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

# ALMotion Changes

## New methods

These methods correspond to newly developped features.

Method | Aim
--- | ---
`ALMotionProxy::getFootGaitConfig` | Get the footsteps configuration (height, frequency etc)
`ALMotionProxy::getFootSteps` | Get the list of footsteps to done
`ALMotionProxy::setFootSteps` `ALMotionProxy::setFootStepsWithSpeed` | Set the next foot steps
`ALMotionProxy::stopWalk` | Stop the walk quickly but securely
`ALMotionProxy::walkInit` | Sets the robot in a convenient position for walk
`ALMotionProxy::getCollisionProtectionEnabled` `ALMotionProxy::setCollisionProtectionEnabled` | Manage the self collision avoidance relfex
`ALMotionProxy::isCollision` | Get the collision state of a chain
`ALMotionProxy::setFallManagerEnabled` `ALMotionProxy::getFallManagerEnabled` | Manage the fall manager relfex
`ALMotionProxy::setSmartStiffnessEnabled` `ALMotionProxy::setFootStepsWithSpeed` | Manage the smart stiffness relfex

## Overloaded methods

These overloadings allow you to give more parameters to walk methods, such as footsteps Gait configuration.

Method | Overloadings
--- | ---
ALMotionProxy::setWalkTargetVelocity | Adding the feet gait config to the walk target velocity control
ALMotionProxy::setWalkTargetVelocity | Adding separate foot gait config to walk target velocity control
ALMotionProxy::walkTo | Adding the feet gait config to the walk
ALMotionProxy::walkTo | Giving consecutive control points to the walk
ALMotionProxy::walkTo | Giving consecutive control points to the walk with feet gait config

## Deprecated methods

These methods are deprecated: their replacement methods should be used instead.

Method | Replacement
--- | ---
`ALMotionProxy::getWalkArmsEnable` | `ALMotionProxy::getWalkArmsEnabled`
`ALMotionProxy::setWalkArmsEnable` | `ALMotionProxy::setWalkArmsEnabled`
`ALMotionProxy::stepTo` | `ALMotionProxy::setFootStepsWithSpeed` or `ALMotionProxy::setFootSteps`

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