# Nybble / Nybble Q

The calibrator interface for Nybble is as following, this interfaces will be displayed when you calibrate for the first time:

![Calibration Interface](/files/0GXfFnXvrwhFPB6Utc4d)

{% hint style="info" %}
You can also click to open the upper-right menu in the control panel and select **Calibrate** to re-access.

![](/files/JK6QL4MkFti57WTk401r)
{% endhint %}

## Enter the calibration state

After the battery powers on the robot, there are two methods to enter the calibration state. 

* Click the **Start Calibration** button.<br>

  <figure><img src="/files/LN2I8HPg1QrIwpqb5vyY" alt=""><figcaption></figcaption></figure>
* Click the **Calibration** button in the calibration interface.\ <br>

  <figure><img src="/files/3wfB9NHdDoafWE0m4gNl" alt=""><figcaption></figcaption></figure>

**After** the robot enter the calibration state, install the head, legs and tail as the calibration posture.

### **Nybble's calibration state**

![Nybble's Calibration State](/files/AiBp5uskBjNIOASP0BI3)

Install the servo-related components according to the picture above 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).&#x20;

{% 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 %}

### **Use the included L-shaped tool as a reference**

![](/files/HXHygTlSauC6GsdgjoHb)

<figure><img src="/files/n8IZloi5WmIoBCdtYvOz" alt=""><figcaption></figcaption></figure>

First, select the index number of the joint servo from the diagram(when adjusting the leg servo, adjust the thigh first, and then adjust the calf).&#x20;

Then, click the "+" or "-" button to fine-tune the joint to the desired angle.&#x20;

{% hint style="info" %}
If the offset is more than ±9 degrees, you need to remove the corresponding part of the servo, reinstall it by rotating one tooth, and then press the "+" or "-" button.

For example, if you need to use -10 as the calibration value, remove the limb, rotate it by one tooth, and then reattach it. The new calibration value should be around 4, i.e.,  they sum up to 14. Avoid rotating the servo shaft during this adjustment.&#x20;
{% endhint %}

<figure><img src="/files/bO4A4lw1w3nU5DipkcNG" alt=""><figcaption><p>Nybble</p></figcaption></figure>


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