# Bittle / Bittle X

The subpages mention the joint calibration interface for Bittle / Bittle X in the Petoi Desktop App.

## Installation for the construction kit

### Bittle's calibration state

<figure><img src="/files/s84JN6ZSNOe6iC01ubet" alt=""><figcaption><p>Bittle's Calibration Mode</p></figcaption></figure>

For the construction kit, please install the servo-related components as shown in the picture (calibration mode) and ensure they are perpendicular to each other (the upper leg is perpendicular to the torso, and the lower leg is perpendicular to the upper leg).

{% hint style="warning" %}
Note: Insert the servo-related components directly into the servo output shaft; do not turn the output shaft during this process.
{% endhint %}

{% hint style="warning" %}
Please **disregard** the type of mainboard in the following installation pictures, as all Petoi mainboards have the same size.&#x20;
{% endhint %}

### Install the head

In the calibration state, place the head as close to the central axis as possible and insert its servo shaft into the servo arm of the neck.

<figure><img src="/files/avQ8YXT0jNhmIiW2oPIy" alt=""><figcaption></figcaption></figure>

Press down on the head so it is firmly attached to the neck.

<figure><img src="/files/Ux0zFualAZghlx3qphHi" alt=""><figcaption></figcaption></figure>

### Install the legs&#x20;

Install the upper leg and lower leg components to the output teeth of the servos after the Bittle is powered on and in the calibrated neutral position. Please keep the torso, upper leg, and lower leg installed vertically as much as possible. Do not install the lower leg backward, as shown in the picture.&#x20;

<figure><img src="/files/5JHkO04jxSvTH1ySJJRy" alt=""><figcaption></figcaption></figure>

## Fine-tuning

{% hint style="info" %}
The **pre-assembled** robot should already have the components adequately installed. You can do the joint calibration for fine-tuning directly, without needing to uninstall the head and legs.&#x20;
{% endhint %}

Please use the L-shaped calibration tool included in the package as a calibration reference. According to the joint numbers shown in the calibration interface picture, click and drag the corresponding joint sliders or click the blank areas of the slider tracks to fine-tune the joints to a right angle.

Please note that when calibrating the servos, adjust the upper leg first, then change the lower leg.

![](/files/0HXBQK8Fem9hj1AmppKy)

![Align the upper leg first](/files/QpS91FEEbFx1kWR8Yofo)

![Pay attention to the reference edges for the lower leg](/files/kuwZZVGFrrkgDo4rhGiH)

{% hint style="info" %}
If the offset is more than +/-9 degrees, you need to remove the corresponding leg and reinstall it by rotating one tooth and then dragging the corresponding slider. For example, when it is adjusted to +9 and still not right, remove the corresponding leg and shift one tooth when attaching it. Then, you should get a smaller offset in the opposite direction.&#x20;
{% endhint %}


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