Hi all, Is it required to calibrate the MPU the first time you run the WriteInstinct code? Or ever? Obviously the cat will behave better with it, but I wanted to know if you *need* to. I ask because I am on a ship for the next 16 days or so but am impatient... I have left the MPU calibration running for 30 minutes but can't get all 6 numbers to lock in. Obvious perhaps as the boat won't stop moving. And no, I alas can't get on land. I of course tried to bypass the MPU calibration (typing `n`) and calibrated the legs/joints. But when I try to upload and run Nybble.ino, the serial monitor either cycles the same startup messages over and over, or it displays the startup message just once then puts its joints in random orientations servos pushing until I switch off the battery, or does not respond to serial commands. Could be a separate problem, but figured it might be due to the uncalibrated MPU. Thanks!