Finally figured out Platformio! Apparently I had to include upload_port = COM3 and upload_speed = 115200 in the Platformio.ini file, and then type the code I wanted to upload into main.cpp…oops (took a long time for me to figure that out…)! That was my fault. I made progress with the robot dog, though––I had to manually figure out which PWM signals signified 0-180 degrees for each servo. This process included unscrewing the servos, testing minimum and maximum PWM values, then screwing them back in. But I’m very happy with the result, and I can start implementing the inverse kinematics!