Calibrator
Robots can be precisely calibrated using the Petoi Desktop App.
The pre-assembled robot should already have the legs properly installed but not fine-tuned. If you are building the robot from a kit, do not install the leg components until calibration. You also need to install the battery and long-press the button on the battery to power the robot.
After the USB uploader is properly connected, open the PetoiDesktopApp (for Windows: UI.exe / for Mac: Petoi Desktop App), select your model and language, then click the "Joint Calibrator" button to open the calibrator interface.

The Joint Calibrator interface

Nybble

Bittle

1. Click the "Calibration" button, and all servos will move to the calibration position immediately. Then Install the legs according to the picture at the bottom of the interface, and try to ensure that they are perpendicular to each other (the upper leg is perpendicular to the torso, and the lower leg is perpendicular to the upper leg).
Calibration
There are 3 methods to enter the calibration state:
  • long-press the battery and boot up the robot with one side up, it will enter the calibration state automatically. The picture below shows the upper legs and lower legs installed after the robot enters the calibration state.
  • If you have already connected the robot and computer with a serial port, It will enter the calibration state automatically when you click the " Joint Calibrator" button to open the Joint Calibrator interface.
  • Click the "Calibration" button in the calibrator interface.
2. Use the included L-shaped tool as a reference during calibration. According to the index numbers of the joints shown at the top of the interface (when calibrating the servos, adjust the upper leg first, then adjust the lower leg). Drag the corresponding slider (below the index number), or click the blank part of the slider track to fine-tune the joint to right angles.
If the offset is more than +/- 9 degrees, you need to remove the corresponding leg and re-install it by rotating one tooth, and then drag the corresponding slider. For example, when it is adjusted to +9 and is still not right, remove the corresponding leg and shift one tooth when attaching it. Then you should get a smaller offset in an opposite direction.
You can switch between "Stand up" and "Rest" to test the calibration effect. After calibration, remember to click the "Save" button to save the calibration offset. Otherwise, click the "Abort" button to abandon the calibration data. You can save the calibration in the middle in case your connection is interrupted.
Stand Up
Rest
When you click "Quit", there is a message box shown below:
if you want to save the calibration data, please click the "Y" button, otherwise click the "N" button. Click the "取消" button to cancel to quit.
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