Meet Project R: The Sassy, Grumpy Desk Bot I Accidentally Built

It all started, as most great projects do, with a bit of a cock-up. My 3D printer was acting up, and I had a dusty old Elegoo Arduino Uno R3 kit lying about. I needed some test prints, and somehow, instead of a boring calibration cube, I ended up with Project R – a hilariously grumpy mini companion bot with a proper attitude.

Born from leftover parts and a printing mishap, this little fella is now a full-blown diva on my desk.

The Bits and Bobs: What Makes R Tick?

Project R might look like a simple bundle of wires and plastic, but it's packed with personality. Here’s the lowdown on the hardware that gives it life:

Judgemental Eyes: An ultrasonic sensor mounted on a 9g servo lets it scan the room, turning its head like a curious (and slightly disapproving) little owl.

Expressive Arms: Its left arm waves thanks to a powerful little stepper motor, while the right arm, powered by another servo, is perfect for a cheeky wiggle or a full-on tantrum.

A Face Full of Sass: A glorious 8x8 LED matrix on its chest displays messages and a whole range of emoji-like faces, from 'curious' to 'thoroughly unimpressed'.

The Voice of an Angel (sort of): A simple buzzer provides the beeps, boops, and dramatic sound effects for its many moods.

The Brains of the Beast: How It Thinks

This is where the real magic happens. R isn't just running random animations. It feels. It sees. And it definitely judges.

Using its ultrasonic sensor, it knows how close you are. And it doesn't just see you; it times you. Stand in front of it for two seconds, and you might get a friendly wave. Linger for ten seconds, and it might get a bit too familiar and share some gossip.

The best part? If you ignore it for too long, it gets bored. After a minute of being left alone, it'll start sighing, drooping its head, and displaying bored faces, complete with sleepy "ZZZ" sounds. With over 160 unique, pre-programmed reactions combining messages, emojis, movements, and sounds, you never quite know what you're going to get. It’s less of a desk toy and more of a tiny, moody flatmate.

For my fellow tech heads who want to see the madness behind the method, here's the full Arduino sketch that brings this little legend to life.

#include <LedControl.h>

#include <Stepper.h>

#include <Servo.h>

#include <avr/pgmspace.h>

// Pin definitions

const int DIN = 11; // LED Matrix DIN

const int CS = 12; // LED Matrix CS

const int CLK = 13; // LED Matrix CLK

const int STEPPER_IN1 = 10; // Left Arm Stepper

const int STEPPER_IN2 = 9;

const int STEPPER_IN3 = 7;

const int STEPPER_IN4 = 8;

const int ECHO = 5; // Ultrasonic Sensor Echo

const int TRIG = 6; // Ultrasonic Sensor Trig

const int SERVO_RIGHT_ARM = 4; // Right Arm Servo

const int BUZZER = 3; // Buzzer

const int SERVO_HEAD = 2; // Head Servo

// Component objects

LedControl lc = LedControl(DIN, CLK, CS, 1);

Stepper leftArmStepper = Stepper(2048, STEPPER_IN1, STEPPER_IN3, STEPPER_IN2, STEPPER_IN4);

Servo rightArmServo;

Servo headServo;

