The nybble mod to use 12 DOFW is to add the 4 zeros for the shoulder servos in Instinct.h:
constchar wk[] PROGMEM = {
43, 0, 0,
0,0,0,0, <-
12, 59,-55,-49, 23, 24, -2,-12,
...
Can I still do the same in InstinctBittle.h?
It changes in InstinctBittle.h to
constchar wkF[] PROGMEM = {
57, 0, 0, 1, <- 4th entries here?
0,0,0,0, <-
16, 57, 61, 47, 13, 17, -14, 11,
...
Thank you!
Yes, you are right. It will require some tuning though, because we haven't been using 12 DOF since last update. Our next model will be 12 DOF and activate this code.