Bittle: balancing when performing 'pee' and 'push up'?

I tried to modify a constant of 'pee[]' in order to reduce the lifting degree of the right-back leg.

I also confirmed the explanation about the code and indexes of motors in the 8th section of 'Petoi Bittle Manuals'. Think I must be missing something..

@Rongzhong Li I agree.

As the bluetooth connection was not stable (I am a Mac user), I set up the wifi connection previously and it worked appropriately with all actions except 'pee' and 'push up' (problem of losing balance).

So, I am planning to try those two actions again with wifi module after charging. I wish the re-calibration helps.

@Rongzhong Li Hello, I am back with a video.

Gladly, 'push up' worked well after calibrating the robot once again.

However, performing 'pee' is still not stable enough. Plus, a little spasm started to appear at the end of the movement. 😭

There are some inconsistencies in the assembling and calibration. Think about the projected area of the feet and the center of mass. You can tune the angle array of "pee" to make it more stable.