### **1. Buttons and Their Functions**

Each button has a specific role. Here's how they are defined:

#### **Mode Change Buttons**
| **Button Name** | **Action** |
|-------------------------|---------------------------------------------|
| **Init Arm Setting** | Stops the arm and enables the "init" setting mode. |
| **Stop Arm Setting** | Initializes the arm and enables the "stop" setting mode. |

#### **Setting Buttons**
| **Button Name** | **Action** |
|--------------------|-----------------------------------------------------------------------------------------------|
| **Check** | Sets the motor in position mode and enables it. |
| **Reset** | Resets the motor’s current error code. Retries up to 10 times if the motor does not respond normal. |
| **Calibration** | Calibrates the motor. Waits for completion, even if errors like "Communication Fault" appear. |
| **Factory Reset** | Restores the motor to factory settings. |

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### **2. Define Settings**

Settings are configurations or workflows applied based on the system's current state or failure scenarios.

#### **Beta_Arm_Setting**
- For all motors (1, 2, 3, 4):
- Press the **Reset** button. Retry up to 5 times if it fails.
- Press the **Check** button. Retry up to 5 times if it fails.
- If all motors respond as "Operation Normal," the arm is ready to initialize.

#### **Alpha_Arm_Setting**
- Select the motor and press **Calibration**. Ignore errors like "Communication Fault."
- After calibration completes:
- Press the **Reset** button. Retry up to 5 times if it fails.
- Press the **Check** button. Retry up to 5 times if it fails.

---

### **3. Define Scenarios and Workflows**

Scenarios describe specific conditions or errors and the corresponding steps to resolve them using the defined settings.

#### **Case 1: Initializing the Arm Fails**
- Pressing the "Init Arm Setting" button fails.
- Attempt **Beta_Arm_Setting**

#### **Case 2: Motor Won’t Reset or Check**
- Motor does not respond as "Operation Normal" after multiple retries in
- Attempt **Alpha_Arm_Setting**

#### **Case 3: Arm Crash During Operation**

1. Press **Stop Arm Setting** to stop the arm.
2. Attempt **Beta_Arm_Setting** first:
3. If **Beta_Arm_Setting** fails, switch to **Alpha_Arm_Setting**