Modified a line of code to make the cat not maul me when I pick it up and turn it over in rest mode to turn off the battery. if ((fabs(ypr[1]) > LARGE_PITCH || fabs(ypr[2]) > LARGE_ROLL)& token != T_REST) { added: (............ & token != T_REST) ported over the 10 lines of self righting from the old directory in github. The motion now looks very similar to the youtube video. I still did not get the cat to self right. Might be speed or lack of range of motion, not sure. I have broken one of the wooden thigh sections that holds the springs. Is the plastic upgrade available for purchase?

I removed the bridge and the ftdi board works now. I did not take a picture.