# SoftBank Robotics documentation What's new in NAOqi 2.8?

# ALLeds

NAOqi Sensors & LEDs - Overview | API

See also

LEDs LEDs

## What it does

This module allows you to control the LEDs of the robot.

- It provides simple ways of setting or fading the intensity of a LED or a group of LEDs:

  `ALLedsProxy::fade`, `ALLedsProxy::fadeListRGB`, `ALLedsProxy::fadeRGB`, `ALLedsProxy::getIntensity`, `ALLedsProxy::off`, `ALLedsProxy::on`, `ALLedsProxy::setIntensity`

- It also provides animations:

  `ALLedsProxy::earLedsSetAngle`, `ALLedsProxy::randomEyes`, `ALLedsProxy::rasta`, `ALLedsProxy::rotateEyes`

- And useful methods to manage groups and lists:

  `ALLedsProxy::createGroup`, `ALLedsProxy::listGroup`, `ALLedsProxy::listGroups` `ALLedsProxy::listLED`, `ALLedsProxy::listLEDs`

## How it works

### Colors

- Ear LEDs are blue.
- Eye, Chest and Feet LEDs are RGB Fullcolour, so it is possible to combine the three primary colors (red, green and blue) in order to obtain different colors.

### Intensity

It is possible to control the LEDs intensity (between 0 and 100%).

## Getting started

To control:

- a single LED, use Names or Short Names.
- several LEDs, use existing Groups or create your own groups.

    # Example showing how to list the devices in a group
    proxy.listGroup("FaceLeds")

For more details, see the list of existing Groups, Short Names and Names.

### Groups, Short Names and Names

#### All

Groups
AllLeds
AllLedsBlue AllLedsGreen AllLedsRed

#### Head tactile sensor

Groups
BrainLeds
BrainLedsBack BrainLedsMiddle BrainLedsFront
BrainLedsLeft BrainLedsRight

Short Name | Name | Short Name | Name
--- | --- | --- | ---
Brain0 | Head/Led/Front/Right/1/Actuator/Value | Brain6 | Head/Led/Rear/Left/2/Actuator/Value
Brain1 | Head/Led/Front/Right/0/Actuator/Value | Brain7 | Head/Led/Rear/Left/1/Actuator/Value
Brain2 | Head/Led/Middle/Right/0/Actuator/Value | Brain8 | Head/Led/Rear/Left/0/Actuator/Value
Brain3 | Head/Led/Rear/Right/0/Actuator/Value | Brain9 | Head/Led/Middle/Left/0/Actuator/Value
Brain4 | Head/Led/Rear/Right/1/Actuator/Value | Brain10 | Head/Led/Front/Left/0/Actuator/Value
Brain5 | Head/Led/Rear/Right/2/Actuator/Value | Brain11 | Head/Led/Front/Left/1/Actuator/Value

#### Ears

Groups
EarLeds
RightEarLeds | LeftEarLeds
RightEarLedsBack RightEarLedsFront | LeftEarLedsBack LeftEarLedsFront
RightEarLedsEven RightEarLedsOdd | LeftEarLedsEven LeftEarLedsOdd

Short Name | Name | Short Name | Name
--- | --- | --- | ---
RightEarLed1 | Ears/Led/Right/0Deg/Actuator/Value | LeftEarLed1 | Ears/Led/Left/0Deg/Actuator/Value
RightEarLed2 | Ears/Led/Right/36Deg/Actuator/Value | LeftEarLed2 | Ears/Led/Left/36Deg/Actuator/Value
RightEarLed3 | Ears/Led/Right/72Deg/Actuator/Value | LeftEarLed3 | Ears/Led/Left/72Deg/Actuator/Value
RightEarLed4 | Ears/Led/Right/108Deg/Actuator/Value | LeftEarLed4 | Ears/Led/Left/108Deg/Actuator/Value
RightEarLed5 | Ears/Led/Right/144Deg/Actuator/Value | LeftEarLed5 | Ears/Led/Left/144Deg/Actuator/Value
RightEarLed6 | Ears/Led/Right/180Deg/Actuator/Value | LeftEarLed6 | Ears/Led/Left/180Deg/Actuator/Value
RightEarLed7 | Ears/Led/Right/216Deg/Actuator/Value | LeftEarLed7 | Ears/Led/Left/216Deg/Actuator/Value
RightEarLed8 | Ears/Led/Right/252Deg/Actuator/Value | LeftEarLed8 | Ears/Led/Left/252Deg/Actuator/Value
RightEarLed9 | Ears/Led/Right/288Deg/Actuator/Value | LeftEarLed9 | Ears/Led/Left/288Deg/Actuator/Value
RightEarLed10 | Ears/Led/Right/324Deg/Actuator/Value | LeftEarLed10 | Ears/Led/Left/324Deg/Actuator/Value

#### Eyes

Groups
FaceLeds | RightFaceLeds | LeftFaceLeds
FaceLedsBottom FaceLedsExternal FaceLedsInternal FaceLedsTop | FaceLedsRightBottom FaceLedsRightExternal FaceLedsRightInternal FaceLedsRightTop | FaceLedsLeftBottom FaceLedsLeftExternal FaceLedsLeftInternal FaceLedsLeftTop
| RightFaceLedsBlue RightFaceLedsGreen RightFaceLedsRed | LeftFaceLedsBlue LeftFaceLedsGreen LeftFaceLedsRed

