Thanks Li ^^

I solve the problem ^^* I edited Franke's balancing code and paraameters as below #ifdef X_LEG int8_t adaptiveParameterArray[16][NUM_ADAPT_PARAM] = { { -panF, 0}, { -panF, -tiltF}, { -2 * panF, 0}, {0, 0}, {sRF, -sPF}, { sRF, -sPF}, { sRF, sPF}, {sRF, sPF}, <<-- {sRF, -sPF}, { -sRF, -sPF}, { -sRF, sPF}, {sRF, sPF}, {uRF, uPF}, {uRF, uPF}, { -uRF, uPF}, { -uRF, uPF}, {lRF, lPF}, {lRF, lPF}, { -lRF, lPF}, { -lRF, lPF} -------------- if (i == 4 || i == 5 ){ retval = rollAdj + adaptiveCoefficient(i, 1) * ((i % 4 < 2) ? RollPitchDeviation[1] : abs(RollPitchDeviation[1])); }else if(i == 6 || i == 7){ retval = rollAdj + RollPitchDeviation[1] * adaptiveCoefficient(i, 1); // -, - --> +, + }else{ retval = rollAdj + RollPitchDeviation[1] * adaptiveCoefficient(i, 1); // -, - --> +, + } return ( retval ); } Thanks!!!

I solve the problem ^^* I edited Franke's balancing code and paraameters as below #ifdef X_LEG int8_t adaptiveParameterArray[16][NUM_ADAPT_PARAM] = { { -panF, 0}, { -panF, -tiltF}, { -2 * panF, 0}, {0, 0}, {sRF, -sPF}, { sRF, -sPF}, { sRF, sPF}, {sRF, sPF}, <<-- {sRF, -sPF}, { -sRF, -sPF}, { -sRF, sPF}, {sRF, sPF}, {uRF, uPF}, {uRF, uPF}, { -uRF, uPF}, { -uRF, uPF}, {lRF, lPF}, {lRF, lPF}, { -lRF, lPF}, { -lRF, lPF} -------------- if (i == 4 || i == 5 ){ retval = rollAdj + adaptiveCoefficient(i, 1) * ((i % 4 < 2) ? RollPitchDeviation[1] : abs(RollPitchDeviation[1])); }else if(i == 6 || i == 7){ retval = rollAdj + RollPitchDeviation[1] * adaptiveCoefficient(i, 1); // -, - --> +, + }else{ retval = rollAdj + RollPitchDeviation[1] * adaptiveCoefficient(i, 1); // -, - --> +, + } return ( retval ); }

Please help me. I don't know your balancing code edited on shoulder (4,5,6,7). Your 12dof Bela shoulder motor direction differ from opencat. I'm making opencat like cat. When i use your edited balancing code, shoulder 4,7 motor rotate opposite direction. And 4 and 5, 6 and 7 rotate same direction. Each gait works great without problem. How can i solve this problem? Please advise me! Thanks!

Shoulder joint 5 and 6....

Right Shoulder motor direction sett is not problem just do extinct, but lateral balancing! How can i do?

Use latest arduimo IDE ~