Firmware & DFU

Update motor firmware from SWYFT Link while the robot is disabled.

Current app and firmware

SWYFT Link 2026.09.16-product267-no-stator1 for SystemCore and build 2026.09.16-product267-no-stator1 on the USB-C website include Cyclone firmware 2.6.7. Controllers with older firmware remain on the Firmware page and cannot receive motor commands through the app until updated. STOP and firmware recovery remain available.

Firmware 2.6.7 fixes gradual trigger startup below the 5% startup ceiling and refreshes encoder feedback after CAN processing when due. Both apps require firmware 2.6.7 or newer before motor operation. Install the current IPK and update controllers still on 2.6.6 or earlier.

To save diagnostic logs, turn on Record logs in Console. It starts off on each page reload; while enabled, recording continues across app pages. Turning it off keeps previously saved records available through Console > Export. CAN diagnostics are included when recording is on. Unavailable CAN supply current displays as unavailable instead of a large negative number.

Clear Sticky is now supported over CAN. Disable the motor before clearing faults. The app checks the controller's acknowledgement and reports refusals or missing replies; clearing never enables the motor. The fault list updates from controller telemetry.

This firmware uses a speed-based duty governor. Supply current is displayed when available (CAN reports it unavailable in this release), but supply and stator current-limit settings are inactive compatibility fields and do not limit current. There is no stator-current measurement in this release.

The USB-C app automatically reacquires an already-authorized returning port during an unambiguous single-controller update. If browser permission or controller selection is needed, the app still asks you to choose a port. Firmware updates report completion only after the controller returns with the expected firmware version.

Firmware releases use a decimal counter: after 1.6.9 comes 1.7.0; after 1.9.9 comes 2.0.0.

Updating SWYFT Link does not update the motor automatically. On SystemCore, install the current IPK, then open SWYFT Link again. For USB-C, stop output and reload the website in Chrome before reconnecting. In either app, open Firmware and update each intended Cyclone, then confirm its reported version matches the version you selected. Record settings first and re-check them after the update.

App update: stator-current graph, signal selector and readout removed from USB-C and SystemCore, including saved graph selections. Firmware remains 2.6.7. This app also fixes firmware verification over SystemCore LAN HTTP while preserving image integrity checks.

Update through SystemCore

You can update over CAN with the motor installed on the robot, using SystemCore and SWYFT Link. Power the robot from a charged battery, keep Driver Station disabled, and open SWYFT Link on SystemCore. Do not update during a mechanism test.

1. Select the Cyclone and confirm its device number. Use Identify if needed.
2. Open Firmware. Use the offered image, or select the intended .swyftfw file.
3. Choose Update. Keep the robot powered and the connection active while the app erases, writes, verifies, and restarts the controller.
4. Wait for the app to confirm completion and the expected firmware version. The end of the write progress is not the end of the update.
5. Check configuration and device identity after the restart before enabling the mechanism.

Update over USB-C

For a direct update, open SWYFT Link in Google Chrome and connect a USB-C data cable to the selected Cyclone. USB alone can power a firmware update. To run the motor afterward, connect a 12 V FRC battery through a fused or breaker-protected power connection; standalone USB-C control does not require Driver Station or CAN. Keep motor output disabled during the update, and do not disconnect while writing or waiting for the controller to reconnect.

USB-C test control (firmware 1.7.1 and later): Standalone USB-C testing needs no Driver Station. Once the Cyclone receives a robot heartbeat or a CAN Disable broadcast, robot permission is required for USB-C motion too. DS Disable, universal CAN Disable, and loss of the robot heartbeat stop output. Restore permission, check the mechanism, then select ENABLE again; re-enabling Driver Station alone does not restart the USB test. Unplugging CAN does not remove this requirement. Power-cycle in an isolated setup for standalone testing. The active control connection must release the motor before the other connection can drive it. See switching control connections.

File types

The USB-C version of SWYFT Link is a website, not a file to download. Use the live SWYFT Link site.

If the update does not complete

Record the exact error and keep power stable. If the controller reconnects, check its firmware version before flashing again. Solid white lights indicate the updater state, but do not tell you whether it is progressing.

1. Wait for SWYFT Link to report completion or a failure. Do not interrupt an update that is still running.
2. After a reported failure, save the exact message. Reconnect using the same connection and check whether the Firmware page can reach the controller.
3. If the app offers another update, select the intended .swyftfw image and retry with stable power. If the normal application has returned, check its version first; the write may have finished even if reconnect failed.
4. If SWYFT Link cannot reach the controller, stop here and contact SWYFT Support. Include the error, firmware version if known, connection type, and whether the lights remain solid white.

DFU and service recovery

The DFU Button is a recovery feature. It is not used for normal CAN or USB application updates. If normal update recovery above cannot reach the controller, ask SWYFT Support for the recovery procedure and image for your hardware revision. Do not erase the entire device or use an unapproved service file. Doing so can remove the motor’s calibration and settings.