> For the complete documentation index, see [llms.txt](https://nybble-q.petoi.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://nybble-q.petoi.com/mobile-app/joint-calibration.md).

# Joint Calibration

📱🤖

Below is the display interface when you first use the app for calibration. We recommend placing the robot on the calibrator during this process.

## Nybble Q <a href="#nybble" id="nybble"></a>

<figure><img src="https://4152962840-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FriClBzZNrxwtp1INhQq1%2Fuploads%2FYzULx99AePR0OlPOC4OE%2FIMG_7174.png?alt=media&amp;token=567b823b-5173-473e-bb9b-8e1514a9973b" alt=""><figcaption><p>后面会改成新的</p></figcaption></figure>

{% hint style="info" %}
You can also reopen this calibration interface by clicking the menu icon in the upper-right corner of the control panel and selecting "**Calibrate**".

![](https://4152962840-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FriClBzZNrxwtp1INhQq1%2Fuploads%2FXo1fBxnARpPOZLO1pDN4%2FIMG_7140.PNG?alt=media\&token=b2c0b4c3-4a8d-488a-8943-255070abf77b)
{% endhint %}

Upon entering the calibration interface, click the "Calibrate" button to immediately rotate all servo output shafts to their calibration positions.

<figure><img src="https://4152962840-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FriClBzZNrxwtp1INhQq1%2Fuploads%2FcssWOtZ2s3zrChJOKjEv%2Fimage.png?alt=media&amp;token=4df9ad0d-8db0-4a11-b9f3-807491eb1851" alt=""><figcaption></figcaption></figure>

First select the joint servo index number from the calibration interface image (when adjusting leg servos, adjust the thigh first followed by the calf). Then use the "+" or "-" buttons to fine-tune the joint to a right-angle position.

{% hint style="info" %}
If calibration offset exceeds +/-9 degrees, remove the corresponding servo component, rotate it by one gear tooth position, reinstall it, then use the "+" or "-" buttons.

For example: If you need to use -10 as calibration value, remove the limb, rotate one gear tooth, then reinstall. The new calibration value should be around +4 (their absolute values sum to 14).

Note: Avoid rotating servo output shafts manually during adjustment.
{% endhint %}

You can test calibration results by switching between Rest/Stand/Walk statuses using the corresponding buttons.

图片】校准姿势、站立、休息姿势

<figure><img src="https://4152962840-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FriClBzZNrxwtp1INhQq1%2Fuploads%2Fi7pImIV0r52n8VtIXiNm%2Fimage.png?alt=media&amp;token=7fbd7c33-99b1-4b59-b1e4-d80e6b9d1071" alt=""><figcaption></figcaption></figure>

{% hint style="info" %}
Note: A second calibration round may be required for optimal results.
{% endhint %}

After completing calibration, remember to click "Save" to preserve calibration offsets. Or click "<" in the upper-left corner to discard changes.