In order to use the calibration code, go to the Git hub and under the Stanford quadruped file I placed a script called runStance.py . Run this using the sudo command to ensure your permissions to the I2c pins. After this the script will run through and set the servos to their min and max angles and set to a neutral angle. They point of this is to check to see if the user is satisfied with the range and neutral angles. The program will ask the user if they would like to add or subtract from the angle in increments of five degrees. This is to be integrated into the run robot script at the point that defines the range of motion, by adjusting the coefficient I have placed there.