From b7da03fd1c29bec86a9d4efedecbc3e4c94f49e2 Mon Sep 17 00:00:00 2001 From: Maxime Date: Mon, 13 Apr 2026 13:40:02 +0200 Subject: [PATCH] clarifying the docs --- docs/source/feetech.mdx | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/docs/source/feetech.mdx b/docs/source/feetech.mdx index cfc0d3f7f..35283704f 100644 --- a/docs/source/feetech.mdx +++ b/docs/source/feetech.mdx @@ -10,11 +10,17 @@ If during calibration you encounter an error like this: ValueError: Magnitude 2816 exceeds 2047 (max for sign_bit_index=11) ``` -The firmware may be overflowing and returning incorrect position readings. +Or -**Quick fix:** Unplug both the AC power and USB cable, then reconnect them. This should give you correct position readings again. +```bash +RuntimeError: Some motors have invalid position readings {'wrist_roll': 6015}, which can lead to incorrect homing offsets. +``` -If the issue persists, reset the positions of the motors: +The firmware may be overflowing and returning incorrect position readings (usually they should sit within [0, 4095]). + +**Quick fix:** Try to disconnect the robot's AC power and USB cable, move it to the middle of its range of motion, then reconnect and rerun the calibration script. This should give you correct position readings again. + +If the issue persists, you can try to reset the positions of the motors: 1. Complete the first 4 steps of the motor firmware update process 2. Select the _Programming_ tab