Movement issues with attached bittle ‚socks‘

Question

Dear community, do you‘ve any tips regarding calibration when using the bittle socks? In my testing area there is just slippery parquet, what seems to be problematic for bittle. So i attached the socks on my bittle, but alas most of the instinctives won‘t work anymore, mostly bittle fall on the side or don‘t work straight forward. I‘ve spend appropriate effort to calibration, because i know, how important a good calibration is for further movement. And mostly everthing works fine without socks, but bittle hasn‘t a good grip. So maybe you‘ve some tips (otherwise i‘ve to change calibration on my own, but maybe there is already a working ‘solution‘ ;) ). Thanks in advance.

Gero · Accepted Answer

And here's a slight adaption with another phase-shift (one leg after another):const char zero[] PROGMEM = {  43, 0, 0, 1, 38,  76,  39,  77,  -9,   4,  -9,   5,  41,  78,  39,  77, -10,   0,  -9,   8,  45,  78,  40,  77, -11,  -5,  -9,  11,  48,  76,  41,  77, -11, -11, -10,  14,  52,  71,  42,  77, -12, -16, -10,  17,  55,  63,  44,  77, -12, -19, -10,  19,  58,  52,  46,  76, -12, -19, -11,  22,  61,  40,  48,  76, -11, -15, -11,  24,  64,  30,  50,  76, -10, -10, -12,  26,  66,  22,  53,  76,  -9,  -4, -12,  27,  68,  17,  56,  75,  -8,   1, -12,  28,  70,  16,  58,  75,  -7,   4, -12,  28,  71,  16,  61,  85,  -5,   4, -11,  14,  73,  17,  64,  90,  -4,   3, -10,  12,  74,  18,  66,  90,  -2,   2,  -9,  17,  74,  19,  68,  90,  -1,   1,  -8,  -9,  75,  21,  70,  90,   0,   0,  -6, -26,  75,  23,  72,  90,   2,  -1,  -5, -41,  76,  26,  74,  80,   3,  -3,  -2, -43,  76,  28,  75,  64,   3,  -4,   0, -38,  76,  31,  76,  52,   4,  -6,   3, -28,  76,  34,  77,  43,   4,  -7,   5, -17,  78,  38,  77,  39,   0,  -9,   8,  -9,  78,  41,  77,  39,  -5, -10,  11,  -9,  76,  45,  77,  40, -11, -11,  14,  -9,  71,  48,  77,  41, -16, -11,  17, -10,  63,  52,  77,  42, -19, -12,  19, -10,  52,  55,  76,  44, -19, -12,  22, -10,  40,  58,  76,  46, -15, -12,  24, -11,  30,  61,  76,  48, -10, -11,  26, -11,  22,  64,  76,  50,  -4, -10,  27, -12,  17,  66,  75,  53,   1,  -9,  28, -12,  16,  68,  75,  56,   4,  -8,  28, -12,  16,  70,  85,  58,   4,  -7,  14, -12,  17,  71,  90,  61,   3,  -5,  12, -11,  18,  73,  90,  64,   2,  -4,  17, -10,  19,  74,  90,  66,   1,  -2,  -9,  -9,  21,  74,  90,  68,   0,  -1, -26,  -8,  23,  75,  90,  70,  -1,   0, -41,  -6,  26,  75,  80,  72,  -3,   2, -43,  -5,  28,  76,  64,  74,  -4,   3, -38,  -2,  31,  76,  52,  75,  -6,   3, -28,   0,  34,  76,  43,  76,  -7,   4, -17,   3, };

Robot Fan · Answer

I have tried with and without socks. No socks is less grip, because I have a slippery parquet floor too. All socks makes the dog very unstable, because the front legs resist when the back legs try to push forward. I get the best result (walking and running), if I use 2 socks on the back legs (and no socks on the front legs). That way the back legs have grip pushing forward (the front legs slip a little but that makes moving forward more easy) so the forward speed is highest that way.I also discovered the gyroscope can be turned on and off (if you use the remote control, press the top right button to do so) and this has a huge impact on how the dog moves (running, walking, etc). So if you can't get it to walk the way you want, you can try turning it on or off and see if that gives a better result.

Phillip Meissner · Answer

That was the final point 😀Finally I got smooth movement gif with magick.Thanks!

Rongzhong Li · Answer

The gyro takes a significant calculation time in the loop. By turning it off, it will accelerate the walking cycles, and change the stability of walking.

Phillip Meissner · Answer

@Gero Even with the standard parameters its notchy, but i tried out using ezgif, like suggested by @Rongzhong Li, instead of magick, and now its smooth.Unfortunately i can't post my answer with gif's attached (or with gif's as small image, i don't know, why).That's the command  use of magick:magick.exe convert -delay 5 -loop 0 $(ls -v Bittle_*png) Bittle_moving.gifBut it clearly seems to be a problem regarding gif animator tool, because with the same source .png's i got smoother result with ezgif.Of course i could use ezgif in future, but generally i prefer local tools.