// 8x8 font (A-Z, space), row-major, MSB left

const byte font[27][8] PROGMEM = {

{0x00, 0x38, 0x44, 0x44, 0x7C, 0x44, 0x44, 0x00}, // A

{0x00, 0x7C, 0x44, 0x44, 0x78, 0x44, 0x7C, 0x00}, // B

{0x00, 0x7C, 0x40, 0x40, 0x40, 0x40, 0x7C, 0x00}, // C

{0x00, 0x78, 0x44, 0x44, 0x44, 0x44, 0x78, 0x00}, // D

{0x00, 0x7C, 0x40, 0x7C, 0x40, 0x40, 0x7C, 0x00}, // E

{0x00, 0x7C, 0x40, 0x7C, 0x40, 0x40, 0x40, 0x00}, // F

{0x00, 0x7C, 0x40, 0x40, 0x4C, 0x44, 0x7C, 0x00}, // G

{0x00, 0x44, 0x44, 0x7C, 0x44, 0x44, 0x44, 0x00}, // H

{0x00, 0x7C, 0x10, 0x10, 0x10, 0x10, 0x7C, 0x00}, // I

{0x00, 0x04, 0x04, 0x04, 0x04, 0x44, 0x7C, 0x00}, // J

{0x00, 0x44, 0x48, 0x70, 0x48, 0x44, 0x44, 0x00}, // K

{0x00, 0x40, 0x40, 0x40, 0x40, 0x40, 0x7C, 0x00}, // L

{0x00, 0x44, 0x6C, 0x54, 0x44, 0x44, 0x44, 0x00}, // M

{0x00, 0x44, 0x64, 0x54, 0x4C, 0x44, 0x44, 0x00}, // N

{0x00, 0x7C, 0x44, 0x44, 0x44, 0x44, 0x7C, 0x00}, // O

{0x00, 0x7C, 0x44, 0x44, 0x7C, 0x40, 0x40, 0x00}, // P

{0x00, 0x7C, 0x44, 0x44, 0x4C, 0x48, 0x7C, 0x00}, // Q

{0x00, 0x7C, 0x44, 0x44, 0x78, 0x44, 0x44, 0x00}, // R

{0x00, 0x7C, 0x40, 0x7C, 0x04, 0x04, 0x7C, 0x00}, // S

{0x00, 0x7C, 0x10, 0x10, 0x10, 0x10, 0x10, 0x00}, // T

{0x00, 0x44, 0x44, 0x44, 0x44, 0x44, 0x7C, 0x00}, // U

{0x00, 0x44, 0x44, 0x44, 0x44, 0x28, 0x10, 0x00}, // V

{0x00, 0x44, 0x44, 0x54, 0x54, 0x6C, 0x44, 0x00}, // W

{0x00, 0x44, 0x28, 0x10, 0x28, 0x44, 0x44, 0x00}, // X

{0x00, 0x44, 0x28, 0x10, 0x10, 0x10, 0x10, 0x00}, // Y

{0x00, 0x7C, 0x08, 0x10, 0x20, 0x40, 0x7C, 0x00}, // Z

{0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00} // Space

};

// Emojis (10 total)

const byte smiley[] PROGMEM = {0x00, 0x66, 0x66, 0x00, 0x81, 0x42, 0x3C, 0x00};

const byte happy[] PROGMEM = {0x00, 0x66, 0x66, 0x00, 0x7E, 0x42, 0x3C, 0x00};

const byte curious[] PROGMEM = {0x00, 0x30, 0x66, 0x00, 0x81, 0x42, 0x3C, 0x00};

const byte surprised[] PROGMEM = {0x00, 0x66, 0x66, 0x00, 0x3C, 0x42, 0x3C, 0x00};

const byte wink[] PROGMEM = {0x00, 0x30, 0x66, 0x00, 0x81, 0x42, 0x3C, 0x00};

const byte excited[] PROGMEM = {0x00, 0x66, 0x66, 0x18, 0x7E, 0x42, 0x3C, 0x00};

const byte confused[] PROGMEM = {0x00, 0x30, 0x66, 0x00, 0x5A, 0x42, 0x24, 0x00};

const byte bored[] PROGMEM = {0x00, 0x60, 0x60, 0x00, 0xFF, 0x00, 0x00, 0x00};

const byte cheeky[] PROGMEM = {0x00, 0x66, 0x06, 0x00, 0x81, 0x42, 0x3C, 0x00};

const byte cool[] PROGMEM = {0x00, 0x66, 0x66, 0x00, 0x7E, 0x24, 0x18, 0x00};

// Messages (80 total)

const char string_0[] PROGMEM = "HI";

const char string_1[] PROGMEM = "I AM R";

const char string_2[] PROGMEM = "WHAZ UP";

const char string_3[] PROGMEM = "HOW ARE YOU";

const char string_4[] PROGMEM = "YO DUDE";

const char string_5[] PROGMEM = "SUP BRO";

const char string_6[] PROGMEM = "CHILLIN";

const char string_7[] PROGMEM = "SEE YA";

const char string_8[] PROGMEM = "COOL VIBES";

const char string_9[] PROGMEM = "HANG OUT";

const char string_10[] PROGMEM = "PEACE OUT";

const char string_11[] PROGMEM = "HEY THERE";

const char string_12[] PROGMEM = "WHAT NOW";

const char string_13[] PROGMEM = "LETZ TALK";

