I know the reason for the hot servo now. When I turn on the power and hold the cat with its head up, it will keep a gesture to keep balance, and its front left shank keep rising up against its should, so the servo gets hot in a short time.

Board version 2, this pin is 7?

So upload the sensor’s test code and the cat can avoid obstacle or work with some behaviors?

By the way, does the ultrasound sensor's 4-pin male need to be soldered onto the board? What's the supposed fuction of the sensor? My cat seems can't avoid obstacles in its way so far.

I was wrong in using the instruction for wire connection of board version 1. So I reconnect all servos by the description in Opencat.h and upload writeinstinct,calibrate servo again, then upload nybble.ino,change the jumper switch you mentioned and well done! Thank you!

I change the version # to 2 in Instinct.h and upload Writeinstinct, calibration goes to be weird, the servo number are changed, neither joint numbers nor PIN numbers, cat’s gestures are weird. Calibration is not valid at all:(

Maybe it is wrong to copy the files edited on Mac to Windows. Now the calibration is done, and the cat can be controlled well in Arduino IDE, but can't response to the remoter. I think maybe the key map isn't uploaded, so I upload Nybble.ino to the board, but the cat keeps meowing and has no response to the remoter either, and in the serial monitor, just rolling screen with random numbers 563.00, 564.00, 565.00, 566.00 and 567.00... I have to upload Writeinstinct again to stop the meow. Any idea?

Thank you. Finally it works on Windows! Because my Writeinstinct file was messed up during the test,and auto saved.I just use the file newly download.

Seems the same case as an old post by Fox. But I really tried 4 different usb cables, two computers, two systems.

It’s different in recent shipments. Mine is as same as yours. screw b was to be replaced by screw c, which is mentioned in the instruction.