The nybble mod to use 12 DOFW is to add the 4 zeros for the shoulder servos in Instinct.h: constchar wk[] PROGMEM = { 43, 0, 0, 0,0,0,0, <- 12, 59,-55,-49, 23, 24, -2,-12, ... Can I still do the same in InstinctBittle.h? It changes in InstinctBittle.h to constchar wkF[] PROGMEM = { 57, 0, 0, 1, <- 4th entries here? 0,0,0,0, <- 16, 57, 61, 47, 13, 17, -14, 11, ... Thank you!

Hi all, My transgender robodog fancat Bela, the big version with JX PDI-HV5523 HV servos is suffering of unpredictable erratic movements as discussed many times here when weak batteries are used. She fidgets heavily and there's danger of something breaking. Bela uses a 25C 2S1P 2200 mAh Lipo, so I think the Lipo can't cause the problem. Somebody has a hint for me where to look at? Is it possible that its caused by interference signals? Bela is just a upscaled version of Catmini using the recent Nybble code. TIA Steffen

Hi all, I try to put my FanCat into operation with the Shoulder Rolls. In opencat.h there is #define WALKING_DOF 8 which I changed to 12. A first test led to my FanCat fidgeting uncontrollably. Are there any other points to consider? Greetings from Germany Steffen

She is so intelligent, now she listens to to spoken commands! commands!