Im going to upgrade the stepper of joint 1 from a nema14 to a nema17. The nema14 just didnt have enough torque to spin the arm without shaking a lot and skipping like half of the steps… This is the new motor case for mounting it. It will now have the lower bearing cap attached to it for easyer printing and assembly. Also finished installing and connecting all the hall effect sensors to the arm and every joint is homeable now! Next will be installing the new motor and then calibrating the software and if everything goes according to plan (it wont) i’ll be done!!