ok i found a french post on robotshop talking about the min/max angles/mechaical limits, what im reading is what i said above but checkout this bit of code.......
//[MIN/MAX ANGLES]
#define cRRCoxaMin1 -650 //Mechanical limits of the Right Rear Leg
#define cRRCoxaMax1 650
#define cRRFemurMin1 -1050
#define cRRFemurMax1 750
#define cRRTibiaMin1 -530
#define cRRTibiaMax1 900
#define cRRTarsMin1 -1300 //4DOF ONLY - In theory the kinematics can reach about -160 deg
#define cRRTarsMax1 500 //4DOF ONLY - The kinematics will never exceed 23 deg though..
#define cRMCoxaMin1 -650 //Mechanical limits of the Right Middle Leg
#define cRMCoxaMax1 650
#define cRMFemurMin1 -1050
#define cRMFemurMax1 750
#define cRMTibiaMin1 -530
#define cRMTibiaMax1 900
#define cRMTarsMin1 -1300 //4DOF ONLY - In theory the kinematics can reach about -160 deg
#define cRMTarsMax1 500 //4DOF ONLY - The kinematics will never exceed 23 deg though..
#define cRFCoxaMin1 -650 //Mechanical limits of the Right Front Leg
#define cRFCoxaMax1 650
#define cRFFemurMin1 -1050
#define cRFFemurMax1 750
#define cRFTibiaMin1 -530
#define cRFTibiaMax1 900
#define cRFTarsMin1 -1300 //4DOF ONLY - In theory the kinematics can reach about -160 deg
#define cRFTarsMax1 500 //4DOF ONLY - The kinematics will never exceed 23 deg though..
#define cLRCoxaMin1 -650 //Mechanical limits of the Left Rear Leg
#define cLRCoxaMax1 650
#define cLRFemurMin1 -1050
#define cLRFemurMax1 750
#define cLRTibiaMin1 -530
#define cLRTibiaMax1 900
#define cLRTarsMin1 -1300 //4DOF ONLY - In theory the kinematics can reach about -160 deg
#define cLRTarsMax1 500 //4DOF ONLY - The kinematics will never exceed 23 deg though..
#define cLMCoxaMin1 -650 //Mechanical limits of the Left Middle Leg
#define cLMCoxaMax1 650
#define cLMFemurMin1 -1050
#define cLMFemurMax1 750
#define cLMTibiaMin1 -530
#define cLMTibiaMax1 900
#define cLMTarsMin1 -1300 //4DOF ONLY - In theory the kinematics can reach about -160 deg
#define cLMTarsMax1 500 //4DOF ONLY - The kinematics will never exceed 23 deg though..
#define cLFCoxaMin1 -650 //Mechanical limits of the Left Front Leg
#define cLFCoxaMax1 650
#define cLFFemurMin1 -1050
#define cLFFemurMax1 750
#define cLFTibiaMin1 -530
#define cLFTibiaMax1 900
#define cLFTarsMin1 -1300 //4DOF ONLY - In theory the kinematics can reach about -160 deg
#define cLFTarsMax1 500 //4DOF ONLY - The kinematics will never exceed 23 deg though..
ok the numbers are in degrees from neutral position for example crrcoxamin and crrcoxamax are 650 and -650 so 65* forward and 65*reverse.
now take a look at Crrfemurmin and max. they are set at -105* and +75*. My servos cant move 105* from neutral. and if the bot is moving at full stride you can see how this mess with bots logic and cause it to over compensate.
does sound right?