I could not found the code lines for the ultrasonic modul in the openCat sketches. Are they not yet implemented?

@Rongzhong Li Thank you for your help. I solved the problem like this: Uploading WriteInstinct again. Reset joint calibration and update instincts, calibrating MPU and now it is working correct. Again thousand thanks for your continous quick response.

I checked the mechanical movement by hand of knee servo 14 with calibration data value 5. The leg can not move in a position of 90 degree to ground level (standing position), because of the internal mechanical blockage. the knee servo 15 is similiar. the zero value of calibration data is not giving the servo enough angle movement in both directions.

thanks for the advise. I changed the line (switched from Bittle.h to Nybble.h) in OpenCat.h saved the file. After that I uploaded OpenCat.ino again to the Nybble Board and did the calibration via IR remote again and sved all values. But the result was the same. The back legs (shoulder and knee) move in the opposite direction as the they should?

My actual cal table see photo

Dear Rongzhong Li, I can not find the error?! See photos from command calibrate (looks good), but e. g. in case of commands rest and sit, the back legs seem to move in the opposite wrong direction?

No Answer needed. I changed the name of the "OpenCat-main" folder in "OpenCat". Then the OpenCat sketch worked well.

Which program should I load after finishing all calibration steps with the program WriteInstinct? If I try to load OpenCat, I get an error message: ResolveLibrary(WriteInstinct/OpenCat.h) #include "WriteInstinct/OpenCat.h" -> candidates: [] ^~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. exit status 1 WriteInstinct/OpenCat.h: No such file or directory

Thanks for the quick help. The problem was y not Y. It seems y is recognized like no. Now it is working.

I did all calibration steps and fine tuning the position of each joint ans saved it. It worked well, see photo's. My problem is that validating the process with the command d or kbalance results in now reaction of nybble. I get only the beep to quit my command. What is wrong?

Thank you for your fast response. I checked before assembling all servos with my servo-test equipment from my model airplane hobbie. I adjusted all of them to the middle (zero) position. Unfortunately one knee servo (with long cable) has a mechanical stop and can not move the needed angle in one direction. How can I exchange this servo against a new one? I ordered my kit from INDIEGOGO end of December. Best Regards from Berlin, Germany

Thank you for the drawings, very helpful. Now I want to add NyBoard support to Arduino IDE. (https://raw.githubusercontent.com/PetoiCamp/OpenCat/master/Resources/NyBoard/BoardManager...........) But I found only ATmega328P (5V, 20Mhz) NyBoard V0_1 /V0_2 version? Is there any link to get NyBoard support for the V1_0 version?

Thank you for the very fast reponse. Very helpful. But I could not found the pins for the 4 wires which are coming from the ultrasonic/RGB-LED board (Nybble head)? Best Regards from Germany Berlin