图一
我在执行下面的命令校准时出现了问题
cd ~/picrawler/examples/calibration
sudo python3 calibration.py
执行命令后有一只机器脚不能正常校准，我在按W或S键时1号脚没有反应，（如图1，右下角是1号脚），舵机没有正常运行，其他2，3，4是正常的，我怀疑是接线出了问题，但是我在使用robot hat上的zero按键时picrawler的4个脚都是正常的。我该怎么修复这个问题，谢谢！
我在执行下面的命令校准时出现了问题
cd ~/picrawler/examples/calibration
sudo python3 calibration.py
执行命令后有一只机器脚不能正常校准，我在按W或S键时1号脚没有反应，（如图1，右下角是1号脚），舵机没有正常运行，其他2，3，4是正常的，我怀疑是接线出了问题，但是我在使用robot hat上的zero按键时picrawler的4个脚都是正常的。我该怎么修复这个问题，谢谢！
请问你在调试1号脚的过程中，程序上显示的坐标数字会变化吗？
请您尝试运行move示例看看，是否四只脚都在正常工作。
坐标是正常变化的，move实例不能正常运行，1号脚的运动明显和其他2，3，4的运行不一样
我们猜测可能是1号脚上的其中一个舵机坏了，请你检查下1号的3个舵机接线是否都是对的。将PiCrawler 架起来，然后将PiCrawler的4个脚都拉直，按下zero按键，按下哪个舵机不转动。
以及你可以试下将1号脚的3个舵机，插入到其他引脚，看下是什么现象。或许你可以拍个视频给我们看下
Hi @andy_smith,
I found your PiCrawler calibration issue from May 31, 2026. I am experiencing almost exactly the same problem.
Leg 1 does not move correctly during calibration, although the coordinate values change. The ZERO button works correctly, and the servos appear to be properly aligned.
I have checked the wiring, tested the servos individually, and even swapped the P10 and P11 servos. Unfortunately, the problem remains unchanged.
Were you eventually able to solve this problem? If so, could you please tell me what caused it and how you fixed it?
I would really appreciate your help. Thank you!
你好 @andy_smith，
我看到了你在2026年5月31日发布的 PiCrawler 校准问题。我遇到了几乎完全相同的情况。
1号腿在校准时无法正常运动，虽然坐标数值会变化。ZERO 按钮工作正常，舵机的安装角度看起来也正确。
我已经检查了接线、单独测试了舵机，甚至交换了 P10 和 P11 的舵机，但问题依然存在。
请问你后来解决这个问题了吗？如果解决了，能告诉我具体原因和解决方法吗？
非常感谢你的帮助！
Thank you for the detailed description and for the troubleshooting you have already done. Please run the following test first so we can narrow down the cause:
Run the official example to check whether the overall movement works:
cd ~/picrawler/examples
sudo python3 1_move.py
Note: this example should run normally even without fine calibration. Please watch all four legs, especially the servo(s) of leg 1 — check whether any of them does not turn, stutters, makes abnormal noise, or moves in a clearly wrong direction, and send us what you observe (a short video would be ideal). This helps us tell whether it is a servo/wiring issue or a calibration issue.
About the calibration posture, please confirm: the calibration of the four legs must be done with the legs aligned to the assembly fold (sideways), not aligned to the front. If you move a leg to the front position during calibration, it goes beyond the coordinate range and the servo will turn to a hard-to-understand angle, which looks like one leg is “not responding”.
To check whether the fold is being used correctly, please take a few photos of the leg together with the assembly fold while you are calibrating (so that the alignment between the leg and the fold is clearly visible) and send them to us. We will check whether the alignment is correct.