dynamixel2/instructions/
factory_reset.rs

1use super::{instruction_id, packet_id};
2use crate::{Bus, Response};
3
4/// The kind of factory reset to perform.
5#[repr(u8)]
6#[derive(Debug, Copy, Clone, Eq, PartialEq, Ord, PartialOrd, Hash)]
7pub enum FactoryResetKind {
8	/// Reset all settings, including the motor ID and baud rate.
9	ResetAll = 0xFF,
10
11	/// Reset all settings except for the motor ID.
12	KeepId = 0x01,
13
14	/// Reset all settings except for the motor ID and baud rate.
15	KeepIdAndBaudRate = 0x02,
16}
17
18impl<ReadBuffer, WriteBuffer> Bus<ReadBuffer, WriteBuffer>
19where
20	ReadBuffer: AsRef<[u8]> + AsMut<[u8]>,
21	WriteBuffer: AsRef<[u8]> + AsMut<[u8]>,
22{
23	/// Reset the settings of a motor to the factory defaults.
24	///
25	/// This will reset all registers to the factory default, including the EEPROM registers.
26	/// The only exceptions are the ID and baud rate settings, which may be kept depending on the `kind` argument.
27	///
28	/// You may specify [`crate::instructions::packet_id::BROADCAST`] as motor ID.
29	/// If you do, none of the devices will reply with a response, and this function will not wait for any.
30	///
31	/// If you want to broadcast this instruction, it may be more convenient to use [`Self::broadcast_factory_reset()`] instead.
32	///
33	/// Starting with version 42 of the firmware for the MX-series and X-series,
34	/// motors ignore a broadcast reset command with `FactoryResetKind::ResetAll`.
35	/// Motors with older firmware may still execute the command,
36	/// which would cause multiple motors on the bus to have the same ID.
37	/// At that point, communication with those motors is not possible anymore.
38	/// The only way to restore communication is to physically disconnect all but one motor at a time and re-assign unique IDs.
39	/// Or use the ID Inspection Tool in the Dynamixel Wizard 2.0
40	pub fn factory_reset(&mut self, motor_id: u8, kind: FactoryResetKind) -> Result<Response<()>, crate::TransferError> {
41		self.write_instruction(motor_id, instruction_id::FACTORY_RESET, 1, |buffer| buffer[0] = kind as u8)?;
42		Ok(super::read_response_if_not_broadcast(self, motor_id)?)
43	}
44
45	/// Reset the settings of all connected motors to the factory defaults.
46	///
47	/// This will reset all registers to the factory default, including the EEPROM registers.
48	/// The only exceptions are the ID and baud rate settings, which may be kept depending on the `kind` argument.
49	///
50	/// Starting with version 42 of the firmware for the MX-series and X-series,
51	/// motors ignore a broadcast reset command with `FactoryResetKind::ResetAll`.
52	/// Motors with older firmware may still execute the command,
53	/// which would cause multiple motors on the bus to have the same ID.
54	/// At that point, communication with those motors is not possible anymore.
55	/// The only way to restore communication is to physically disconnect all but one motor at a time and re-assign unique IDs.
56	pub fn broadcast_factory_reset(&mut self, kind: FactoryResetKind) -> Result<(), crate::WriteError> {
57		self.write_instruction(packet_id::BROADCAST, instruction_id::FACTORY_RESET, 1, |buffer| {
58			buffer[0] = kind as u8
59		})?;
60		Ok(())
61	}
62}
dynamixel2/instructions/factory_reset.rs

dynamixel2/instructions/
factory_reset.rs
