Greetings. During assembly of my Bittle X V2, I turned the controller on in calibration mode by holding the power button while the Bittle was on its side, then attached the legs so that the thighs are vertical and the calves/feet point forward. When I opened the Joint Calibrator to fine-tune the calibration, the legs completely reoriented so that the thighs and calves are both flat and pointing forward (and both roughly parallel to the ground). Should I start the the Joint Calibrator and re-attach the joints to point at the correct right angles? Why are the positions so different between the two calibration modes?
Thanks!
Sorry that you had this trouble. In general, it is best to either use the Joint Calibrator or to send the "k calib" command rather than relying on other methods that should work but are less, shall we say, "direct" to get the servos in their calibration position.
I added a video showing Joint Calibrator in UI.py. Now I think what's happening is the Bittle was going into Rest mode, not Calibrate mode, when I turned it on when it was on its side, which explains why the legs are in a different position in the Calibrate mode of UI.py's Joint Calibrator. It also means I will have to reattach the legs to be in the correct positions in Calibrate mode. I'll let you watch the video and see if you notice anything else before I proceed.
Thanks!
Hi, could you post some pictures or a short video to show the boot up movements? Those visual details will be extremely helpful to debug the problem.