AR2 Arduino Mega Installation Guide

This beginner's guide outlines the exact steps needed to flash the AR2 microcode onto your Arduino Mega 2560 controller board.

1. Step 1: Download the Arduino Software You will need the official development environment to send the code to your board.
   • Go to the official website: arduino.cc/en/software.
   • Download the Arduino IDE (Version 2.x or 1.8.x both work perfectly).
   • Run the installer and click "Next" through the standard prompts to install the USB drivers.
2. Step 2: Get the AR2 Arduino Code File You need the specific firmware file written by Chris Annin for the AR2.
   • Go to the official archive: ://github.com.
   • Download the project repository (click the green Code button, then select Download ZIP).
   • Unzip the folder on your computer.
   • Look inside the folders to find the folder named sketch_an. Inside it, you will see a file named sketch_an.ino.
3. Step 3: Connect Your Hardware
   • Plug your Arduino Mega 2560 into your computer using a standard USB cable.
   • Your computer should make a chime sound, indicating it recognizes the board.
   Note: Keep your stepper motor power supply turned off right now. The USB cable provides plenty of power to program the chip safely.
4. Step 4: Configure the Software Settings Open the sketch_an.ino file. It will automatically open up the Arduino IDE window. Before clicking upload, you must tell the software exactly what board you are plugging into:
   • Go to the top menu and select Tools > Board > Arduino AVR Boards > Arduino Mega or Mega 2560.
   • Go to Tools > Processor and ensure ATmega2560 (Mega 2560) is selected.
   • Go to Tools > Port and select the active port (it usually looks like COM3, COM4, etc., on Windows, or /dev/cu.usb... on a Mac). If you see multiple choices, unplug your Arduino to see which one disappears, then plug it back in.
5. Step 5: Verify and Upload the Code Look at the top left corner of the Arduino window for two main buttons:
   • The Checkmark (Verify): Click this first. It compiles the code to make sure there are no typos or errors. It should finish with a green "Done compiling" message at the bottom.
   • The Right Arrow (Upload): Click this next. This flashes the AR2 microcode directly into your physical Arduino Mega.
   • The tiny TX/RX lights on your physical Arduino board will blink rapidly for a few seconds.
   • When the bottom status bar reads "Done uploading", your board is completely programmed and ready to talk to the AR2 Python interface!
6. 💻 Master Software Parameter Sheet

   Joint Axis	Hardware Setup & Microstepping	Steps Per Degree	Estimated Travel Range	Step Lim (Value to Enter)
   J1 (Base)	NEMA 17 (42BYG), 10:1 Ratio @ 1600 microsteps	44.4444	340° (± 170°)	15111
   J2 (Bicep)	NEMA 23, 50:1 Ratio @ 1600 microsteps	222.2222	135° (From home limit)	30000
   J3 (Elbow)	NEMA 17 (42BYG), 50:1 Ratio @ 1600 microsteps	222.2222	140° (From home limit)	31111
   J4 (Forearm)	NEMA 17 (42BYG), 4:1 Ratio @ 800 microsteps	8.8888	330° (± 165°)	2933
   J5 (Wrist Pitch)	NEMA 17 (42BYG), 27:1 Ratio @ 1600 microsteps	120.0000	180° (± 90°)	21600
   J6 (Wrist Roll)	NEMA 17 (42BYG), 27:1 Ratio @ 1600 microsteps	120.0000	360° (± 180°)	43200

   Custom Extended Robot Arm Configuration

   Use the following Denavit-Hartenberg (DH) parameters to configure the inverse kinematics engine in the AR2 control software. These parameters account for the custom structural modifications made to the arm lengths.

   ⚠️ Critical Software Note: These parameters use the Standard DH Convention required by the AR2 software. Note that D4 and D6 must remain negative to match the software's coordinate frame orientation.

   Parameter	Description	Value (mm)
   D1	Base Height (Mount to Joint 2 Centerline)	215.13
   A1	Shoulder Offset (Joint 1 Center to Joint 2 Center)	34.35
   A2	Bicep Length (Joint 2 Center to Joint 3 Center)	305.00
   D4	Forearm Length (Joint 3 Center to Joint 5 Center)	-302.33 (Negative)
   D6	Wrist / Tool Flange Output Offset	-152.61 (Negative)

   
   

   DM542 Driver Configuration

   DM542 Driver Configuration

   Physical DIP Switch Settings for Custom 6-Axis Robot Arm Setup

   ⚠️ CRITICAL STEPPER SETTING: These physical switch modifications must match the software download configuration profile exactly. Confirm your hardware driver changes before powering up your controller enclosure.

   Joints J1, J2, J3, J5, J6

   1600 Steps/Rev — 1/8 Microstepping

   SW5

   OFF

   SW6

   ON

   SW7

   ON

   SW8

   ON

   Flips SW5 down (OFF). Leaves SW6, SW7, and SW8 up (ON).

   Joint J4 (Forearm Roll)

   800 Steps/Rev — 1/4 Microstepping

   SW5

   ON

   SW6

   ON

   SW7

   ON

   SW8

   ON

   Leaves all switches SW5, SW6, SW7, and SW8 pushed upward (ON).

   Flips SW5 down (OFF). Leaves SW6, SW7, and SW8 up (ON).