Update README

README.md

@@ -88,10 +88,10 @@ Here's a global overview of the Niryo One ROS Stack :
 * [Get started with the Niryo One Stack](https://niryo.com/docs/niryo-one/developer-tutorials/get-started-with-the-niryo-one-ros-stack/). This will help you understand the architecture and where to start as a developer.
 * [C++ example to move the robot](https://github.com/smaassen/niryo_one_tester) by Steve Maassen
 * [Python API](https://github.com/NiryoRobotics/niryo_one_ros/tree/master/niryo_one_python_api)
-* [Remotely control Niry One (ROS multi-machines)](https://niryo.com/docs/niryo-one/developer-tutorials/remotely-control-niryo-one-ros-multi-machines/)
+* [Remotely control Niryo One (ROS multi-machines)](https://niryo.com/docs/niryo-one/developer-tutorials/remotely-control-niryo-one-ros-multi-machines/)
 
 ## Any question ?
 
-If you have a question and you don't find the answer here or on our [documentation](https://niryo.com/docs/niryo-one/), please send us an email at support@niryo.com.
+If you have a question and you don't find the answer here or on our [documentation](https://niryo.com/docs/niryo-one/), please [send us a message](https://niryo.com/contact/).
 
 Thank you !

niryo_one_debug/README.md

@@ -6,8 +6,6 @@ This package provides tools to debug parts of Niryo One.
 
 Use this Python script to set a motor register value (only during Niryo One runtime).
 
-Works on Raspberry Pi 3 only.
-
 --> Useful to change RAM values at runtime.
 
 ```
@@ -19,8 +17,6 @@ cd scripts
 
 Use this tool **ONLY WHEN NIRYO ONE ROS STACK IS NOT RUNNING** to scan motors, change motor id, baudrate, and any other register
 
-Works on Raspberry Pi 3 only.
-
 --> Useful to setup a new Dynamixel motor (ID and baudrate), do advanced debugging, and set EEPROM values.
 
 Make sure you have compiled the C++ file before:
@@ -32,6 +28,38 @@ cd ~/catkin_ws/devel/lib/niryo_one_debug
 ./dxl_debug_tools --help
 ```
 
+#### Example 1 (XL-320)
+
+You have a new XL-320 motor (default ID: 1, default baudrate: 1000000 bps).
+
+To change the ID of the motor to 12 (register address: 3, value: 12, byte size: 1): 
+
+```
+./dxl_debug_tools --id 1 --set-register 3 12 1
+```
+
+(Recommended for Niryo One) To change the shutdown register (we use value: 2 instead of the default 3)
+
+```
+./dxl_debug_tools --id 12 --set-register 18 2 1
+```
+
+#### Example 2 (XL-430)
+
+You have a new XL-430 motor (default ID: 1, default baudrate: 57600 bps).
+
+To change the baudrate of the motor to 1000000 bps (register address: 8, value: 3, byte size: 1)
+
+```
+./dxl_debug_tools --baudrate 57600 --id 1 --set-register 8 3 1
+```
+
+To change the ID of the motor to 19 (register address: 7, value: 19, byte size: 1)
+
+```
+./dxl_debug_tools --id 1 --set-register 7 19 1
+```
+
 ## Where to find Dynamixel registers?
 
 * [XL-320 doc](http://emanual.robotis.com/docs/en/dxl/x/xl320/#control-table-of-eeprom-area)