====== Marty not Walking Properly ======

**There are a few reasons why Marty might not be walking properly**

===== Ensure Marty is on a firm, level surface =====

Marty will walk best on a hard surface such as a solid floor or table top, and will struggle with things like carpet and slopes

For best results, and especially while calibrating Marty's legs and testing the walk, ensure that you're using Marty on a flat, firm surface

===== Calibrate Marty's legs =====

**His legs may need recalibrating.**

Open the [[https://robotical.app/|Robotical App]], select the robot settings in the bottom left.

{{:martyv2:userguides:sensorsandaddons:calibrate-location-in-app.png?nolink&1200|}} 

From there select **Calibrate**, then **Leg Calibration**. Follow the on-screen instructions to position Marty's legs correctly, save the calibration and then test his walking.

===== Check the leg motor links are still engaged =====

Sometimes if Marty has a big fall, the drive links will become disengaged on the legs. There are two motors this could happen to on each leg, one at the top of the leg at the back, and one in the knee

{{ :martyv2:support_faqs:hardware:servohornconnection.png?nolink |}}

There is a little black plastic part that transfers drive from the servo motors to the leg links.
Ensure that all four of these (two on each leg) are fully engaged with the leg links, as shown in the picture above

**If any parts appear broken or damaged, contact support@robotical.io before attempting a repair.**

===== Marty might fall over if you've asked it to walk too fast! =====

Marty has their limits, and you will be able to program Marty to walk so fast that it might fall over. That's not a bug but just something that happens with walking robots!

Check out some funny clips [[https://www.youtube.com/watch?v=g0TaYhjpOfo|here]] of robots falling over!



===== Contact Support =====

If your Marty is still not walking properly, or you're seeing any error messages in the app, please contact support@robotical.io and we'll be in touch asap. Please include a video of your Marty trying to walk, to help us debug what the issue may be

All Martys are covered by a full 2 year warranty as standard, which covers any breakages