const char string_14[] PROGMEM = "YO WHATS GOOD";

const char string_15[] PROGMEM = "HUDAIR MADE ME";

const char string_16[] PROGMEM = "FROM SHEFFIELD";

const char string_17[] PROGMEM = "AMRC ROCKS";

const char string_18[] PROGMEM = "STILL IN BETA";

const char string_19[] PROGMEM = "PAKISTANI VIBES";

const char string_20[] PROGMEM = "OI MATE IM R";

const char string_21[] PROGMEM = "2025 BABY";

const char string_22[] PROGMEM = "R IS HERE";

const char string_23[] PROGMEM = "SHEFFIELD LADS";

const char string_24[] PROGMEM = "AMRC CREATION";

const char string_25[] PROGMEM = "HUDAIR IS BOSS";

const char string_26[] PROGMEM = "IM A BOT";

const char string_27[] PROGMEM = "BEEP BOOP";

const char string_28[] PROGMEM = "DESK BUDDY R";

const char string_29[] PROGMEM = "LOVE FROM PAK";

const char string_30[] PROGMEM = "R CHILLS";

const char string_31[] PROGMEM = "HUDI MY DUDE";

const char string_32[] PROGMEM = "PAK POWER";

const char string_33[] PROGMEM = "SHEFF VIBES";

const char string_34[] PROGMEM = "AMRC 2025";

const char string_35[] PROGMEM = "R IN BETA";

const char string_36[] PROGMEM = "YO HUDAIR";

const char string_37[] PROGMEM = "BOT LIFE";

const char string_38[] PROGMEM = "BEEP BEEP";

const char string_39[] PROGMEM = "R ROCKS";

const char string_40[] PROGMEM = "PAKISTAN ZINDABAD";

const char string_41[] PROGMEM = "SHEFFIELD LOVE";

const char string_42[] PROGMEM = "AMRC MATE";

const char string_43[] PROGMEM = "BETA BOT";

const char string_44[] PROGMEM = "HUDI ROCKS";

const char string_45[] PROGMEM = "R IS COOL";

const char string_46[] PROGMEM = "2025 RULZ";

const char string_47[] PROGMEM = "DESK PAL";

const char string_48[] PROGMEM = "OI OI R";

const char string_49[] PROGMEM = "PAK PRIDE";

const char string_50[] PROGMEM = "SHEFF BOT";

const char string_51[] PROGMEM = "AMRC STAR";

const char string_52[] PROGMEM = "R SAYS HI";

const char string_53[] PROGMEM = "BETA VIBES";

const char string_54[] PROGMEM = "HUDI BOSS";

const char string_55[] PROGMEM = "BOT BUDDY";

const char string_56[] PROGMEM = "R SEES YOU";

const char string_57[] PROGMEM = "SHEFF 2025";

const char string_58[] PROGMEM = "AMRC COOL";

const char string_59[] PROGMEM = "R IS FUN";

const char string_60[] PROGMEM = "R CHILLIN";

const char string_61[] PROGMEM = "HUDI VIBES";

const char string_62[] PROGMEM = "PAK BOT";

const char string_63[] PROGMEM = "SHEFF STAR";

const char string_64[] PROGMEM = "AMRC BUD";

const char string_65[] PROGMEM = "R IN 2025";

const char string_66[] PROGMEM = "BETA PAL";

const char string_67[] PROGMEM = "HUDI STAR";

const char string_68[] PROGMEM = "BOT VIBES";

const char string_69[] PROGMEM = "R IS READY";

const char string_70[] PROGMEM = "SHEFF RULZ";

const char string_71[] PROGMEM = "AMRC LOVE";

const char string_72[] PROGMEM = "R SAYS YO";

const char string_73[] PROGMEM = "PAK COOL";

const char string_74[] PROGMEM = "HUDI COOL";

const char string_75[] PROGMEM = "R IS BOSS";

const char string_76[] PROGMEM = "AMRC PAL";

const char string_77[] PROGMEM = "SHEFF COOL";

const char string_78[] PROGMEM = "R LOVES PAK";

const char string_79[] PROGMEM = "SO BORED";

const char string_80[] PROGMEM = "WHAT NOW";

const char string_81[] PROGMEM = "NEED ACTION";

const char string_82[] PROGMEM = "OI MATE";

