Hi all,
Is it required to calibrate the MPU the first time you run the WriteInstinct code? Or ever?
Obviously the cat will behave better with it, but I wanted to know if you *need* to.
I ask because I am on a ship for the next 16 days or so but am impatient... I have left the MPU calibration running for 30 minutes but can't get all 6 numbers to lock in. Obvious perhaps as the boat won't stop moving. And no, I alas can't get on land.
I of course tried to bypass the MPU calibration (typing `n`) and calibrated the legs/joints. But when I try to upload and run Nybble.ino, the serial monitor either cycles the same startup messages over and over, or it displays the startup message just once then puts its joints in random orientations servos pushing until I switch off the battery, or does not respond to serial commands. Could be a separate problem, but figured it might be due to the uncalibrated MPU.
Thanks!
Hi! Thanks for the quick reply!
I have version 1 of the NyBoard.
So I still wasn't able to calibrate the MPU - even after letting it run for 12 hours... there was never a moment of stability.
So impatiently I uploaded Nybble.ino to the cat and it worked this time. Of course it is falling over a bit but it can walk around etc.
I am hesitant to try and reproduce the error right now because I have a cat that can sort of cat now.
I will try to collect some more data in a day or two after I get to actually use the platform a bit now, but further symptoms are that I was unable to reliably communicate when it was calibrating. Sometimes the calibration script would load and I could hit n then n then the cat would spin up the servos and pull all joints in, then the serial monitor would ask if I want to calibrate the MPU - sometimes once, sometimes 2 or 3 times. I could not always get it to respond - typing n or Y would result in nothing. I have the serial monitor set at 56700baud and No Line Ending. I saw other posts about servos drawing too much power (?) and stopping scripts/comms. Let me know if there is any other info that would help right now - otherwise I'll post more info after I upload WriteInstinct again