Thanks so much. I was hoping you had something like this already. We'll dig into it and let you know. Appreciate the quick response!!

Well that seems to have done it - THANKS! Off to the Pi0; we'll keep you posted. Appreciate the help!

Ah, that helps. Now I understand why it's doing what it's doing. Will there be a RUN gait in the future?

Thanks Knut. We'll do some playing and keep you posted. Seems like this should be pretty straight forward - but there's always a nuance it appears. Thanks again...

Two Questions: First one: The OpenCat upload seems to possibly have a glitch in the Run command. When I press it on the remote, the following video is what occurs: Everything else seems ok. But this clearly isn't "Running" anymore. The servos ran much quicker in Run mode previously. But this is what happens now with the current firmware. Any ideas what's happening or how to fix it? Second question - on adding a Raspberry Pi Zero-W: If we install a RPI Zero-W using the serial connector; do the commands, (Run, Forward, Sit, etc.), remain under control of the Nyboard? Could the RF/IR commands can now be delivered via the serial interface connection between the Pi and the Nyboard? The intent is to allow the PI to replace the command set that is currently being delivered via RF/IR, and tell Bittle to move from a smartphone app via the Pi instead. Is that possible? Thanks as always!...

Thanks for the response and direction on correcting things. I reinstalled an entirely new version of Arduino IDE, added the libraries carefully, and followed all your other instructions. Things finally are back up and running and seem to be ok. The battery got low, so I haven't run it through all the functions yet until it's recharged. I also wasn't turning the Gyro back on after calibrating, so that should correct a lot of it - great tip! I'll keep you posted, but I think we're on the right path. Now that I have a better understanding of uploading the OpenCat, I'll keep up on the latest versions for continued stability too. Appreciate your prompt communication and support! I'm going to be adding a Pi Zero-W with some functions later. If I run into any issues, you may hear from me again. :-) :-) Thanks again...