The Petoi's app
The Petoi's app is not very well... Watch the video.
But with the IR command all it's OK.
When upload the opencat's scketch the app work well.
https://www.facebook.com/100000584887967/videos/460407698791625/
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It seems to be a problem in your board's setup. The constants are not properly saved and joint are not calibrated. Do you mean that it works well for the same functions using the IR remote?
What's the model of your phone?