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Firmware Update
These steps have to be followed to update the motor firmware using Linux.
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Download the latest drivers from http://sourceforge.net/projects/darwinop/files/Software/Main%20Controller/Source%20Code/.
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Copy the zip folder which was downloaded, onto the Darwin.
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Extract the files into a new folder on the Darwin.
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Open the "build" folder, and edit the Makefile to remove the "LinuxCamera.o" line
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Execute "make clean" and then "make" to compile the files.
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Go to the "project/firmware_installer/" folder and "make" there.
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An executable file, "firmware_installer" should now be present in this folder. Run "./firmware_installer".
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Select the first option, "CM-730 firmware installation" and proceed to update. But to reflash the motor with the old firmware (this file exists in the latest update itself,i.e in v1.4.0), you have to select the second option provided it is showing the older firmware and not the latest one (mx1080 I think!). If not, do the following to get the second option as the older firmware file: Type in: ./firmware_installer -a --> That should do it. Now you can choose the second option and it should flash the motors one by one stating 'successful' at the end of each step. (If you have doubts about the above line, just put it ./firmware_installer --help for details of firmware versions contained in the v1.4.0 zip file)
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Then run, "Dynamixel firmware installation" and proceed to update.
NOTE:
If there is an issue getting the downloaded v1.4.0 zip file on to the bot, try the following (WIRELESS):
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Note ip addr of the bot
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from your laptop/system, SCP the v1.4.0 zip file to the bot. How? eg:- scp (file location on your system) darwin@(above obtained ip addr of the bot)
-Now you should be able to see the copied zip file on the darwin. Then Run steps 3 - 9!
-PLEASE ENSURE THAT THE USB2DYNAMIXEL CONVERTER IS IN THE TTL MODE.
Troubleshooting
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If you get errors at the end of step 9, it could be due to baud rate differences in the motors. Ensure that all motors are at a baud rate of 1MHz.
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THE BAUD RATES ALWAYS CHANGE!!!! More specifically, when you update the firmware. But more often than not, all errors are due to baud rate differences.