The servos of hind legs seems has a counter direction. The picture is that when I type ‘d’. How can I change the direction of the servos.

@Rongzhong Li As shown in the video. After typing "kbalance", I cannot send any other commands anymore.

Have you modified the IRremote.h as mentioned in the manual?

@Rongzhong Li Thanks for your help. The problem has been solved with your instruction.

Yes, four servos are MG09 and I download the code two month ago. What is the meaning of semi-tranparent case?

@Hangjie Mo Oh, I can see its wires from the outside of the case. It just looks different from our current servos, so I know it's MG90D.

Thanks for your concern, such issues have been solved by reconnecting the wire and adjusting the voltage. Another issue is that when I uploaded Opencat.ino to the mainboard, everything works well, but when I try the serial commands in the serial monitor, the first command was ok, and then following commands did not have a response. I need to power the cat again. I was confused.

Thanks for your reply. I have solve this problem with your help. However, another issue is that servos sometimes has a wrong position feedback. As shown in the figure, when I press "c", sometimes the position of one hing leg is wrong, and when I press "j", serial monitor shows that all the position is zero.

@Hangjie Mo Did you install the legs after entering the calibration mode? What if you uninstall that joint and reinstall it at the correct angle?

Yes, I first calibrated the motor and then installed the leg and head. Sometimes the motor went to the right position and sometimes went to the wrong position. Sometimes,

the head even rotated more than 360 degree. Another issue is that the motor suddenly rotated to an wrong position and then rotate to the right position smoothly when I input a command.