> For the complete documentation index, see [llms.txt](https://nybble.petoi.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://nybble.petoi.com/chinese-1/6-xiao-zhun.md).

# 6 📐 校准

{% hint style="danger" %}
千万不要在第一次校准前把腿装到舵机上。

当舵机断电时，它们的输出轴可能被转到随机的角度，如果这时装上了腿，机器人并不知道这些腿的指向。当机器人上电时，这些腿可能互相冲撞或卡在机身上。长期堵转可能会损坏舵机。
{% endhint %}

机器人的关节需要校准才能继续使用。确保所有的舵机已按正确的方向连接到了主板的正确的位置上，电池正在供电（猫图标的黄色LED 在发光），并且所有的腿和头、尾没有装在舵机上，这些舵机都可以自由旋转。

我们的校准流程会给主板发送一个校准指令，并把所有关节转向已知的角度。您可以把腿按最接近的姿势装到关节舵机上，再用软件进行校准。

校准 Nybble，有三种方法： 

* 使用[移动应用 Petoi](https://docs.petoi.com/v/chinese/shou-ji-ying-yong/xiao-zhun-yu-kong-zhi)
* 使用 [Petoi 桌面应用程序](https://docs.petoi.com/v/chinese/zhuo-mian-ying-yong/guan-jie-xiao-zhun)
* 使用 [Arduino IDE](https://docs.petoi.com/v/chinese/arduino-ide/shi-yong-arduino-ide-xiao-zhun)


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