Configuration, calibration, and maintenance
These domains can change device state. Separate reads from writes, record the current configuration, and verify target identity before writing.
Configuration
Read hand.config.snapshot() before using a setter. Treat baud-rate, device-ID, and broadcast changes as connection-changing operations; close and rediscover the device as required by the API contract. Obtain joint, speed, and current limits from the target model's approved configuration rather than copying them from another model.
Calibration
Calibration and zero-position operations change the reference for subsequent motion:
- Verify the mechanical setup and load.
- Record firmware and configuration before the operation.
- Set a timeout, but do not interpret timeout as proof that the operation was not applied.
- Read zero position, State, and Health again after completion.
Firmware update
Keep motion, configuration, and calibration traffic out of a firmware-update session. Confirm stable power, the target module, firmware package, and device model before starting.
After an interrupted or uncertain firmware operation:
- Record the last confirmed stage and structured error.
- Do not repeat a write whose effect is unknown.
- Reconnect and read FirmwareInfo and Health.
- Follow the recovery requirement to continue, reboot, or escalate for manual recovery.
Reboot, factory reset, and firmware update require explicit user intent and must not be generic retry actions. See the device-operation API.