LED matrix signals
The ATOM’s 5×5 LED matrix shows the state of the firmware. The pictures use bright colours so they are easy to see. On the robot the LEDs are dim: all firmware in this repository uses a brightness of 20/255 to keep the ATOM cool.
Controller firmware
Section titled “Controller firmware”atom_controller fills the whole matrix with one colour. When a plan plays, the
bottom row is a progress bar.
| Colour | State | Meaning | What to do |
|---|---|---|---|
| Blue | BOOTING |
The firmware starts. | Wait. It changes in less than 3 s. |
| Green | HOLDING |
All servos hold the pose. No plan is loaded. | Upload a plan. |
| Yellow | READY |
All servos hold the pose. A valid plan is loaded. | Send PLAY. |
| Cyan, white bottom row | PLAYING |
A plan plays. Each white pixel in the bottom row is one fifth of the run. | Keep clear of the arm. |
| Cyan, white bottom row | MOVING (4.2+) |
A MOVE_TO runs. The bottom row shows its progress. | Keep clear of the arm. |
| Pale blue | JOGGING (4.2+), TRACKING (4.4+) |
A client jogs the joints, or moves them in Live mode. The arm stops by itself 200 ms after the client stops sending. | Keep clear of the arm. |
| Red | ERROR |
A servo did not reply, or a joint went too far from the plan. The arm holds where it is. | Find the cause. Then press the button to hold and clear the error. |
| Magenta | OTA |
A firmware update is in progress. | Do not disconnect the power. |
| Blinks white (4.3+) | any | No WiFi network is saved. The matrix shows white and the state colour in turn, once a second. | Set up WiFi on the Setup page. |
Bus probe firmware
Section titled “Bus probe firmware”atom_probe uses one row for each signal. These examples show normal
operation, an idle bus, and a problem.
| Row | Colour | Meaning |
|---|---|---|
| 1 (top) | blue / green / red | WiFi: connecting / connected / no credentials |
| 2 | white, flickers | Bytes arrived on the bus in the last 200 ms |
| 3 | green / red | Valid Feetech packets in the last second / only bad checksums |
| 4 | yellow flash | The probe answered a request to ID 7 |
| 5 (bottom) | green / red | IMU found / not found |
| all | blue | The button is pressed |
Stock firmware
Section titled “Stock firmware”Elephant’s stock firmware v7.2, from the FAQ in assets/ and from observation:
| Colour | Meaning |
|---|---|
| Blue | After power-up, before the button is pressed. |
| Green | Normal: the joints are locked. Shows after a button press at power-up. |
| Yellow | Free mode: torque off while the button is held (FAQ). |
Rules for new signals
Section titled “Rules for new signals”- One colour per state. Keep the meanings above when you add a state.
- Use a full-matrix colour for the state and a row or a pixel pattern for extra information.
- Add the new signal to this page in the same commit as the firmware change.