@chris-annin Thanks, that solves the problem! I think for some reason the two pins are flipped for the CUI encoder compared to the new encoder. A side...

I have been testing AR4 software on AR3, the calibration works fine for me. I was able to adjust offsets for each joint. One thing I noticed is the an...

I also found out that the Arduino and Teensy share a common ground since both are connected to the PC. Could this be an issue? I think according to th...

To follow up, it seems the above only happens when I use a 5V external power supply (which is needed to control servos). If I power the encoder and li...