const char string_83[] PROGMEM = "ZZZ SNORE";

const char string_84[] PROGMEM = "WAKE ME R";

const char string_85[] PROGMEM = "SO DULL";

const char string_86[] PROGMEM = "BORED BOT";

const char string_87[] PROGMEM = "R YAWNS";

const char string_88[] PROGMEM = "NEED FUN";

const char string_89[] PROGMEM = "SNOOZE TIME";

const char string_90[] PROGMEM = "R IS SLEEPY";

const char string_91[] PROGMEM = "WHAT TO DO";

const char string_92[] PROGMEM = "Z Z Z";

const char string_93[] PROGMEM = "R NAPS";

const char string_94[] PROGMEM = "TOO QUIET";

const char string_95[] PROGMEM = "WAKE UP MATE";

const char string_96[] PROGMEM = "BORED R";

const char string_97[] PROGMEM = "R SNOOZES";

const char string_98[] PROGMEM = "GIMME ACTION";

const char string_99[] PROGMEM = "SLEEPY BOT";

const char string_100[] PROGMEM = "R IS OUT";

const char string_101[] PROGMEM = "NO FUN HERE";

const char string_102[] PROGMEM = "R ZZZ";

const char string_103[] PROGMEM = "SNORE BOT";

const char string_104[] PROGMEM = "R IS BORED";

const char string_105[] PROGMEM = "NEED VIBES";

const char string_106[] PROGMEM = "SLEEPY R";

const char string_107[] PROGMEM = "R WANTS FUN";

const char string_108[] PROGMEM = "ZZZ BOT";

const char string_109[] PROGMEM = "R IS ZZZ";

const char string_110[] PROGMEM = "BORED 2025";

const char string_111[] PROGMEM = "R NEEDS YOU";

const char string_112[] PROGMEM = "SNOOZE BOT";

const char string_113[] PROGMEM = "R SAYS ZZZ";

const char string_114[] PROGMEM = "NO ACTION";

const char string_115[] PROGMEM = "R IS DULL";

const char string_116[] PROGMEM = "SLEEPY 2025";

const char string_117[] PROGMEM = "R WANTS AMRC";

const char string_118[] PROGMEM = "BORED PAL";

const char string_119[] PROGMEM = "R NEEDS PAK";

const char string_120[] PROGMEM = "SNORE 2025";

const char string_121[] PROGMEM = "R IS SNOOZING";

const char string_122[] PROGMEM = "NO VIBES";

const char string_123[] PROGMEM = "R WANTS SHEFF";

const char string_124[] PROGMEM = "BORED BETA";

const char string_125[] PROGMEM = "R NEEDS HUDI";

const char string_126[] PROGMEM = "SLEEPY PAL";

const char string_127[] PROGMEM = "R WANTS ACTION";

const char string_128[] PROGMEM = "ZZZ 2025";

const char string_129[] PROGMEM = "R IS NAPPING";

const char string_130[] PROGMEM = "BORED AMRC";

const char string_131[] PROGMEM = "R NEEDS VIBES";

const char string_132[] PROGMEM = "SNOOZE PAL";

const char* const messages_table[] PROGMEM = {

string_0, string_1, string_2, string_3, string_4, string_5, string_6, string_7, string_8, string_9, string_10,

string_11, string_12, string_13, string_14, string_15, string_16, string_17, string_18, string_19, string_20,

string_21, string_22, string_23, string_24, string_25, string_26, string_27, string_28, string_29, string_30,

string_31, string_32, string_33, string_34, string_35, string_36, string_37, string_38, string_39, string_40,

string_41, string_42, string_43, string_44, string_45, string_46, string_47, string_48, string_49, string_50,

string_51, string_52, string_53, string_54, string_55, string_56, string_57, string_58, string_59, string_60,

string_61, string_62, string_63, string_64, string_65, string_66, string_67, string_68, string_69, string_70,

string_71, string_72, string_73, string_74, string_75, string_76, string_77, string_78, string_79, string_80,

string_81, string_82, string_83, string_84, string_85, string_86, string_87, string_88, string_89, string_90,

string_91, string_92, string_93, string_94, string_95, string_96, string_97, string_98, string_99, string_100,

string_101, string_102, string_103, string_104, string_105, string_106, string_107, string_108, string_109, string_110,

string_111, string_112, string_113, string_114, string_115, string_116, string_117, string_118, string_119, string_120,

string_121, string_122, string_123, string_124, string_125, string_126, string_127, string_128, string_129, string_130,

string_131, string_132

};

