Changing the speed of "Walk"

[Jakob0330]

I'm currently working on a project with Bittle. I want to change the speed of walking but haven't found parameters for speed of this action in the skillfile. Does anyone solve this problem before？

[borntoleave]

You can change the walking speed in many ways:

• Use faster gaits such as trot.
• Add delays between frames to slow the speed down.

• Re-generate the walking gait with different numbers of frames. The fewer frames, the faster; the more frames, the slower and smoother. However, due to the limited memory size of NyBoard, the frames should be less than (450-4)/8 = 55, as the array to store the gait is defined by int8_t *dataBuffer = new int8_t[450]; in src/OpenCat.h
• Buy the ESP32-based BiBoard with a faster CPU and a larger memory. The code can be found in https://github.com/PetoiCamp/OpenCatEsp32