Hi there! I'm a big fun of the project and i had a lot of fun assembling it however... I was successful to upload WriteInstinct.ino, pressed "Y" for reset of joint calibration, pressed "n" to write new instinct and pressed "Y" for MPU6050 When i press "c" for joint calibration, before i manage to calibrate all joints some of them start to rotate themselves in random positions. Not sure what am i doing wrong. Any suggestions?