How to speed up Kitty

Her socks are made of old bicycle inner tube.

@Rongzhong Li The video: https://youtu.be/dfZmostxWJs

@franke Are you using the CatMini code or the latter OpenCat code for Nybble?

@Rongzhong Li I am using the latest OpenCat code.

If we don't mind bypassing the gyro, we can make Nybble go quite fast. I changed the code (see below) so that the turbo command toggles access to the checkMotion() function since it is nice to do fast movements for longer than the default 4 cycles and to have control over how long the kitten stays in turbo. Tap the IR remote turbo button to go fast and then tap it again to go normal.

Of course, turbo uses the battery power more quickly. It is really amazing how large a fraction of the CPU time the checkMotion() function requires!

Code Snip:

else if (!strcmp(newCmd, "tb"))				//TS command = turbo.  It toggles the gyro to give more cpu cycles to the servos and so moves the cat faster.
{
	if (checkGyro)							//TS If gyro checking is on then we need to turn it off
	{
		//countDown = 4;					//TS This was the default.  Can set value higher now because I added turbo toggle code
		checkGyro = false;
		countDown = 100;					//TS enable longer much countdown
	}
 
	else if (!checkGyro)					//TS If gyro checking is off, we need to turn it on
	{
		checkGyro = true;
		countDown = 0;						//TS disable longer countdown
	}
}

Yes, it takes 4~5ms for a single joint every loop.

Thanks for that info Rz!