” box

This box detects touches on NAO's feet. The box then issues a signal for the right and
the left side.

Screen 6.20 – Outputs of the “Bumpers” box

Fig. 12 – The “Bumpers” box from the robot's

perspective

The top box represents the left sensor, the bottom one the right sensor.

In addition to the Start and Cancel inputs there are the Stop output and one output
each for the signal issued when there is a touch on the left or right.

Note:
If both bumpers are pressed, the box issues two signals.

13. The “Foot Contact” box

Screen 6.21 – Outputs of the “Foot Contact” box

at least one foot, the bottom one rep-

resents a .
Here there are the inputs Start and Cancel, the Stop output, and the outputs described
above.

31
14. The “Fall Detector” box

0.5 seconds after the fall.

Screen 6.22 – Output of the “Fall Detector” box

In addition to the two Start and Cancel inputs and the Stop output, the box has an
output for when NAO has fallen over.

Note:
The robot should not stand up too quickly, otherwise parts might break or the robot
might fall over again.

32