Groups | Groups | Equals to Short Name | Groups | Equals to Short Name
--- | --- | --- | --- | ---
FaceLed0 | FaceLedRight0 | RightFaceLed8 | FaceLedLeft0 | LeftFaceLed1
FaceLed1 | FaceLedRight1 | RightFaceLed7 | FaceLedLeft1 | LeftFaceLed2
FaceLed2 | FaceLedRight2 | RightFaceLed6 | FaceLedLeft2 | LeftFaceLed3
FaceLed3 | FaceLedRight3 | RightFaceLed5 | FaceLedLeft3 | LeftFaceLed4
FaceLed4 | FaceLedRight4 | RightFaceLed4 | FaceLedLeft4 | LeftFaceLed5
FaceLed5 | FaceLedRight5 | RightFaceLed3 | FaceLedLeft5 | LeftFaceLed6
FaceLed6 | FaceLedRight6 | RightFaceLed2 | FaceLedLeft6 | LeftFaceLed7
FaceLed7 | FaceLedRight7 | RightFaceLed1 | FaceLedLeft7 | LeftFaceLed8

Note

Group Names and Short Names are not numbered the same way.

This helps to animate both eyes either:

- symmetrically (using Group Names) or
- similarly (using Short Names).

Short Name | Names | Short Name | Names
--- | --- | --- | ---
RightFaceLed1 | Face/Led/Red/Right/0Deg/Actuator/Value, Face/Led/Green/Right/0Deg/Actuator/Value, Face/Led/Blue/Right/0Deg/Actuator/Value | LeftFaceLed1 | Face/Led/Red/Left/0Deg/Actuator/Value, Face/Led/Green/Left/0Deg/Actuator/Value, Face/Led/Blue/Left/0Deg/Actuator/Value
RightFaceLed2 | Face/Led/Red/Right/45Deg/Actuator/Value, Face/Led/Green/Right/45Deg/Actuator/Value, Face/Led/Blue/Right/45Deg/Actuator/Value | LeftFaceLed2 | Face/Led/Red/Left/45Deg/Actuator/Value, Face/Led/Green/Left/45Deg/Actuator/Value, Face/Led/Blue/Left/45Deg/Actuator/Value
RightFaceLed3 | Face/Led/Red/Right/90Deg/Actuator/Value, Face/Led/Green/Right/90Deg/Actuator/Value, Face/Led/Blue/Right/90Deg/Actuator/Value | LeftFaceLed3 | Face/Led/Red/Left/90Deg/Actuator/Value, Face/Led/Green/Left/90Deg/Actuator/Value, Face/Led/Blue/Left/90Deg/Actuator/Value
RightFaceLed4 | Face/Led/Red/Right/135Deg/Actuator/Value, Face/Led/Green/Right/135Deg/Actuator/Value, Face/Led/Blue/Right/135Deg/Actuator/Value | LeftFaceLed4 | Face/Led/Red/Left/135Deg/Actuator/Value, Face/Led/Green/Left/135Deg/Actuator/Value, Face/Led/Blue/Left/135Deg/Actuator/Value
RightFaceLed5 | Face/Led/Red/Right/180Deg/Actuator/Value, Face/Led/Green/Right/180Deg/Actuator/Value, Face/Led/Blue/Right/180Deg/Actuator/Value | LeftFaceLed5 | Face/Led/Red/Left/180Deg/Actuator/Value, Face/Led/Green/Left/180Deg/Actuator/Value, Face/Led/Blue/Left/180Deg/Actuator/Value
RightFaceLed6 | Face/Led/Red/Right/225Deg/Actuator/Value, Face/Led/Green/Right/225Deg/Actuator/Value, Face/Led/Blue/Right/225Deg/Actuator/Value | LeftFaceLed6 | Face/Led/Red/Left/225Deg/Actuator/Value, Face/Led/Green/Left/225Deg/Actuator/Value, Face/Led/Blue/Left/225Deg/Actuator/Value
RightFaceLed7 | Face/Led/Red/Right/270Deg/Actuator/Value, Face/Led/Green/Right/270Deg/Actuator/Value, Face/Led/Blue/Right/270Deg/Actuator/Value | LeftFaceLed7 | Face/Led/Red/Left/270Deg/Actuator/Value, Face/Led/Green/Left/270Deg/Actuator/Value, Face/Led/Blue/Left/270Deg/Actuator/Value
RightFaceLed8 | Face/Led/Red/Right/315Deg/Actuator/Value, Face/Led/Green/Right/315Deg/Actuator/Value, Face/Led/Blue/Right/315Deg/Actuator/Value | LeftFaceLed8 | Face/Led/Red/Left/315Deg/Actuator/Value, Face/Led/Green/Left/315Deg/Actuator/Value, Face/Led/Blue/Left/315Deg/Actuator/Value

#### Chest button

Groups
ChestLeds

Short Name | Name
--- | ---
ChestLedsBlue | ChestBoard/Led/Blue/Actuator/Value
ChestLedsGreen | ChestBoard/Led/Green/Actuator/Value
ChestLedsRed | ChestBoard/Led/Red/Actuator/Value

#### Feet

Groups
FeetLeds
LeftFootLeds RightFootLeds

Short Name | Name | Short Name | Name
--- | --- | --- | ---
RightFootLedsBlue | RFoot/Led/Blue/Actuator/Value | LeftFootLedsBlue | LFoot/Led/Blue/Actuator/Value
RightFootLedsGreen | RFoot/Led/Green/Actuator/Value | LeftFootLedsGreen | LFoot/Led/Green/Actuator/Value
RightFootLedsRed | RFoot/Led/Red/Actuator/Value | LeftFootLedsRed | LFoot/Led/Red/Actuator/Value

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