Cannot update firmware on XL-430 via waveshare servo driver

[codenamev]

Hey there! Firstly, thank you for an awesome project ❤️

I was able to fully assemble everything and ran a successful teleoperation as part of the LeRobot calibration step. However, when it came time to run it with cameras enabled, the arm swung up and the top XL-430 started flashing red. After that, I verified all the connections and proper voltage, but was unable to recalibrate these.

I thought it could be a firmware issue, and downloaded the Dynamixel Wizard. Unfortunately, there are known issues updating the firmware over USB-C with the Waveshare servo driver. I ordered their official U2D2 (coming today) and will update this to see if that resolves the issue, but wanted to create this in case others have issues (might be worth a mention in the README).

[PradeepKadubandi]

Just to add my experience, I had the same trouble using Mac / Windows software. But when I tried it on Linux, I was able to use the same board to recover the firmware.

I second the "awesome" comment! Thank you LeRobot team and @jess-moss . This repository is much more detailed and helpful to be able to assemble and use these arms.

[jess-moss]

Thank you so much!!

That is an interesting thought. I know the Waveshare boards do commonly have some issues and are definitely not as robust as the official Robotis board so that is a good step. I personally use linux and did not encounter problems updating but will keep this issue open so others are aware.