Can't enter calibration mode

I have Nybble cat with board V1_2.

I managed to configure Arduino and run buzzer test successfully.

Then I followed the instructions in several documents saying that for calibration I need to upload WriteInstinct.ino, but it doesn't exist in the latest repo, so I assumed it was combined with OpenCat.ino and all the calibration logic should be there now.

I then opened OpenCat.ino, uncommented the line with my board version, commented out the default one, and commented out MAIN_SKETCH line.

I turned on the power, opened the monitor and uploaded OpenCat.ino.

It asked me if I wanted to reset joints offset, I said Yes.

It asked me if I wanted to calibrate IMU, I said Yes.

And now I assumed I should type 'c' to enter calibration mode, but nothing happens.

What do I do wrong? Have I missed anything? Please help.

7 comments

7 Comments

Rongzhong Li

Mar 19, 2023

After calibrating the IMU, you can activate #define MAIN_SKETCH and re-upload the program. Then you will be able to calibrate the joints.

WriteInstinct.ino was an older version of the code structure. OpenCat.ino with #define MAIN_SKETCH deactivated is equivalent to it. Could you send over the link where you read about WriteInstinct.ino? We need to update that page content.

Jane Doe

Mar 20, 2023

Replying to

Hard to say, I think it was mentioned in one of this forum's discussions. Maybe you could either close access to this doc or at least add a sentence in red font somewhere at the top stating that the doc is outdated with the link to latest accurate source? And the only reason I even searched through the older forum topics is because main documentation was out of date, but since now you updated https://docs.petoi.com/arduino-ide/calibrate-the-joints-with-arduino-ide section, that shouldn't be an issue anymore.

Love my new cat, thank you so much for this project! 😊