Jerky Movements

I see what you mean. The steppings are due to the limited frames of a gait. In src/InstinctBittle.h, you can see the raw data array of a gait. More detailed documentation can be found at https://bittle.petoi.com/11-tutorial-on-creating-new-skills.

If you turn off the gyro by the 'g' token, the calculation for the Gyroscope will be skipped to make the loop run faster, and the stepping will be less significant.

I understand. That's what I thought might be the case. I see that behavior definitions have speed options not present in gait definitions. And I see in OpenCat.h adjustments made to the servo pwm duty cycle. Does any of this affect gaits, or are gaits only executed as fast as possible? If the latter, is there some way to adjust gait speed? I've only skimmed parts of the code but don't see anything.

I do need to do more study, but I've been too distracted right now just playing with Bittle. All functional elements are elegantly designed, and Bittle is very pleasing to look at as well. Thank you for a great platform.

The gaits are generated without interpolation between the keyframes. They are executed as fast as possible. The NyBoard is only 16MHz, so you may skip the GYRO calculation to accelerate. With a faster speed, you can add delays in the loop to slow it down.

We also have an ESP32-based BiBoard that is fast enough to reach the maximal speed allowed by the servos. So we can reach arbitrary speed by adding delays. However, we haven't listed it on our website. Please check back in a few weeks.