Hello, I bought my Bittle last month. I successfully calibrated it and tried some basic functions that Bittle can do. Most of the functions worked well. However, every time my Bittle perform 'pee' and 'push up', it loses its balance. So, I tried to fix this by modifying some constants in InstinctBittle.h in WriteInstinct folder of OpenCat. But when I update the instinct and send commands via OpenCat.ino(serial monitor), Bittle suddenly spasms. How can I improve the stability of these two motions? / Is there any appropriate way to edit constants of motors? Thank you:)