Even after reading all the posts and the suggestions given in the forum, I still cannot get my cat to work. It still shows chaotic behavior. I followed the procedure in writeinstinct.ino and after the final 'c' and ‘s’ commands I attached the legs and tuned the angles. After the ‘d’ command only the head rotated a bit. ‘kbalance’ (or any other command) resulted in the left back leg making some strange move, then the back legs went to the stand position. The front legs seemed to move in the opposite direction than they should move. Instead of stopping in the new position, the legs went back and forth to the calibrate position. Pressing ‘c’ or ‘d’ returns the cat to the calibrate position (with the head tilted in case of ‘d’). See video 1. I moved all motors individually, and they all behaved correctly. The ‘c’ command returned all motors to the calibration position except motor 11. After ‘m11 0’ I typed ‘c’ again and this time it did return to the calibration position. What looks strange to me is that the calibrate position is not equal to the 0 position of the motors. Loading nybble.ino and giving a command like 'ksit', the cat went crazy (see video 2). It only comes to rest after the 'd' command, but not in the 'rest' position, but on its knees in the 'calibrate' position with the head tilted. Also 'c' gives the calibrate position, but with a level head. I use unprotected batteries Vapcell ICR14500 1000mAh - 3A), see: https://eu.nkon.nl/vapcell-icr14500-1000mah-3a.html