Thanks for the fast reply. Yes, I have updated the firmware from the link in the tutorial. Its possible I forgot the 2nd jumper and had it at 38.4k but would it communicate at all with the BB ? The head, tail and hip servos seem to be in the right position the others go straight up toward the ceiling. I will redo that step when I get home tonight just to be safe. I thought It was something with the code based offsets or the 4dof code not being completely commented out.