I'm trying to get Nybble calibrated but I'm seeing very erratic behaviour when I enter commands like s for save or d for rest. Repeating the calibration procedure sends the joints in wild directions. Something is seriously wrong. I have determined which nybble joints respond to which c-commands. I have connected the various Nybble joints to the PWM pins on my V0_2 board as follows: Joint # 0 1 2 ---------8 9 10 11 12 13 14 15 PWM pin 7 0 8 5 2 1 10 4 3 12 11 c-cmnd 12 13 15 4 5 6 7 0 1 3 2 Is this right?

I getthe errow text: Arduino: 1.8.9 (Windows 10), Board: "Arduino Pro or Pro Mini, ATmega328P (5V, 20 MHz) NyBoard" C:\Program Files (x86)\arduino-1.8.9\arduino-builder -dump-prefs -logger=machine -hardware C:\Program Files (x86)\arduino-1.8.9\hardware -tools C:\Program Files (x86)\arduino-1.8.9\tools-builder -tools C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -built-in-libraries C:\Program Files (x86)\arduino-1.8.9\libraries -libraries C:\Users\Patrick\3D Objects\Documents\Arduino\libraries -fqbn=arduino:avr:pro:cpu=20MHzatmega328 -vid-pid=0403_6001 -ide-version=10809 -build-path C:\Users\Patrick\AppData\Local\Temp\arduino_build_821337 -warnings=all -build-cache C:\Users\Patrick\AppData\Local\Temp\arduino_cache_677903 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.avrdude.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -prefs=runtime.tools.avrdude-6.3.0-arduino14.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -prefs=runtime.tools.arduinoOTA.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -prefs=runtime.tools.arduinoOTA-1.2.1.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -prefs=runtime.tools.avr-gcc.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -prefs=runtime.tools.avr-gcc-5.4.0-atmel3.6.1-arduino2.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -verbose C:\Users\Patrick\Downloads\OpenCat-masterUnZip\OpenCat-master\Nybble\WriteInstinct\WriteInstinct.ino C:\Program Files (x86)\arduino-1.8.9\arduino-builder -compile -logger=machine -hardware C:\Program Files (x86)\arduino-1.8.9\hardware -tools C:\Program Files (x86)\arduino-1.8.9\tools-builder -tools C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -built-in-libraries C:\Program Files (x86)\arduino-1.8.9\libraries -libraries C:\Users\Patrick\3D Objects\Documents\Arduino\libraries -fqbn=arduino:avr:pro:cpu=20MHzatmega328 -vid-pid=0403_6001 -ide-version=10809 -build-path C:\Users\Patrick\AppData\Local\Temp\arduino_build_821337 -warnings=all -build-cache C:\Users\Patrick\AppData\Local\Temp\arduino_cache_677903 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.avrdude.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -prefs=runtime.tools.avrdude-6.3.0-arduino14.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -prefs=runtime.tools.arduinoOTA.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -prefs=runtime.tools.arduinoOTA-1.2.1.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -prefs=runtime.tools.avr-gcc.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -prefs=runtime.tools.avr-gcc-5.4.0-atmel3.6.1-arduino2.path=C:\Program Files (x86)\arduino-1.8.9\hardware\tools\avr -verbose C:\Users\Patrick\Downloads\OpenCat-masterUnZip\OpenCat-master\Nybble\WriteInstinct\WriteInstinct.ino Using board 'pro' from platform in folder: C:\Program Files (x86)\arduino-1.8.9\hardware\arduino\avr Using core 'arduino' from platform in folder: C:\Program Files (x86)\arduino-1.8.9\hardware\arduino\avr Detecting libraries used... "C:\\Program Files (x86)\\arduino-1.8.9\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=20000000L -DARDUINO=10809 -DARDUINO_AVR_PRO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\arduino-1.8.9\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\arduino-1.8.9\\hardware\\arduino\\avr\\variants\\eightanaloginputs" "C:\\Users\\Patrick\\AppData\\Local\\Temp\\arduino_build_821337\\sketch\\WriteInstinct.ino.cpp" -o nul "C:\\Program Files (x86)\\arduino-1.8.9\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=20000000L -DARDUINO=10809 -DARDUINO_AVR_PRO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\arduino-1.8.9\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\arduino-1.8.9\\hardware\\arduino\\avr\\variants\\eightanaloginputs" "-IC:\\Users\\Patrick\\3D Objects\\Documents\\Arduino\\libraries\\IRremote" "C:\\Users\\Patrick\\AppData\\Local\\Temp\\arduino_build_821337\\sketch\\WriteInstinct.ino.cpp" -o nul "C:\\Program Files (x86)\\arduino-1.8.9\\hardware\\tools\\avr/bin/avr-g++" -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=20000000L -DARDUINO=10809 -DARDUINO_AVR_PRO -DARDUINO_ARCH_AVR "-IC:\\Program Files (x86)\\arduino-1.8.9\\hardware\\arduino\\avr\\cores\\arduino" "-IC:\\Program Files (x86)\\arduino-1.8.9\\hardware\\arduino\\avr\\variants\\eightanaloginputs" "-IC:\\Users\\Patrick\\3D Objects\\Documents\\Arduino\\libraries\\IRremote" "-IC:\\Users\\Patrick\\3D Objects\\Documents\\Arduino\\libraries\\MPU6050" "C:\\Users\\Patrick\\AppData\\Local\\Temp\\arduino_build_821337\\sketch\\WriteInstinct.ino.cpp" -o nul In file included from C:\Users\Patrick\3D Objects\Documents\Arduino\libraries\MPU6050/MPU6050.h:44:0, from C:\Users\Patrick\Downloads\OpenCat-masterUnZip\OpenCat-master\Nybble\WriteInstinct\WriteInstinct.ino:6: c:\users\patrick\3d objects\documents\arduino\libraries\i2cdev\i2cdev.h:39:6: error: #error Use XC16 for compiling #error Use XC16 for compiling ^ c:\users\patrick\3d objects\documents\arduino\libraries\i2cdev\i2cdev.h:42:16: fatal error: xc.h: No such file or directory compilation terminated. Using library IRremote at version 2.2.3 in folder: C:\Users\Patrick\3D Objects\Documents\Arduino\libraries\IRremote Using library MPU6050 in folder: C:\Users\Patrick\3D Objects\Documents\Arduino\libraries\MPU6050 (legacy) exit status 1 Error compiling for board Arduino Pro or Pro Mini.

I'm a complete newbie to robotics, but Nybble was to be my introduction. I've assembled Nybble but I can't get Arduino IDE to recognize the 20Mhz processor. It recognizes the other Arduino Pro or Pro mini processors in the avr/bootloaders/atmega folder but not the ATmega328_20MHz.hex file for Nybble. I've confirmed that the boards.txt file in the avr folder is the one being used, but I can' figure out why the 20MHz processor isn't being recognized by Arduino. Any suggestion?