Updated software setup instructions

README.md

@@ -19,9 +19,15 @@ The Parts List and Links to order can be found in [Parts List](https://github.co
 Assembly Instructions available at [Assembly Instructions](https://github.com/robomechanics/MiniRHex/tree/master/Assembly).
 
 ### Install Software
-1. Install Arduino software
-2. Install Robotis Arduino libraries
-3. Upload code to robot
+1. Install the Arduino IDE from https://www.arduino.cc/en/software
+2. Open the Arduino IDE and under "Tools" select "Manage Libraries..."
+   - Type "DynamixelShield" into the search bar
+   - Select "Install" for the DynamixelShield library
+3. Under "Tools" hover over "Board" and select "Boards Manager..."
+   - Type "Arduino SAMD Boards" into the search bar
+   - Select "Install" for the Arduino SAMD Boards (32-bits ARM Cortex-M0+)
+4a. (Non-developers) Download the MiniRHex repository from https://github.com/robomechanics/MiniRHex/archive/refs/heads/minirhex_redesign_2022.zip and extract the downloaded zip file
+4b. (Developers) Clone the MiniRHex repository from https://github.com/robomechanics/MiniRHex.git and checkout the "minirhex_redesign_2022" branch
 
 ### Configure Servo ID's
 1. Use Dynamixel Wizard 2.0
@@ -32,17 +38,15 @@ Assembly Instructions available at [Assembly Instructions](https://github.com/ro
 
 # Operating Instructions
 1. Connect the MiniRHex to your computer via the Micro USB port
-2. Open MiniRHex.ino in the Arduino IDE and check that under "Tools":
-   - "Board" is set to XX
-   - "Port" is set to the correct COM port (whichever COM port is added when MiniRHex is plugged in)
-3.
-4. 
-5. Upload the code to the robot
-6. Disconnect the Micro USB cable and connect the battery
-7. 
-8.
-9. 
-10.
+2. Open MiniRHex.ino (located in the MiniRHex subfolder) in the Arduino IDE and check that under "Tools":
+   - "Board" is set to "Arduino MKR WiFi 1010"
+   - "Port" is set to the correct COM port, e.g. "COM# (Arduino MKR WiFi 1010)"
+3. Upload code to the robot (the circular button near the top left with an arrow pointing to the right)
+4. Insert the battery, fasten the velcro straps, and connect the battery cable
+5. Open the Serial Monitor in the Arduino IDE (the circular button in the top right with a magnifying glass)
+6. Type "w" into the text box and hit enter to start walking! ("q" to stop, "s" to reverse", "A" to turn left, "D" to turn right)
+7. To modify the walking gait, go to the "gait_parameters.cpp" tab in the Arduino IDE and edit the parameters for each leg, then upload code again (see comments in the file for more details)
+8. When finished, unplug the battery and store it in a fireproof container (never leave a battery in the robot!)
 
 # Robot Specifications
 ![MiniRHex Specifications](Images/Spec_Chart.png)