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Merged
aliberts merged 8 commits into from
Mar 19, 2025
Merged

add docs details for resolving firmware update issues #627

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04ecb5b
add details for firmware update issues
jcoleharrison Jan 11, 2025
5943c43
Update Koch getting_started example with firmware recovery steps
jcoleharrison Feb 22, 2025
2bdbfe9
Merge branch 'main' into user/jcoleharrison/2025_01_10_add_firmware_d…
jcoleharrison Feb 22, 2025
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Small wording change
jcoleharrison Feb 22, 2025
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Merge branch 'user/jcoleharrison/2025_01_10_add_firmware_debug_for_ko…
jcoleharrison Feb 22, 2025
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Merge branch 'main' into user/jcoleharrison/2025_01_10_add_firmware_d…
jcoleharrison Mar 19, 2025
60daa2b
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Mar 19, 2025
daae301
Update examples/7_get_started_with_real_robot.md
aliberts Mar 19, 2025
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5 changes: 5 additions & 0 deletions examples/7_get_started_with_real_robot.md
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Expand Up @@ -292,6 +292,11 @@ Steps:
- Scan for devices. All 12 motors should appear.
- Select the motors one by one and move the arm. Check that the graphical indicator near the top right shows the movement.

** There is a common issue with the Dynamixel XL430-W250 motors where the motors become undiscoverable after their upgrading their firmware from Mac and Windows Dynamixel Wizard2 applications. When this occurs, it is required to do a firmware recovery (Select `DYNAMIXEL Firmware Recovery` and follow the prompts). There are two known workarounds to conduct this firmware reset:
1) Install the Dynamixel Wizard on a linux machine and complete the firmware recovery
2) Use the Dynamixel U2D2 in order to perform the reset with Windows or Mac. This U2D2 can be purchased [here](https://www.robotis.us/u2d2/).
For either solution, open DYNAMIXEL Wizard 2.0 and select the appropriate port. You will likely be unable to see the motor in the GUI at this time. Select `Firmware Recovery`, carefully choose the correct model, and wait for the process to complete. Finally, re-scan to confirm the firmware recovery was successful.

**Read and Write with DynamixelMotorsBus**

To get familiar with how `DynamixelMotorsBus` communicates with the motors, you can start by reading data from them. Copy past this code in the same interactive python session:
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