help AR2 upgrade
Please help meοΌExcuse me, family.I have an AR2 open loop robotic arm, and nowI want to replace the controlwith a teensy4. 1 control board.Can the previous control code programstill be used? How can I modify it so that I can control the mechanical arm' s operation? Is there anything I should pay attention to? Thank you
Hello, The AR2 was a bit different from the AR3/4 as the kinematics were run on the computer and the arduino mega (which is very slow) only handled pulsing the motors. The AR4 however uses the much faster Teensy 4.1 and all the kinematics are done on the control board. If you upgrade to the Teensy4.1 you will need to run the latest software and teensy sketch. I would recommend installing the teensy4.1, re-wire your robot following the AR3 manual wiring diagram. Then run the latest software and select AR3 defaults on the kinematics tab. Please email me if you run into any issues info@anninrobotics.com
Chris AnninΒ Thank you for your reply, but I am open-loop, without encoder, can it be used on the latest control software? The latest control software does not seem to be fully compatible with the open-loop robotic arm, and there are many differences between it and the AR2 control software.Which one should I use?Once again, thank you sincerely.
zy cΒ Yes you can run open loop with the latest software. There is open loop selection on the config settings tab.
Chris AnninΒ Thank you sincerely for your answer, and thank you for your help. When I use the latest controller to operate, I found that J2's motion space is very narrow, and after resetting, it cannot move to the worktable. I found that AR 2 is from -132 to 0, can modify AR 4 related code, let it also have this space working range? Thank you