// Sound definitions (8 total)

const int greetingMelody[] PROGMEM = {1000, 1200};

const int greetingDurations[] PROGMEM = {200, 200};

const int happyMelody[] PROGMEM = {1000, 1200, 1400};

const int happyDurations[] PROGMEM = {150, 150, 150};

const int curiousMelody[] PROGMEM = {600, 800};

const int curiousDurations[] PROGMEM = {100, 100};

const int excitedMelody[] PROGMEM = {1200, 1400, 1600};

const int excitedDurations[] PROGMEM = {100, 100, 100};

const int winkMelody[] PROGMEM = {900, 1100};

const int winkDurations[] PROGMEM = {150, 150};

const int chuckleMelody[] PROGMEM = {600, 700, 600};

const int chuckleDurations[] PROGMEM = {100, 100, 100};

const int alertMelody[] PROGMEM = {800, 1000, 800};

const int alertDurations[] PROGMEM = {100, 100, 100};

const int boredMelody[] PROGMEM = {400, 300};

const int boredDurations[] PROGMEM = {300, 300};

// Function prototypes for movement functions

void waveLeftArm();

void nodHead();

void shakeHead();

void doubleWave();

void headSpin();

void armWiggle();

void headTiltLeft();

void headTiltRight();

void headTiltRandom();

void headDroop();

void headWobble();

void armTwitch();

// Reaction struct

struct Reaction {

const char* message;

const byte* emoji;

void (*movement)();

const int* melody;

const int* durations;

int length;

};

// Reactions (48 detection + 58 idle + 54 bored = 160 total)

const Reaction reactions[] PROGMEM = {

// Close (<10 cm): Quick (0-2s)

{string_0, curious, headTiltLeft, curiousMelody, curiousDurations, 2},

{string_1, surprised, shakeHead, alertMelody, alertDurations, 3},

{string_2, wink, nodHead, winkMelody, winkDurations, 2},

{string_3, excited, armWiggle, excitedMelody, excitedDurations, 3},

// Close: Medium (2-5s)

{string_4, curious, waveLeftArm, curiousMelody, curiousDurations, 2},

{string_5, cheeky, doubleWave, chuckleMelody, chuckleDurations, 3},

{string_6, happy, headSpin, happyMelody, happyDurations, 3},

{string_7, cool, headTiltRight, alertMelody, alertDurations, 3},

// Close: Long (5-10s)

{string_8, smiley, waveLeftArm, greetingMelody, greetingDurations, 2},

{string_9, happy, doubleWave, happyMelody, happyDurations, 3},

{string_10, excited, armWiggle, excitedMelody, excitedDurations, 3},

{string_11, cool, headSpin, alertMelody, alertDurations, 3},

// Close: Extra (>10s)

{string_12, excited, doubleWave, excitedMelody, excitedDurations, 3},

{string_13, cheeky, headTiltLeft, chuckleMelody, chuckleDurations, 3},

{string_14, smiley, nodHead, greetingMelody, greetingDurations, 2},

{string_15, cool, headSpin, excitedMelody, excitedDurations, 3},

// Mid (10-20 cm): Quick (0-2s)

{string_16, happy, headTiltRight, happyMelody, happyDurations, 3},

{string_17, curious, nodHead, curiousMelody, curiousDurations, 2},

{string_18, wink, headTiltLeft, winkMelody, winkDurations, 2},

{string_19, excited, armWiggle, excitedMelody, excitedDurations, 3},

// Mid: Medium (2-5s)

{string_20, smiley, nodHead, happyMelody, happyDurations, 3},

{string_21, excited, waveLeftArm, excitedMelody, excitedDurations, 3},

{string_22, cool, headSpin, alertMelody, alertDurations, 3},

{string_23, happy, doubleWave, happyMelody, happyDurations, 3},

// Mid: Long (5-10s)

{string_24, happy, waveLeftArm, happyMelody, happyDurations, 3},

{string_25, smiley, nodHead, greetingMelody, greetingDurations, 2},

{string_26, excited, armWiggle, excitedMelody, excitedDurations, 3},

{string_27, curious, headTiltRight, curiousMelody, curiousDurations, 2},

// Mid: Extra (>10s)

