[TASK] readme update

README.md

+# Balboa Low-Level-Controller
 
-# Assembly
-The assembling instruction can be found here: [manual](https://www.pololu.com/docs/0J70/4).
+## Introduction
+
+This Ansible workspace can be used to flash the LLC  on the Balboa robot.
+In order to do that use the `build` operation of the `project` playbook.
+
+```
+$ cd ansible-playbook
+$ ansible-playbook \
+    -i inventories/fdrones \
+    --extra-vars "target=b07 proj_name=balboa_llc_aws" \
+    playbooks/project.yml \
+    --tags "synchronize,build"
+
+or
+
+$ ansible-playbook -i inventories/fdrones  --extra-vars "target=b07 proj_name=balboa_llc_aws"  playbooks/project.yml --tags "synchronize,build"
+```
+
+This command will flash the lastest HEX file, found int `balboa_llc_aws/balboa/BalancerRPi/BalancerRPi.ino.arduino_leonardo.hex`. To create a new HEX file use Arduino IDE and follow the following steps.
+
+## Dont forget
+```
+git submodule init
+git submodule update
+```
 
 # Compilation and programming
 
+## Setup the Board
+
 The code for Balboa's A-star controller board can be compiled and flashed with
 Arduino IDE. The Pololu A-Star Controllers boards' family has to be installed.
+Follow Pololu's [5.2. Programming using the Arduino IDE](https://www.pololu.com/docs/0J70/5.2)  to install the A-Start Boards.
+Make sure that in the Tools > Board menu, the `Pololu A-Star 32U4` entry is selected!
+
+## Install the Libraries
 
-Morover the following libraries need to be included:
- - Balboa32U4
- - LIS3MDL
- - LSM6
- - Adafruit NeoPixel
+Moreover the following libraries need to be installed with the Library Manager (Sketch->Include Libraries->Manage Libraries (Ctrl+shift+I)):
+ - `Balboa32U4` by Pololu
+ - `LIS3MDL` by Pololu
+ - `LSM6` by Pololu
+ - `Adafruit NeoPixel` by Adafruit
+
+## Build the code
+
+Sketch->Verify/Compile (Ctrl+R)
+
+On Linux the desired HEX file can be found on the tmp folder : `/tmp/arduino_build_*****/BalancerRPi.ino.hex"`
+
+To deploy the new binary and flash it on the Balboa copy the new binary into the Ansible workspace
+```  
+$ cd balboa_llc_aws/balboa/BalancerRPi
+$ cp /tmp/arduino_build_125964/BalancerRPi.ino.hex ./BalancerRPi.ino.arduino_leonardo.hex
+```
+## Help
+
+### avrdude programmer not responding
+[avrdude programmer not responding](https://stackoverflow.com/questions/49283074/arduino-leonardo-avrdude-butterfly-recv-programmer-is-not-responding)
+
+--> solution
+```
+To program the A-Star device, you will need to get it into bootloader mode first. One way to do this is
+to reset the AVR twice within 750 ms. Most of the boards in our 32U4 family have a reset button that
+can be used to reset the board. On any of our 32U4 family of boards, a pushbutton can be connected
+between the GND and RST pins to serve as a reset button, or you can use a wire. Once the device is
+in bootloader mode, quickly run the command make program to program it. If you wait longer than 8
+seconds, the A-Star bootloader will exit and the AVR will go back to running the user program. ```
 
 Details on Arduino IDE for Balboa programming can be found here: [manual](https://www.pololu.com/docs/0J70/5).
+
+The assembling instruction for the Balboa robots can be found here: [manual](https://www.pololu.com/docs/0J70/4).