Personally I would first get the default configuration to work. I would also probably make sure I was using the updated program that Zenta recently posted in a different thread.
As for 4DOF, the code does use the phoenix code which has 4DOF support in it. Not sure if any of the Apodextra code interferes with this or not. Don’t have an APod to try it out… So you would more or less be on your own.
Yes you need to define the Tars pins, turn on 4DOF support, then rebuild your legs, recalibrate and find all of the new servo offsets. Then depending on how the legs are rebuilt may need to muck with things like servo horn offsets…
Kurt