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Yep, definately. The MG996R-Servos are just not powerfull enough.
They are ok for me now, because i am now more focussed on the Software-Part, but i will have to upgrade sooner or later, too.
I do not have any experience with the cl6336hv-Servos yet. Would be great to see some videos of this version. And of your current version, too! :)
Maybe there are even better Servos we could use, any ideas?
And the PCA9685...hm.. i have jitter, too, but i am not sure if it is the PCA or the cheap Servos...even the PowerSupply. How do you power your Spot?
Do you know any good alternatives to the PCA we could try?