Even after reading all the posts and the suggestions given in the forum, I still cannot get my cat to work. It still shows chaotic behavior.
I followed the procedure in writeinstinct.ino and after the final 'c' and ‘s’ commands I attached the legs and tuned the angles. After the ‘d’ command only the head rotated a bit. ‘kbalance’ (or any other command) resulted in the left back leg making some strange move, then the back legs went to the stand position. The front legs seemed to move in the opposite direction than they should move. Instead of stopping in the new position, the legs went back and forth to the calibrate position. Pressing ‘c’ or ‘d’ returns the cat to the calibrate position (with the head tilted in case of ‘d’). See video 1.
I moved all motors individually, and they all behaved correctly. The ‘c’ command returned all motors to the calibration position except motor 11. After ‘m11 0’ I typed ‘c’ again and this time it did return to the calibration position. What looks strange to me is that the calibrate position is not equal to the 0 position of the motors.
Loading nybble.ino and giving a command like 'ksit', the cat went crazy (see video 2). It only comes to rest after the 'd' command, but not in the 'rest' position, but on its knees in the 'calibrate' position with the head tilted. Also 'c' gives the calibrate position, but with a level head.
I use unprotected batteries Vapcell ICR14500 1000mAh - 3A), see: https://eu.nkon.nl/vapcell-icr14500-1000mah-3a.html
Hi. I've had similar problems in the past. I have two suggestions to help narrow in on the problem. First: be careful not to overuse the print function. Too much data going to the Serial line can interfere with other devices, such as the MPU6050. Also, you can try commenting out the #define GYRO in OpenCat.h. This will disable the MPU code, and thus the "adjustments" that will be sent to balance Nybble. It's possible that there is something intermittent going on with the MPU board, or more likely, the adjustment code (perhaps a timing issue).
Hope that helps.
So the moduleTest.ino proves that there's no problem with the hardware and circuit. I'm still a little worried about the battery, because I used some "heavy duty" batteries for vapor cigarette but they didn't work. Could you take a look at the yellow LED (right eye on the logo) on NyBoard? If it blinks during the chaotic motion, then it's still a problem in the power.
Hi, please check:
1. You should connect SW3 between the BATT and V_S.
2. If you unplug the uploading USB cable, is the cat still powered up? I feel that the battery is not really powering the system and the circuit is being cut off after every movement.
I checked the batteries in your link. It seems that they have a flat head (not button head). So they may have difficulties in reaching the contacts of the battery holder.