Greg

It might help, here is the applicable part of my servo config file. Since the Pololu is commanded using microsecond values, I have converted all of your code to handle...

Update for anyone reading this and using other servo controllers instead of the PCA. Along with other code changes mentioned above, I did fix the code in spot_micro_motion_cmd.cpp to allow...

Thanks Mike. It seems I am installing the leg correctly, it is approximately 90 degrees from the upper leg, so I'm not sure what's going on there. I have since...