{string_28, wink, nodHead, winkMelody, winkDurations, 2},

{string_29, cool, headSpin, excitedMelody, excitedDurations, 3},

{string_30, happy, doubleWave, happyMelody, happyDurations, 3},

{string_31, cheeky, headTiltLeft, chuckleMelody, chuckleDurations, 3},

// Far (20-30 cm): Quick (0-2s)

{string_32, smiley, waveLeftArm, greetingMelody, greetingDurations, 2},

{string_33, curious, headTiltRight, curiousMelody, curiousDurations, 2},

{string_34, excited, armWiggle, excitedMelody, excitedDurations, 3},

{string_35, happy, nodHead, happyMelody, happyDurations, 3},

// Far: Medium (2-5s)

{string_36, happy, nodHead, happyMelody, happyDurations, 3},

{string_37, cool, waveLeftArm, excitedMelody, excitedDurations, 3},

{string_38, wink, headTiltLeft, winkMelody, winkDurations, 2},

{string_39, smiley, doubleWave, happyMelody, happyDurations, 3},

// Far: Long (5-10s)

{string_40, excited, doubleWave, excitedMelody, excitedDurations, 3},

{string_41, wink, headSpin, winkMelody, winkDurations, 2},

{string_42, happy, waveLeftArm, happyMelody, happyDurations, 3},

{string_43, smiley, nodHead, greetingMelody, greetingDurations, 2},

// Far: Extra (>10s)

{string_44, excited, doubleWave, excitedMelody, excitedDurations, 3},

{string_45, happy, waveLeftArm, happyMelody, happyDurations, 3},

{string_46, cheeky, headTiltRight, chuckleMelody, chuckleDurations, 3},

{string_47, cool, headSpin, excitedMelody, excitedDurations, 3},

// Idle (no detection, >5s, 58 total)

