From 3aeabf4d77eb6321dec9ae7e93ff460633dfdcf4 Mon Sep 17 00:00:00 2001
From: Tony Baltovski <tbaltovski@clearpathrobotics.com>
Date: Mon, 26 Aug 2024 09:54:58 -0400
Subject: [PATCH] [RPSW-2297] Updated W200 MCU flash details.

---
 .../components/_clearpath_firmware.mdx        | 57 +++++++++++++------
 1 file changed, 39 insertions(+), 18 deletions(-)

diff --git a/docs_versioned_docs/version-ros2humble/components/_clearpath_firmware.mdx b/docs_versioned_docs/version-ros2humble/components/_clearpath_firmware.mdx
index 369f27bb8..9c7e7499b 100644
--- a/docs_versioned_docs/version-ros2humble/components/_clearpath_firmware.mdx
+++ b/docs_versioned_docs/version-ros2humble/components/_clearpath_firmware.mdx
@@ -3,34 +3,36 @@ import TabItem from "@theme/TabItem";
 
 :::caution
 
-Before flashing firmware, place your robot up on blocks. Firmware loading does not usually result in unintended motion, but it is safest when off the ground.
+Before flashing firmware, place your robot up on blocks or disengage the drivetrain. Firmware loading does not usually result in unintended motion, but it is safest when off the ground.
 
 :::
 
-#### 1. Download the Clearpath Firmware package from the Clearpath package server
 
-On the robot computer, run the following commands:
+<Tabs groupId="platform">
+  <TabItem
+    value="J100"
+    label="J100"
+  >
 
-```
-sudo apt-get update
-sudo apt-get install ros-humble-clearpath-firmware
-```
 
-#### 2. Prepare the Robot
+  #### 1. Download the Clearpath Firmware package from the Clearpath package server
 
-:::note
+  On the robot computer, run the following commands:
 
-Platforms with an Ethernet connection to the MCU have the option of flashing over USB or Ethernet.
-If you are updating to ROS 2 Humble for the first time, you must use USB. If you are updating ROS 2 Humble firmware
-to a newer version, using Ethernet is recommended. Skip this step if flashing over Ethernet.
+  ```
+  sudo apt-get update
+  sudo apt-get install ros-humble-clearpath-firmware
+  ```
 
-:::
+  #### 2. Prepare the Robot
 
-<Tabs groupId="platform">
-  <TabItem
-    value="J100"
-    label="J100"
-  >
+  :::note
+
+  Platforms with an Ethernet connection to the MCU have the option of flashing over USB or Ethernet.
+  If you are updating to ROS 2 Humble for the first time, you must use USB. If you are updating ROS 2 Humble firmware
+  to a newer version, using Ethernet is recommended. Skip this step if flashing over Ethernet.
+
+  :::
 
   The J100 MCU is mounted to the rear inside wall of the robot. To access it, open the lid, keeping the computer
   tray secured to the underside of the lid.
@@ -74,6 +76,25 @@ to a newer version, using Ethernet is recommended. Skip this step if flashing ov
     default
   >
 
+  #### 1. Download the Clearpath Firmware package from the Clearpath package server
+
+  On an external computer, run the following commands:
+
+  ```
+  sudo apt-get update
+  sudo apt-get install ros-humble-clearpath-firmware
+  ```
+
+  #### 2. Prepare the Robot
+
+  :::note
+
+  Platforms with an Ethernet connection to the MCU have the option of flashing over USB or Ethernet.
+  If you are updating to ROS 2 Humble for the first time, you must use USB. If you are updating ROS 2 Humble firmware
+  to a newer version, using Ethernet is recommended. Skip this step if flashing over Ethernet.
+
+  :::
+
   The W200 MCU is located on the underside of the metal frame over the top of the computer.
 
   <center>