Both the InstinctBittle copy.h routine and the wkF in the InstinctBittle.h routine have been tried, and both encountered the same problem. I have successfully tried actions such as trF according to the tutorial, and they are all correct.
I just noticed that you have a customized module attached to the robot. Which grove socket are you using? Is it connected when you configure the robot? And how much memory is the final code using?
It seems that the robot is making a turning. It's executing "wkL" instead of "wkF", which indicates a mismatch in the skill table.
Every time you switch between the active instinct.h files, have you uploaded the first round of setting where you can enter Y/n? Enter 'n' so that the program can proceed to update the skill table while keep the calibration values unchanged.
This time I typed "n" as you said, but the puppy seems to have entered some error
This kind of problem should be a matter of center of gravity, and after I put it flat, it is still the same problem as the beginning