Movement issues with attached bittle ‚socks‘

Question

Dear community, do you‘ve any tips regarding calibration when using the bittle socks? In my testing area there is just slippery parquet, what seems to be problematic for bittle. So i attached the socks on my bittle, but alas most of the instinctives won‘t work anymore, mostly bittle fall on the side or don‘t work straight forward. I‘ve spend appropriate effort to calibration, because i know, how important a good calibration is for further movement. And mostly everthing works fine without socks, but bittle hasn‘t a good grip. So maybe you‘ve some tips (otherwise i‘ve to change calibration on my own, but maybe there is already a working ‘solution‘ ;) ). Thanks in advance.

Phillip Meissner · Accepted Answer

That was the final point 😀 Finally I got smooth movement gif with magick. Thanks!

Gero · Answer

And here's a slight adaption with another phase-shift (one leg after another):  
const char zero[] PROGMEM = {
  43, 0, 0, 1,
 38,  76,  39,  77,  -9,   4,  -9,   5, 
 41,  78,  39,  77, -10,   0,  -9,   8, 
 45,  78,  40,  77, -11,  -5,  -9,  11, 
 48,  76,  41,  77, -11, -11, -10,  14, 
 52,  71,  42,  77, -12, -16, -10,  17, 
 55,  63,  44,  77, -12, -19, -10,  19, 
 58,  52,  46,  76, -12, -19, -11,  22, 
 61,  40,  48,  76, -11, -15, -11,  24, 
 64,  30,  50,  76, -10, -10, -12,  26, 
 66,  22,  53,  76,  -9,  -4, -12,  27, 
 68,  17,  56,  75,  -8,   1, -12,  28, 
 70,  16,  58,  75,  -7,   4, -12,  28, 
 71,  16,  61,  85,  -5,   4, -11,  14, 
 73,  17,  64,  90,  -4,   3, -10,  12, 
 74,  18,  66,  90,  -2,   2,  -9,  17, 
 74,  19,  68,  90,  -1,   1,  -8,  -9, 
 75,  21,  70,  90,   0,   0,  -6, -26, 
 75,  23,  72,  90,   2,  -1,  -5, -41, 
 76,  26,  74,  80,   3,  -3,  -2, -43, 
 76,  28,  75,  64,   3,  -4,   0, -38, 
 76,  31,  76,  52,   4,  -6,   3, -28, 
 76,  34,  77,  43,   4,  -7,   5, -17, 
 78,  38,  77,  39,   0,  -9,   8,  -9, 
 78,  41,  77,  39,  -5, -10,  11,  -9, 
 76,  45,  77,  40, -11, -11,  14,  -9, 
 71,  48,  77,  41, -16, -11,  17, -10, 
 63,  52,  77,  42, -19, -12,  19, -10, 
 52,  55,  76,  44, -19, -12,  22, -10, 
 40,  58,  76,  46, -15, -12,  24, -11, 
 30,  61,  76,  48, -10, -11,  26, -11, 
 22,  64,  76,  50,  -4, -10,  27, -12, 
 17,  66,  75,  53,   1,  -9,  28, -12, 
 16,  68,  75,  56,   4,  -8,  28, -12, 
 16,  70,  85,  58,   4,  -7,  14, -12, 
 17,  71,  90,  61,   3,  -5,  12, -11, 
 18,  73,  90,  64,   2,  -4,  17, -10, 
 19,  74,  90,  66,   1,  -2,  -9,  -9, 
 21,  74,  90,  68,   0,  -1, -26,  -8, 
 23,  75,  90,  70,  -1,   0, -41,  -6, 
 26,  75,  80,  72,  -3,   2, -43,  -5, 
 28,  76,  64,  74,  -4,   3, -38,  -2, 
 31,  76,  52,  75,  -6,   3, -28,   0, 
 34,  76,  43,  76,  -7,   4, -17,   3, 
};

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