Positions

Shutdown -> Turn off the power for all motors, allowing to move the motor manually.
Start position -> Set the cat to the main position, where the legs are a bit bent.
Calibration position -> Set the cat to the position where it is possible to calibrate the motors.
All motors 90 degrees -> Set all the motors of the cat to 90 degrees each.
Straight legs -> Set all the motors of the legs, in such a way where all the legs are straight and perpendicular to the terrain.
Tail sit -> Set the cat in a position where it sits on tail and back legs.
Sit -> Set the cat in a position where the cat sits only on back legs.