Hi There, I'm not sure if others have noticed this, or maybe I'm just not super familiar with how this should work, but it appears that my system is not operating as a "closed loop" robot. The encoders do not appear to provide real-time updates, for example, if the e-stop is pressed and a joint is manually moved. I've ensured that all encoders are correctly wired by using the "test encoders" program. This problem can be demonstrated by auto-calibrating the robot, pressing the e-stop, moving the arm, releasing the e-stop, then re-homing using the "home" program. A closed-loop system would theoretically "remember" where home is relative to the updated position, but the system does not in this case. Is this expected behavior, or do you think there's a problem with the code?

Hi Chris, I'm working on finalizing the gripper for my robot, and have been having a lot of trouble getting these silicone tubes fitted well enough to not leak air. I'm using a solenoid with M5 connections, the specified 3mm OD silicone tubing, and a quarter inch air compressor line. The fittings are M5 adaptors to connect the 1/4in OD tube to the M5 fitting on the soleniod, then 2 3mm to M5 fittings for the silicone tubes. Lot of trouble fixing leaks, and would love some advice! I also noticed the connectors used for your robot in the manual appeared to be homemade. Do you have suggestions for this? Thanks! Al

Hi Chris, I just started building my AR3 recently, and saw that the AR4 was just released. I noted in the manual that the primary update is the use of the teensy 4.1, which I accidentally ordered for my AR3 build. Since I ordered most of the electronics for the AR3, would it be better to order a teensy 3.5, or do you think it wouldn't be too much extra work or cost to outfit the robot with the electronics necessary for the 4.1? Thank you! Al