I build an ar2 back in 2019 and now want to upgrade it to be an ar4 what parts will I need to bye or re print.
Or what do I need to due to use the ar4 software with my ar2.
@julian-holcroft Julian, I'm working in the same project as you! I sent an e-mail to Chriss some weeks ago and, from my understanding it is just a case o to get an Tennesy 4.1, rewire the limit switchs and motors, dir and pul forgetting the encoders. So, you could run the AR4 software even without enoders. When you turn on the software you need to uncheck the encoders to leave the robot in open loop. I have already bought the Tennesy and will be tring this in the next days.
I believe the main upgrade would be the AR4 motors with encoders + the teensy 4.1 MCU. I think the drivers, and mechanically they are the same (I think).
search the forums here on others upgrading their arm, it will probably help.
