Hello, is it possible that i have somehow flipped left/right position on sensor ? When i lean nybble to left it is not trying to compensate but moving even more left. Same for right. Front and back lean work as expected.
Second question - is it normal that servo are moving with little delay after each few degree of movement - mean movement is not smooth but with delay intervals in it. Is it by purpose ? Is there any way how to fix / change it ? For example higher quality servos ?
thanks
The first question:
It's designed on purpose so that the cat can rebalance when pushed to one side. It was discussed in this post.
Second question:
Do you have a video to show the delay? The transition between postures should be smooth. The frequency of balancing loop is about 10Hz, so it's also smooth. There will be some delay if battery is running low. And randomly it will be laggy when switching to a new gait, but can be solved by switching to another gait then switch back.