Hi! I made it almost all the way through getting this thing made without any real problems. I got to compiling the Nybble.ino file and I get a bunch of compile warnings. It uploads anyway, but it only semi works. I don't know if the warnings and the behavior are related, but it's the only indication of something going wrong.
The only thing I can think of where I deviated from the assembly instructions while doing the software was at 3.2.2: Install by adding .Zip library. After unzipping the whole repository, the individual libraries it says to add weren't in zip files, so I zipped them myself and added them that way.
Thank you! I'm excited to get it working.
Some of the warnings:
In file included from C:\Users\gen\Desktop\my stuff\robocat\OpenCat\Nybble\Nybble.ino:31:0:
sketch\WriteInstinct/OpenCat.h:603:1: warning: narrowing conversion of '-7.8e+1' from 'double' to 'int8_t {aka signed char}' inside { } [-Wnarrowing]
C:\Users\gen\Desktop\my stuff\robocat\OpenCat\Nybble\Nybble.ino: In function 'void setup()':
C:\Users\gen\Desktop\my stuff\robocat\OpenCat\Nybble\Nybble.ino:375:34: warning: ISO C++ forbids converting a string constant to 'char*' [-Wwrite-strings]
motion.loadBySkillName("rest");
C:\Users\gen\Documents\Arduino\libraries\MPU6050\MPU6050.h:436:7: note: a different type is defined in another translation unit
class MPU6050 {
Quick check:
The key map is updated in the lasted code. Key 2 (row 2 column 2) is the balance posture. Try testing from there. Lift Nybble in air so its legs can move freely. Rotate by small angles to see whether it tries to adapt. If you hold it level but it still struggles like crazy, that means the calibration of MPU is incorrect and needs to be redone with writeInstinct.ino.
Press 3, 4, 5, 6 in order to see whether it can perform walking behavior.
Find a wide and smooth table if it passes previous tests. I noticed that you are putting Nybble on the carpet. It's too bushy for its short legs. Only crawling gait can walk on this kind of surface.
The voltage of batteries should be above 7.5V to work properly. Otherwise it should only adopt slower gaits. Also check the voltage between V+ and GND of any of the servo pins. Tune the potentiometer to set the voltage around 5.5V, then dial up if necessary.
There are quite a lot of factors to notice. I'll add them to the instruction as you bring them up.