# Firmware and first run

## 1. The test firmware

A control board from the shop ships with the test firmware. Use it, with the base open and the motors not yet
driving the arm, to check every driver, every switch and sensor, and the I/O from a serial terminal: on the bench
before the arm is assembled, as in [Electronics and wiring](https://docs.source-robotics.com/PAROL-docs/1.1/build/electronics-and-wiring/#test-before-you-close-the-base).
At power-on it prints a report on
each driver (`joint N Connection is: GOOD` or `BAD`) and turns every motor slowly; `#LIMIT` then shows the
switches and `#IO` the E-stop, the inputs and the supply voltage. [The test firmware](https://docs.source-robotics.com/PAROL-docs/1.1/board/09-test-firmware/)
has the commands and what good output looks like.

!!! danger
    The test firmware turns all six motors slowly from the moment it boots until the power is switched off; no
    command stops them. On an assembled arm joints 1 to 5 reach their blockers within about a minute and keep
    pushing. Use it with the motors free to turn, never on an assembled robot.

!!! success "Check"
    Six `Connection is: GOOD` lines in the report; `#LIMIT` names each switch while you press it; `#IO` follows
    the E-stop and the inputs and shows the supply near 24000 mV. If not:
    [Control board troubleshooting](https://docs.source-robotics.com/PAROL-docs/1.1/board/11-troubleshooting/).

## 2. Upload the main firmware

The main firmware is in the repository under `PAROL6 control board main software`; it is a PlatformIO project
for VS Code. Install VS Code and the PlatformIO extension, open the folder, and upload with an ST-Link through the
programming adapter, with the 24 V supply disconnected: [Firmware](https://docs.source-robotics.com/PAROL-docs/1.1/board/08-firmware/) has the procedure and
the warnings.

!!! success "Check"
    PlatformIO ends the upload with `SUCCESS`. If not: [Control board troubleshooting](https://docs.source-robotics.com/PAROL-docs/1.1/board/11-troubleshooting/).

## 3. First power-on

Unplug the programming adapter, plug in the supply, hold the forearm and press the button. Six clicks, and the
arm holds. Start the commander software, connect, and open the joint jog menu.

!!! success "Check"
    Six clicks, the fan runs, the arm holds itself, and the commander shows the robot's data. If not:
    [First power-on: if nothing happens](https://docs.source-robotics.com/PAROL-docs/1.1/04-installation/first-power-on/#if-nothing-happens).

## 4. A joint turns the wrong way 

Jog each joint briefly. The joint must turn as in the figure, which shows each joint's positive direction
([Joint limits and directions](https://docs.source-robotics.com/PAROL-docs/1.1/03-technical-data/joint-limits/)). Before homing, the commander checks jogs
against the joint limits with a position count that starts at 0, so some directions are refused with
`Error: Robot jog -> Position out of range`:

- **Joint 2**: press its **right** arrow (negative). It must turn opposite to the figure; its left arrow does
  nothing until the robot is homed.
- **Joints 1, 3, 4, 5 and 6**: press the **left** arrow (positive). It must turn as in the figure.

![Each joint turned 30 degrees in its positive direction, in colour, over the pose in grey](https://docs.source-robotics.com/PAROL-docs/1.1/assets/kinematics/parol6_joint_directions.webp){ width="900" }
![Each joint turned 30 degrees in its positive direction, in colour, over the pose in grey](https://docs.source-robotics.com/PAROL-docs/1.1/assets/kinematics/parol6_joint_directions_dark.webp){ width="900" }

A joint that turns the other way is the most common first-run problem, and it is fixed in the firmware, not by
rewiring:

```cpp
// motor_init.cpp, in Init_Joint_N: switch between 0 and 1
Joint__->direction_reversed = 1;
```

Upload again and check again. Swapping one motor phase's wires has the same effect, if you prefer to open the
base.

!!! success "Check"
    The left arrows of joints 1 and 3 to 6 turn them as in the figure, and joint 2's right arrow turns it the
    opposite way.

## 5. Home

With every direction right, set joint 6 and check the tool's homing offset as in
[Before you press Home](https://docs.source-robotics.com/PAROL-docs/1.1/05-operation/homing/#before-you-press-home), then press **Home** and stay at the
E-stop. The sequence is on [Homing](https://docs.source-robotics.com/PAROL-docs/1.1/05-operation/homing/);
if a joint grinds at a stop, press the E-stop and see [Homing failures](https://docs.source-robotics.com/PAROL-docs/1.1/08-troubleshooting/homing-failures/).

!!! success "Check"
    Homing finishes, the simulator matches the robot, and the pin passes through the witness marks of each joint,
    which line up in the after-homing pose ([Witness marks](https://docs.source-robotics.com/PAROL-docs/1.1/05-operation/mastering/#witness-marks)).

## The commander's terminal output

While it runs, the commander prints the robot's data to its terminal: the positions, the homed and I/O bytes,
the errors, the gripper data, and `Time between 2 commands in ms`, which should be near 0.010 (the number is in
seconds, despite the label: 0.010 is 10 ms). Watch it for a few minutes while jogging: if it is often much higher,
the PC is too slow ([Communication](https://docs.source-robotics.com/PAROL-docs/1.1/08-troubleshooting/communication/)).