Hi, can you explain what are values (factors - are they degrees or some other values and what is 1.5 and -1.5? ), what is X_Leg and what is Leg and what number pairs in matrix mean and how are they grouped? Thanks.

Hi did you have time to collect all the data in order to explain your IK model? If not can you share some details I am really curious as some of the projects that uses IK models are not moving this fluent as Kitty. Really great and thank you for that!

Hi, I am trying to understand balancing, I see that Kitty is making small but not enough adjustments when using "wk" under different angles. It somehow concentrates more on the wk instructions than on the angle correction. Can anyone explain how adaptiveParameterArray is working with all upper leg and lower leg Roll factor? Any hint/help appreciated

Can you please explain how or point me where to search?

Hi Li, thank you for your answer. Please check the picture. As said I am probably making mistake, but if I measure all angles of shoulder and knee joints then I get something like this. Green is where I can compare the leg movement and red are the angles from the matrix that leg never does. Shoulder angles: 15 21 27 32 38 43 47 51 54 57 58 59 59 57 59 64 67 56 31 16 12 Knee angles 22 18 15 13 12 11 11 13 15 18 23 29 37 46 47 38 23 3 5 15 21

Is there any possibility to use other environment for coding and debugging such as VS Code or similar. Can you please explain what needs to be done there in order to import your board? I would like to have sort of step by step debugging possibilit. Not sure if this is possible with arduino or nybble board in general

Hi I deleted all ifdef Developer statements as well (additional Printlines, switches...) So this should not be the problem.Additionally developer is commented out just in case. Can you tell me what is influencing this size. Is total number of lines and file size or loading active parts of the code in the memory? Or something else that I am not aware of? Edit: Also can this be resolved by using RaspPi together with Petoi board?

with the speed I now have another issue -> grip, the cat is too fast and it slides. I am trying to mount some parts that will increase the grip.What are you using for your Bella?

Thanks for the reply, another thought, by following instructions for a bluetooth module, can you pair that module with PS3 or PS4 controller?

Hi, yes that did the trick. It is really flying :) Also I set that the steps are 5 degrees instead of one. byte steps = byte(round(maxDiff / 5.0/*degreeStep*/ / speedRatio)); This one improved change positions and I think as well speeded up a bit some Insticts. Can you explain what is the difference between your line and the one defined on the line 187 in the same file which is commented out. #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE Wire.begin(); //Wire.setClock(200000); TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz) #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE Fastwire::setup(400, true); #endif Namely if I comment out that line and set it to your value kitty will be even slower. ..

OS is Windows 10. I noticed as well some: • errors in the code verification process as well. • If I add PTLs on a few more places, the upload fails with no sufficient storage. Errors are quite large so I am not sure if posting here would be too much. I attached files

Hi Li, thanks for your answer. I have a question regarding the part of the code if you can please explain. You said that the adjustment is reduced by applying a smaller coefficient > can I remove this coefficient to get a quicker response? (if yes how - is this the one LARGE_PITCH?) - is it wise to remove coefficient? What is meant with this "hold" variable?

Hi all, I with purchase I received some servos that are not marked with any brand, in plastic casing and I am considering replacing them and servo arms as well. Namely after 3 min. Kitty legs are unscrewed and I have to mount them again. I wanted to replace servo arms with alu that are stronger and hold much better. I have some quesitons for you: • Did anyone tried this and is it really helping? • Did anyone mounted better servos such as Savos or similar? • For Alu arm how many tooth have your recommended servos that is which servo spline is used? I think you said somewhere 25 teeth which should be then B1 mini spline. - is that correct? Best regards, Alex

I was just looking at the simulator and I am really happy that this was planned. Do you have maybe some timeline for the simulator?

Hi the balance during the walk is not that strong as with "balance" mode. I somehow see only head and tail move to different sides as I try to unbalance the kitty but not feet movement - feet keep going :). If I place it on the elevated surface under the angle it will not show as good balance as with the balance mode as well. Is there any way that I can plot joint angles to serial in order to avoid optical error. If I can plot them out and then observer them during the local walk, the angles should be always the same. If I change the angle, angles should change as well.

Is kitty trying to balance during the walk as well or just during the balance command? Somehow I don't see that kitty is trying to balance during the walk, crouch or run.

Until I have the passive buzzer I commented out all but battery low notification.

Hi, for me the issue was that I turned around wiring. If you have board V 0_2 then brown wire needs to go closer to the board - when you observe the board from the side.

Hello I just wanted to ask if someone can tell me if once connected to batteries nybble board started to squeal. No sign/smell of burning or anything, both lamps (blue and green) are lit. I was connecting these batteries (2x). https://secondlifestorage.com/showthread.php?tid=1772 Is this normal? I disconnected as soon as I heard the noise. Batteries are charged and working properly and + and - are connected properly, switch is on Ar, and jumper on V_S and V+. No Servos are attached yet. Thanks for your response. Edit: It seems that this is was already described under the different thread. https://www.petoi.com/forum/hardware/ftdi-connection/p-1/dl-5cf5f90d7b810204c9fb9ae6-5cf5f7fbae602f04bc6cb852-1 If you see that this is not the same case I would kindly ask you to reply.

Hello, it is not clear to me if nybble has built in battery protection for these 14000 and 18000- not to drain battery below 2.5v and make them unusable?