crane-warrior

It is said that PD gains are different before unloaded and loaded so shall I test with the leg loaded?How did you guys tune those paras before?

hello,I have made some minor edit on the firmware and now it's avaliable for me to tune on the serial monitor.By the way I use the odrivetool "liveplot" to check...

I just check the angle motors spined,which is alpha and belta,are both about 3 degree.....strange...