I built Bittle, went through the calibration process using the ruler. However, some gaits had a marked asymmetry, as if it was limping. Starting calibration again showed that some joints were in fact misaligned. I have identified why this is the case. There is a small but still significant amount of lash (looseness) in the gears, so when doing the fine calibration, if you are adjusting by small increments, it may appear that there is no movement. To overcome this, I would suggest doing a reverse movement first, or increment in the same direction. This way the movement is not being absorbed by the lash in the gears. So instead of trying offset 4, then 3, then 2 try something like 4, then -5, then 3, then -5, then 2. This has worked well so far.

I ordered the research kit on Kickstarter + an extra shell + BiBoard. With all the included parts, that is enough to build two Bittles, one with a NyBoard brain and the other with a BiBoard brain. NyBoard Bittle is up and running, no problems there. Works very well. However, I'm looking forward to getting started with BiBoard. I understand that this still under development, but am happy to poke around and experiment even in this early phase. Is there any place to go to start getting basic info? Perhaps add ESP32 to the Arduino IDE and poke around with that? If not, I understand, happy to wait.

I've got Bittle mostly assembled, motors connected, etc. The TestBuzzer and TestSevenRGBLED Arduino sketches work fine (I haven't tried the others yet). Serial Monitor is set to 115200 and no newlines. However, when I compile and upload the OpenCat.ino sketch, what I see in the serial monitor is what I show below, with no intervention from me. Every time the "k" appears, the head servo twitches. When I type something in the serial monitor, it says "wrong key!". What can be happening? * Start* Initialize I2C Connect MPU6050 Test connection MPU successful Initialize DMP -1 -1 -1 -1 Enable DMP Enable interrupt DMP ready! * Assigning 2 skill addresses... 1 Finished! k k k k k k k k