Face With Animatronic Eyes, Motion Detection and Voice

1#include <Servo.h>
2
3const int servo1 = 2;
4const int servo2 = 3;
5const int servo3 = 5;
6const int servo4 = 6;
7const int servo5 = 9;
8
9Servo myservo1;
10Servo myservo2;
11Servo myservo3;
12Servo myservo4;
13Servo myservo5;
14
15void setup() {
16  myservo1.attach(servo1);
17  myservo2.attach(servo2);
18  myservo3.attach(servo3);
19  myservo4.attach(servo4);
20  myservo5.attach(servo5);
21
22  myservo1.write(75);  //right 60 - center 75 - left 90
23  myservo2.write(95);  //down 70 - center 95 - up 110
24  myservo3.write(50);  //close 50 - open 80
25  myservo4.write(80);  //down 110 - center 80 - up 60
26  myservo5.write(90);  //right 70 - center 90 - left 110
27  delay(2000);
28}
29
30void loop() {
31  // MOVE 1
32  myservo3.write(80);  //close 50 - open 80
33  delay(2000);
34  myservo1.write(90);   //right 60 - center 75 - left 90
35  myservo5.write(110);  //right 70 - center 90 - left 110
36  delay(1000);
37
38  // MOVE 2
39  myservo1.write(60);  //right 60 - center 75 - left 90
40  myservo5.write(70);  //right 70 - center 90 - left 110
41  delay(1000);
42
43  // MOVE 3
44  myservo1.write(90);   //right 60 - center 75 - left 90
45  myservo5.write(110);  //right 70 - center 90 - left 110
46  delay(1000);
47
48  // MOVE 4
49  myservo1.write(60);  //right 60 - center 75 - left 90
50  myservo5.write(70);  //right 70 - center 90 - left 110
51  delay(1000);
52
53  // MOVE 5
54  myservo1.write(75);  //right 60 - center 75 - left 90
55  myservo5.write(90);  //right 70 - center 90 - left 110
56  delay(1000);
57
58  // MOVE 6
59  myservo2.write(70);  //down 70 - center 95 - up 110
60  myservo4.write(110);  //down 110 - center 80 - up 60
61  delay(1000);
62
63  // MOVE 7
64  myservo2.write(110);  //down 70 - center 95 - up 110
65  myservo4.write(60);  //down 110 - center 80 - up 60
66  delay(1000);
67
68  // MOVE 8
69  myservo2.write(95);  //down 70 - center 95 - up 110
70  myservo4.write(80);  //down 110 - center 80 - up 60
71  delay(1000);
72
73  // MOVE 9
74  myservo3.write(50);  //close 50 - open 80
75  delay(2000);
76}

1#include <Servo.h>
2#include "SoftwareSerial.h"
3#include "DFRobotDFPlayerMini.h"
4
5// Servo pins
6const int servo1 = 2;
7const int servo2 = 3;
8const int servo3 = 5;
9const int servo4 = 6;
10const int servo5 = 9;
11
12// Servo objects
13Servo myservo1;
14Servo myservo2;
15Servo myservo3;
16Servo myservo4;
17Servo myservo5;
18
19// SoftwareSerial for DFPlayer
20SoftwareSerial mySoftwareSerial(10, 11);  // RX, TX
21DFRobotDFPlayerMini myDFPlayer;
22
23// PIR sensor pin
24#define SENSORPIN 7
25
26// Timers
27unsigned long previousMillis = 0;
28const long pauseTime = 2000;     // 2 seconds waiting time between steps
29bool isPlaying = false;          // Audio playback status
30bool pirEnabled = true;          // PIR sensor status
31
32void setup() {
33  mySoftwareSerial.begin(9600);
34  Serial.begin(115200);
35  pinMode(SENSORPIN, INPUT);
36
37  // Initialize servo motors
38  myservo1.attach(servo1);
39  myservo2.attach(servo2);
40  myservo3.attach(servo3);
41  myservo4.attach(servo4);
42  myservo5.attach(servo5);
43
44  // Servo start positions
45  myservo1.write(75);
46  myservo2.write(87);
47  myservo3.write(50); // Eyelids closed
48  myservo4.write(85);
49  myservo5.write(85);
50  delay(1000);
51
52  Serial.println(F("Initializing DFPlayer..."));
53
54  // Initialize MP3 module
55  if (!myDFPlayer.begin(mySoftwareSerial)) {
56    Serial.println(F("Unable to begin:"));
57    while (true);
58  }
59  Serial.println(F("DFPlayer Mini online."));
60  myDFPlayer.volume(30);  // Volume level (0 - 30)
61}
62
63void openEyes() {
64  myservo3.write(80);  // Open the eyelids
65  delay(1000);    // Wait 1 second
66}
67
68void playSound() {
69  Serial.println("DFPlayer Working...");
70  myDFPlayer.play(1);   // Play a 5-second audio file
71  delay(5000);          // Wait for audio duration
72}
73
74void moveServos() {
75  Serial.println("Moving Servos...");
76  // Left and right eye look at the upper left corner
77  myservo1.write(65);
78  myservo2.write(75);
79  myservo5.write(105);
80  myservo4.write(65);
81  delay(pauseTime);
82
83  // Left and right eye look at the lower right corner
84  myservo1.write(85);
85  myservo2.write(105);
86  myservo5.write(75);
87  myservo4.write(105);
88  delay(pauseTime);
89
90  // Eyes centered
91  myservo1.write(75);
92  myservo2.write(87);
93  myservo4.write(85);
94  myservo5.write(85);
95  delay(pauseTime);
96
97  // Eyelids close
98  myservo3.write(50);
99  delay(pauseTime);
100}
101
102void loop() {
103  int pirSensor = digitalRead(SENSORPIN);
104  
105  // If the PIR sensor is active and no action has been taken
106  if (pirSensor == HIGH && pirEnabled) {
107    pirEnabled = false;  // PIR sensor deactivated
108    openEyes();          // Eyes open
109    playSound();         // Audio file is played
110    moveServos();        // Servo movements are started
111    pirEnabled = true;   // PIR sensor reactivated
112  }
113
114  delay(50);  // A very short delay, for sensor stability
115}