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# System prepended metadata

title: Arm Settings

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### **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.

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### **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**