{string_48, cool, headTiltRandom, chuckleMelody, chuckleDurations, 3},

{string_49, smiley, armWiggle, happyMelody, happyDurations, 3},

{string_50, happy, doubleWave, happyMelody, happyDurations, 3},

{string_51, smiley, nodHead, greetingMelody, greetingDurations, 2},

{string_52, excited, waveLeftArm, excitedMelody, excitedDurations, 3},

{string_53, curious, headTiltLeft, curiousMelody, curiousDurations, 2},

{string_54, cheeky, headSpin, chuckleMelody, chuckleDurations, 3},

{string_55, cool, armWiggle, excitedMelody, excitedDurations, 3},

{string_56, happy, nodHead, happyMelody, happyDurations, 3},

{string_57, smiley, waveLeftArm, greetingMelody, greetingDurations, 2},

{string_58, excited, doubleWave, excitedMelody, excitedDurations, 3},

{string_59, cool, headSpin, excitedMelody, excitedDurations, 3},

{string_60, happy, armWiggle, happyMelody, happyDurations, 3},

{string_61, curious, headTiltLeft, curiousMelody, curiousDurations, 2},

{string_62, smiley, nodHead, greetingMelody, greetingDurations, 2},

{string_63, cheeky, headWobble, chuckleMelody, chuckleDurations, 3},

{string_64, cool, armTwitch, excitedMelody, excitedDurations, 3},

{string_65, excited, doubleWave, happyMelody, happyDurations, 3},

{string_66, happy, waveLeftArm, happyMelody, happyDurations, 3},

{string_67, smiley, headSpin, greetingMelody, greetingDurations, 2},

{string_68, cool, armWiggle, excitedMelody, excitedDurations, 3},

{string_69, curious, headTiltRight, curiousMelody, curiousDurations, 2},

{string_70, happy, nodHead, happyMelody, happyDurations, 3},

{string_71, cool, headWobble, excitedMelody, excitedDurations, 3},

{string_72, excited, doubleWave, excitedMelody, excitedDurations, 3},

{string_73, smiley, waveLeftArm, greetingMelody, greetingDurations, 2},

{string_74, cheeky, headSpin, chuckleMelody, chuckleDurations, 3},

{string_75, happy, armTwitch, happyMelody, happyDurations, 3},

{string_76, cool, headTiltLeft, excitedMelody, excitedDurations, 3},

{string_77, excited, doubleWave, happyMelody, happyDurations, 3},

{string_78, smiley, nodHead, greetingMelody, greetingDurations, 2},

{string_79, curious, headWobble, curiousMelody, curiousDurations, 2},

{string_80, happy, waveLeftArm, happyMelody, happyDurations, 3},

{string_81, cheeky, armTwitch, chuckleMelody, chuckleDurations, 3},

{string_82, cool, headTiltRight, excitedMelody, excitedDurations, 3},

{string_83, happy, doubleWave, happyMelody, happyDurations, 3},

{string_84, excited, headSpin, excitedMelody, excitedDurations, 3},

{string_85, smiley, nodHead, greetingMelody, greetingDurations, 2},

{string_86, happy, armWiggle, happyMelody, happyDurations, 3},

{string_87, cool, headWobble, excitedMelody, excitedDurations, 3},

{string_88, cheeky, armTwitch, chuckleMelody, chuckleDurations, 3},

{string_89, happy, waveLeftArm, happyMelody, happyDurations, 3},

{string_90, excited, doubleWave, excitedMelody, excitedDurations, 3},

{string_91, cool, headSpin, excitedMelody, excitedDurations, 3},

{string_92, curious, headTiltLeft, curiousMelody, curiousDurations, 2},

{string_93, smiley, nodHead, greetingMelody, greetingDurations, 2},

{string_94, cheeky, armWiggle, chuckleMelody, chuckleDurations, 3},

{string_95, happy, waveLeftArm, happyMelody, happyDurations, 3},

{string_96, cool, headWobble, excitedMelody, excitedDurations, 3},

{string_97, excited, doubleWave, excitedMelody, excitedDurations, 3},

{string_98, smiley, nodHead, greetingMelody, greetingDurations, 2},

{string_99, happy, armTwitch, happyMelody, happyDurations, 3},

{string_100, cool, headSpin, excitedMelody, excitedDurations, 3},

{string_101, excited, waveLeftArm, excitedMelody, excitedDurations, 3},

{string_102, happy, headTiltRight, happyMelody, happyDurations, 3},

{string_103, smiley, armWiggle, greetingMelody, greetingDurations, 2},

{string_104, cheeky, headWobble, chuckleMelody, chuckleDurations, 3},

// Bored (no detection, >60s, 54 total)

{string_105, bored, headDroop, boredMelody, boredDurations, 2},

{string_106, confused, shakeHead, curiousMelody, curiousDurations, 2},

{string_107, curious, headTiltRight, curiousMelody, curiousDurations, 2},

{string_108, cheeky, headSpin, chuckleMelody, chuckleDurations, 3},

{string_109, bored, headDroop, boredMelody, boredDurations, 2},

{string_110, confused, headTiltLeft, curiousMelody, curiousDurations, 2},

{string_111, bored, headWobble, boredMelody, boredDurations, 2},

{string_112, curious, shakeHead, curiousMelody, curiousDurations, 2},

{string_113, bored, headDroop, boredMelody, boredDurations, 2},

{string_114, confused, headTiltRight, curiousMelody, curiousDurations, 2},

{string_115, bored, headWobble, boredMelody, boredDurations, 2},

{string_116, curious, headDroop, curiousMelody, curiousDurations, 2},

{string_117, confused, shakeHead, curiousMelody, curiousDurations, 2},

{string_118, bored, headDroop, boredMelody, boredDurations, 2},

{string_119, bored, headWobble, boredMelody, boredDurations, 2},

{string_120, confused, headTiltLeft, curiousMelody, curiousDurations, 2},

{string_121, curious, shakeHead, curiousMelody, curiousDurations, 2},

{string_122, bored, headDroop, boredMelody, boredDurations, 2},

{string_123, bored, headWobble, boredMelody, boredDurations, 2},

{string_124, confused, headTiltRight, curiousMelody, curiousDurations, 2},

{string_125, bored, headDroop, boredMelody, boredDurations, 2},

{string_126, curious, shakeHead, curiousMelody, curiousDurations, 2},

{string_127, bored, headWobble, boredMelody, boredDurations, 2},

{string_128, bored, headDroop, boredMelody, boredDurations, 2},

{string_129, confused, headTiltLeft, curiousMelody, curiousDurations, 2},

{string_130, bored, headWobble, boredMelody, boredDurations, 2},

{string_131, curious, shakeHead, curiousMelody, curiousDurations, 2},

{string_132, bored, headDroop, boredMelody, boredDurations, 2},

};

