I connected the rotation sensor to the analogue input of an Arduino and then used the serial.writeline() command to create a CSV file. The CSV file shows time in intervals of 100 mS and the "analogue value".
I then manually rotated the arm using the proprietary software (starting at the leftmost angle and rotating to the rightmost)
Looking at the graph plotted from the CSV file it looks like this method has some potential but there has been a problem around 3500 mS, 1400 mS and 18900 mS - it looks like a kind of mechanical issue where the contacts in the sensor are shorting out as it rotates. If I can fix that issue I think we should be in business.
Assuming that I can fix the shorting out issue, the next step would be to make a table of the value from the analogue input and the angle of rotation. I should then be able to plot that and create a function that will allow me to accurately specify an angle for the arm.
Knowing the base angle will then allow me to start experimenting with IR rangefinder that's attached to the claw / gripper. Assuming I keep the armat a fixed height I will be able to plot the value from the rangefinder against the angle of the arm. That would allow me to do a kind of sensor sweep, if I put an object in range in the arc of the arms sweep and see if it would be able to detect it.