#14: Fixing bugs
Like I told you in previous blogposts the movement of walking forward, backward, right, left is not what it needs to be. So I researched how quadruped robots are supposed to walk and how they keep their balance and don't fall over. Then I found this post:https://makezine.com/2016/11/22/robot-quadruped-arduino-program/. Which tells me more about the walk cycle and the balance point.
The above image helped me a lot with understanding why my robot kept falling over. Especially when doing a movement like wave, which is on 3 legs instead of 4.
After reading this post I started modifying my code again, fixing the balance issue by moving the servo's to other angles that worked. Then I started on a new walking forward cycle, after writing a new cycle it did still not do what it needed to do but I saw improvement. Then I quickly noticed that the movements I programmed where not getting executed right by the Robot. Duke would do one step of the code and then suddenly another movement that was not supposed to be after the first movement. Then I realised that my previous walking cycle had not been the problem of the wrong movement but that I needed to put a small delay between the angle changes of the servo's so that he would have time to do each step of the code. After adding the delay to each walking cycle I got the results that I wanted this whole time. Also the delays that I used where not so optimal and right in my use of code so I changed them with an async await delay() which in my case is the better way. (Green are the previous delay methods I used)
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