Can I use a different brand of encoder or motor with the AR4 software without changing the source code?

Yes, absolutely! The AR4 software is designed to be highly flexible and customizable for various hardware setups. You do not need to modify the source code to use different components.

How to Configure Your Hardware:

All key motor and encoder settings can be easily modified within the software’s Kinematics tab. This allows you to fine-tune the robot for your specific hardware.

On the Kinematics tab, you can modify:

• Encoder CPR: Set the Counts Per Revolution to match your specific encoders.
• Motor Direction: Reverse the rotation direction of any motor if needed.
• Position Limits: Set the soft limits for each joint to prevent over-travel.
• Motor Steps Per Degree: Adjust the microstepping and gear ratio for accurate movement.
• Drive Microsteps: Configure the microstep setting of your motor drivers.
• Denavit–Hartenberg (DH) Parameters: Advanced users can modify the robot’s kinematic model for custom arms or modifications.

Steps to Change Encoder CPR:

1. Open the AR4 Control Software (v6.0+).
2. Navigate to the Kinematics tab.
3. Locate the Encoder CPR setting for each joint.
4. Change the value to match the specification of your new encoders.
5. Save your settings. A software restart may be required.

Note: While most standard AB (quadrature) encoders and stepper motors should work, ensure your hardware is compatible with the control board.