Is it possible to teach a position with a switch (AR4) if so how do I do that (il have a switch on the end of a probe more than likely) so the robot can learn where the face or edge of material is.
If there was a way for the teensy to put the drivers into micro stepping, then you'll see a reduction in torque and can move the arm and still record the encoder values. Else disable the drivers via the teensy and record the encoders at the same time, just have to be ready for the arm to collapse
