Cubic Doggo 06R High Mobility is an upgrade from the base Cubic Doggo.
It has several mechanical improvements and uses an IMU for balance.
So far, only BNO055 is tested. Future incorporation with BMI088 or ICM-42688-P will likely improve the IMU performance: the current PID oscillation is potentially caused by delayed IMU correction at the BNO055 readout rate set of 50 Hz.
The upgraded CADv2 files, MIT licensed, can be found in GitHub directory and Printables.
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