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Alex posted an update 3 weeks, 4 days ago
Head fully working ! All facial movements on single PCA9685 servo board being controlled by Arduino uno. Uno is being controlled by ESp32 so now haw wifi control using telnet from PC. Also simple python GUI with buttons for ech facial control Lookleft,Lookright, jawopn/close etc. Just added second pwm board and connected neck servo. tweaked neck speed to ramp up, ramp down as it turns so no jolting. All going well, loving this project. And good progress for one months work. This is a perfect project for winter. Now onto printing the torso and shoulders !
BTW not using MRL, just running from arduino/ESp32 sketches so probably very different to what others are doing. Heres a full list of commands anf functionality I have so far:
Command Function neckleft Move neck to -50° (1425µs) — ramped neckright Move neck to +50° (2125µs) — ramped neckcenter Move neck to center (1775µs) — instant ns Neck sweep 1775 → 2125µs (6 sec, ramped) rand Start random expressions every 3 sec randblink Start natural blinking (3–5 sec intervals) randeye Start random eye saccades (10% range) randeye1 Eyes + blinks (saccade + natural blink) read Reading mode — scan 5 lines, eyes move sleep Close eyes, go to rest pose eyesc Eye center — both eyes to center lbc Left brow center rbc Right brow center lfc Left forehead center rfc Right forehead center jawc Jaw center lipc Lip center lcheekc Left cheek center rcheekc Right cheek center home/rest Full rest pose (face + neck instant center) jawopen Open jaw fully jawclose Close jaw fully jawspeak Jaw moves like speaking (4 pulses) lipup Upper lip up lipdwn Upper lip down lbup Left brow up lbdwn Left brow down rbup Right brow up rbdwn Right brow down bup Both brows up bdwn Both brows down lfup Left forehead up lfdwn Left forehead down rfup Right forehead up rfdwn Right forehead down fup Both foreheads up fdwn Both foreheads down ll Eyes look left lr Eyes look right lu Eyes look up ld Eyes look down crosseye Cross eyes blink Full blink (both eyes) lwink Left eye wink rwink Right eye wink lcheek Left cheek down rcheek Right cheek down dimple Both cheeks down (smile dimples) puff Both cheeks up (puff) happy Full happy expression sad Full sad expression angry Full angry expression surprise Full surprise expression fear Full fear expression disgust Full disgust expression wink Left eye wink smirk Right-side smirk confused Confused (one brow up, cross eyes) love Love (heart eyes + smile) sleepy Two slow blinks bored Bored (flat + eyes right) yawn Full yawn (jaw + eyes)
sX Y Face servo direct: s0 1500 → channel 0 = 1500µs n0 Y Neck direct (ramped): n0 1900 → neck to 1900µs