Nyboard needs to be reset

#include "Adafruit_PWMServoDriver.h"

#define MIN_PULSE_WIDTH 500

#define MAX_PULSE_WIDTH 2500

#define FREQUENCY 50

long float_map(float in, float low_in, float high_in, long low_out, long high_out){

return low_out + (in - low_in) / (high_in - low_in) * (high_out - low_out);

}

class PetoiDog{

public:

int alpha_maps[4] = {14, 1, 6, 9}; // Servo index mapping for alpha (shoulder)

int beta_maps[4] = {15, 0, 7, 8}; //Servo index mapping for beta (knees)

float alphas[4] = {0., 0., 0., 0.}; // shoulder angles, in radius

float betas[4] = {0., 0., 0., 0.}; // knee angles, in radius

// Calibrations, in degrees

float alpha_calibrate[4] = {1. , 6. , 9. , -7.};

float beta_calibrate[4] = {3., 7., 9., -5.};

Adafruit_PWMServoDriver pwm_driver;

void write_degree(float* alpha_vals=nullptr, float* beta_vals=nullptr){

long pulsewidth = 0;

alpha_vals = alpha_vals ? alpha_vals : alphas;

beta_vals = beta_vals ? beta_vals : betas;

// write alpha (shoulder) degrees

// note that for the right side of the body, need to rotate the servo on the other direction

for (int i=0; i<=3; i++){

int flip = i >= 2 ? -1 : 1;

pulsewidth = float_map(flip * (alpha_vals[i] * RAD_TO_DEG + alpha_calibrate[i]), -135, 135, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);

// pulsewidth = min(MAX_PULSE_WIDTH, max(pulsewidth, MIN_PULSE_WIDTH));

pwm_driver.writeMicroseconds(alpha_maps[i], pulsewidth);

// Serial.print(pulsewidth); Serial.print(" ");

pulsewidth = float_map(flip * (beta_vals[i] * RAD_TO_DEG + beta_calibrate[i]), -135, 135, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);

// pulsewidth = min(MAX_PULSE_WIDTH, max(pulsewidth, MIN_PULSE_WIDTH));

pwm_driver.writeMicroseconds(beta_maps[i], pulsewidth);

// Serial.print(pulsewidth); Serial.print(" ");

}

// Serial.println();

}

void initialize(){

pwm_driver.begin();

pwm_driver.setPWMFreq(50);

}

};

PetoiDog dog;

// These values are calcualted from petoi_walk.py

float walk_alphas[6][4] = {

{0.76272625, 1.13457267, 0.76272625, 1.13457267},

{0.93000985, 1.18074076, 0.93000985, 1.18074076},

{1.05577914, 0.99622112, 1.05577914, 0.99622112},

{1.13457267, 0.76272625, 1.13457267, 0.76272625},

{1.18074076, 0.93000985, 1.18074076, 0.93000985},

{0.99622112, 1.05577914, 0.99622112, 1.05577914}

};

float walk_betas[6][4] = {

{0.33109918, 0.05484791, 0.33109918, 0.05484791},

{0.28922337, 0.39589408, 0.28922337, 0.39589408},

{0.19638032, 0.42164591, 0.19638032, 0.42164591},

{0.05484791, 0.33109918, 0.05484791, 0.33109918},

{0.39589408, 0.28922337, 0.39589408, 0.28922337},

{0.42164591, 0.19638032, 0.42164591, 0.19638032}

};

void setup(){

// Serial.begin(9600);

dog.initialize();

dog.write_degree();

}

int idx = 0;

int length = 6;

void loop(){

idx = idx % length;

dog.write_degree(

(float*)walk_alphas[idx],

(float*)walk_betas[idx]

);

delay(100);

idx += 1;

}

I modified your code slightly. and test it worked normallly. After powerd on by the battery, no need to press the reset button.

#include <Adafruit_PWMServoDriver.h>

#define MIN_PULSE_WIDTH 500

#define MAX_PULSE_WIDTH 2500

#define FREQUENCY 50

long float_map(float in, float low_in, float high_in, long low_out, long high_out){

return low_out + (in - low_in) / (high_in - low_in) * (high_out - low_out);

}

class PetoiDog{

public:

int alpha_maps[4] = {14, 1, 6, 9}; // Servo index mapping for alpha (shoulder)

int beta_maps[4] = {15, 0, 7, 8}; //Servo index mapping for beta (knees)

float alphas[4] = {0., 0., 0., 0.}; // shoulder angles, in radius

float betas[4] = {0., 0., 0., 0.}; // knee angles, in radius

// Calibrations, in degrees

float alpha_calibrate[4] = {1. , 6. , 9. , -7.};

float beta_calibrate[4] = {3., 7., 9., -5.};

Adafruit_PWMServoDriver pwm_driver;

void write_degree(float* alpha_vals=nullptr, float* beta_vals=nullptr){

long pulsewidth = 0;

alpha_vals = alpha_vals ? alpha_vals : alphas;

beta_vals = beta_vals ? beta_vals : betas;

// write alpha (shoulder) degrees

// note that for the right side of the body, need to rotate the servo on the other direction

for (int i=0; i<=3; i++){

int flip = i >= 2 ? -1 : 1;

pulsewidth = float_map(flip * (alpha_vals[i] * RAD_TO_DEG + alpha_calibrate[i]), -135, 135, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);

// pulsewidth = min(MAX_PULSE_WIDTH, max(pulsewidth, MIN_PULSE_WIDTH));

pwm_driver.writeMicroseconds(alpha_maps[i], pulsewidth);

// Serial.print(pulsewidth); Serial.print(" ");

pulsewidth = float_map(flip * (beta_vals[i] * RAD_TO_DEG + beta_calibrate[i]), -135, 135, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);

// pulsewidth = min(MAX_PULSE_WIDTH, max(pulsewidth, MIN_PULSE_WIDTH));

pwm_driver.writeMicroseconds(beta_maps[i], pulsewidth);

// Serial.print(pulsewidth); Serial.print(" ");

}

// Serial.println();

}

void initialize(){

pwm_driver.begin();

pwm_driver.setPWMFreq(50);

}

};

PetoiDog dog;

// These values are calcualted from petoi_walk.py

float walk_alphas[6][4] = {

{0.76272625, 1.13457267, 0.76272625, 1.13457267},

{0.93000985, 1.18074076, 0.93000985, 1.18074076},

{1.05577914, 0.99622112, 1.05577914, 0.99622112},

{1.13457267, 0.76272625, 1.13457267, 0.76272625},

{1.18074076, 0.93000985, 1.18074076, 0.93000985},

{0.99622112, 1.05577914, 0.99622112, 1.05577914}

};

float walk_betas[6][4] = {

{0.33109918, 0.05484791, 0.33109918, 0.05484791},

{0.28922337, 0.39589408, 0.28922337, 0.39589408},

{0.19638032, 0.42164591, 0.19638032, 0.42164591},

{0.05484791, 0.33109918, 0.05484791, 0.33109918},

{0.39589408, 0.28922337, 0.39589408, 0.28922337},

{0.42164591, 0.19638032, 0.42164591, 0.19638032}

};

void setup(){

Serial.begin(115200);

dog.initialize();

dog.write_degree();

}

int idx = 0;

int length = 6;

void loop(){

idx = idx % length;

dog.write_degree(

(float*)walk_alphas[idx],

(float*)walk_betas[idx]

);

delay(100);

idx += 1;

Serial.println("aaa");

}