To fix a mistake inside Otto9Humanoid.cpp

locate the file in the OttoDIY library folder and open it with a "plain text" editor as notepad (not with the Arduino IDE). Find the functionvoid Otto9Humanoid::handwave(int dir)

and replace it with the attached code. It fixes the displacement of 'LEFT' and 'RIGHT' and makes both sides waving the same way.

void Otto9Humanoid::handwave(int dir){
//-- Wave , either left or right
//-- 
 if(dir==LEFT)      
  {
  
  int A[6]= {0, 0, 0, 0, 30, 0}; // left hand wave
  int O[6] = {0, 0, 0, 0, 30, 40};
  double phase_diff[6] = {0, 0, 0, 0, DEG2RAD(0),0};
    //-- Let's oscillate the servos!
  _execute(A, O, 500, phase_diff, 5); 
  }
  if(dir==RIGHT)      
  {
  
  int A[6]= {0, 0, 0, 0, 0, 30}; // right hand wave
  int O[6] = {0, 0, 0, 0, -40, -30};
  double phase_diff[6] = {0, 0, 0, 0, 0, DEG2RAD(0)};
    //-- Let's oscillate the servos!
  _execute(A, O, 500, phase_diff, 5); 
  }  
}