The controlling framework behind Nybble is OpenCat, which I've been developing for a while. You can read more stories from my posts on Hackster.io.
It's too much work for now π€·π»ββοΈ but you are welcome to discuss it with me on the forum or through email. Good thing is, I will keep the code compatible with future OpenCat models, and even your own DIY robots! Hopefully, the documentation will be completed during the processes.