For now I'm trying lots of different "quick tests" with Nybble. Usually a day or so and then on to next thing. ( and then go deeper later once I know more ). The idea here works: swap Nybble's legs around to Bittle configuration, recompile code and try it out. But the results weren't the easy home-run I'd hoped for :o Using left rear foot on right, and right rear foot on left to make Bittle configuration for Nybble.
Bittle appears to be a bit smaller and probably lighter ( using 2 fewer servos I think ). So some of the gaits would probably need to be adjusted for Nybble. And, Nybble could also have it's tail servo removed and maybe the head-tilt servo too to make it lighter. But at that point I thought it was more modding and adjusting than I was ready for (there are still a million other things I want to try first... and I want to buckle down and understand all of OpenCat.ino before going too deep on a specific mod). But I thought it'd be worth sharing the results of my one-day test. This will be my starting point if I circle back to this ( and I might, the "inverted legs" seems very popular for quadruped robots ) The first thing was to get Nybble's back legs off and swap them around.
And then recompile code with "InstinctBittle.h" instead of "InstinceNybble.h", and calibrate.
Here's some clips. The gaits are all "off", and would probably need some tweaking. ( I tried some silly tricks like calibraing the legs at zero, and then attaching the actual fore-legs with a -30 tilt to get it to walk "taller", but there was no "super-easy" tweak to make it ideal. Still, the concept works, and the code runs successfully to let it walk :) If/when I revisit this configuration I know I'll just have to lower the weight a bit more ( maybe? ) and adjust the gaits.
Balance is wack, but the motion is there
Bittle's Wave on Nybble
( I'll post a few more below... )