We will not open our underlying codes at this moment but open communication protocols to support developers. The latest Dobot controller solves the problem of pulse losing and error accumulation when using Arduino mega 2560 alone. As it adopts new control scheme with FPGA, which has been proven to be very stable even after thousands of hours continuous operation. However, the current framework is strict with time sequence, as it will have an effect on safety and stability of Dobot’s operation when modifying underlying codes. Therefore we recommend our users to access new sensor or controller through serial port communication.