Hi again Zenta,
I don’t understand what I need to do using PEP to have Y value and lowest body.
I would have at initial position as on the picture above.
I tried many different settings but I’m lost
for Y values, I have -65 
I found home gait but middle don’t move after that. values ​​are the maximum mechanical limits
Servo tested with lynx. All is ok.
so, values are wrong 
some new pictures (Switch for Rx/Tx) and cabke sleeves
Are you thinking of the InitY positions in the cfg file?
If you look in the setup sheet in PEP, if you read my comment for “The lowest part of body:”
The confusing part with A-Pod is that the lowest part is the lower part of the femur servo/bracket that touches the ground. For my A-Pod that is about 15mm, meaning that the initY should be about 15.
It was for inity=-65 at the last test. previously: -66 (height coxa servo+15)
I confused.
I redid calibration of all legs with lynxterm. Store all values. may be, i will add readservooffset function
thanks
rx tx switch works fine.
Zenta and others 
I found the problem. “inity” has awake my little brain…
I was so focused on another thing that I forgotten everything else…
Body Height is modify
Order shipped from hobbyking(LiPo Battery)
great day today! 
during the night, I’ve tested home gait, rotation ,translation etc. all works fine.
readservoffset added(thanks kurte)
3 switch added
Hi,
extra potmeter have been added to the DIY remote control. Not like the fact Zenta because I haven’t lathe but on each extremity of xbee module. Above the lcd screen. The code has been also modified
bug corrected to display all 8 values on the lcd(// to serial lcd module from sparkfun diy)
Some new pictures…
What do you think about abdomen!? It’s the first time for balsa.
Impossible to me, to make one from ABS 3mm
Real Balsa Wood? Haven’t seen that in a long time!
Looks good!
Alan KM6VV
Thanks Alan,
yes, it is real balsa. Before, I did an abs prototype with many pieces (42mm height) but it was too heavy
Making the abdomen was a bit tricky… Hopefully the balsa will do the job after some white painting?
I keep this version, thanks Zenta,
Color is planned
I think I have found to rotate around the head and abdomen with bodyik and balanceoneleg function
headtracking mode maybe added headposX,Y,Z to calculate matrix
Make a vacuum forming machine. 
Don’t tempt me.
Ah, but that’s, that’s, PLASTIC!
I know, we could mill it out of billet 6160-T6 aluminum!
Hmm, might be a little heavy…
Alan KM6VV
Rotate mode works.
I did a sub function with conditional jump.
3 keys to switch between rotation around center of body, rotation around the neck and abdomen
That sounds like a good idea. 
I can’t wait to see the video of your A-pod with the molding and doing those head rotation.
I made some test yesterday with the code. It’s in progress. I have 2 Ubec and lipo battery but I’m afraid about the LiPo
6v 2.5A is a little low for the weight of the ant.
Also, I’m working on a “puppy”
Your affraid about what on liPo side ?