+Or you can execute the command directly as the following.
+
+ $ dfu-programmer <controller> erase --force
+ $ dfu-programmer <controller> flash <your_firmware.hex>
+ $ dfu-programmer <controller> reset
+
+`<controller>` part will be `atmega32u4` or `atmega32u2` in most cases. See manual of the command for the detail. On Linux and Mac OSX you will need proper permission to program a controller and you can use `sudo` command for this purpose probably. On Linux you also can configure `udev` rules to set permission.
+
+