// State and timing

bool isDetecting = false;

unsigned long detectionStartTime = 0;

unsigned long lastActionTime = 0;

void setup() {

// Initialize components

lc.shutdown(0, false);

lc.setIntensity(0, 8);

lc.clearDisplay(0);

leftArmStepper.setSpeed(10);

rightArmServo.attach(SERVO_RIGHT_ARM);

headServo.attach(SERVO_HEAD);

moveRightArm(90);

moveHead(90);

pinMode(BUZZER, OUTPUT);

pinMode(TRIG, OUTPUT);

pinMode(ECHO, INPUT);

// Debug: Display static 'R' for 3 seconds

for (int i = 0; i < 8; i++) {

lc.setRow(0, i, pgm_read_byte(&font[17][i]));

}

delay(3000);

lc.clearDisplay(0);

// Debug: Display "HI" one character at a time

displayChar('H');

delay(500);

displayChar('I');

delay(500);

displayFace(smiley);

delay(1000);

lc.clearDisplay(0);

// Startup: Display "I AM R"

scrollMessage_P(string_1, happy);

playTune_P(greetingMelody, greetingDurations, 2);

}

void loop() {

long distance = getDistance();

if (distance < 30 && distance > 0) {

if (!isDetecting) {

isDetecting = true;

detectionStartTime = millis();

}

unsigned long duration = millis() - detectionStartTime;

int reactionIdx = -1;

if (distance < 10) {

if (duration < 2000) reactionIdx = random(0, 4); // Close: Quick

else if (duration < 5000) reactionIdx = random(4, 8); // Close: Medium

else if (duration < 10000) reactionIdx = random(8, 12); // Close: Long

else reactionIdx = random(12, 16); // Close: Extra

} else if (distance < 20) {

if (duration < 2000) reactionIdx = random(16, 20); // Mid: Quick

else if (duration < 5000) reactionIdx = random(20, 24); // Mid: Medium

else if (duration < 10000) reactionIdx = random(24, 28); // Mid: Long

else reactionIdx = random(28, 32); // Mid: Extra

} else {

if (duration < 2000) reactionIdx = random(32, 36); // Far: Quick

else if (duration < 5000) reactionIdx = random(36, 40); // Far: Medium

else if (duration < 10000) reactionIdx = random(40, 44); // Far: Long

else reactionIdx = random(44, 48); // Far: Extra

}

if (reactionIdx >= 0) {

performReaction_P(reactionIdx);

lastActionTime = millis();

}

} else {

if (isDetecting) {

isDetecting = false;

lastActionTime = millis();

}

unsigned long idleTime = millis() - lastActionTime;

if (idleTime > 5000 && millis() - lastActionTime > random(2000, 5000)) {

performReaction_P(random(48, 106)); // Idle (58 reactions)

lastActionTime = millis();

} else if (idleTime > 60000 && millis() - lastActionTime > random(20000, 30000)) {

performReaction_P(random(106, 160)); // Bored (54 reactions)

lastActionTime = millis();

}

// --- Helper Functions ---

long getDistance() {

digitalWrite(TRIG, LOW);

delayMicroseconds(2);

digitalWrite(TRIG, HIGH);

delayMicroseconds(10);

digitalWrite(TRIG, LOW);

long duration = pulseIn(ECHO, HIGH, 30000);

return (duration == 0) ? -1 : duration / 58;

}

byte reverseBits(byte b) {

byte r = 0;

for (int i = 0; i < 8; i++) {

r |= ((b >> i) & 0x01) << (7 - i);

}

return r;

}

void displayFace(const byte face[]) {

for (int i = 0; i < 8; i++) {

lc.setRow(0, i, pgm_read_byte(&face[i]));

}

void displayChar(char c) {

int charIdx = (c == ' ') ? 26 : c - 'A';

if (charIdx >= 0 && charIdx < 27) {

for (int i = 0; i < 8; i++) {

lc.setRow(0, i, pgm_read_byte(&font[charIdx][i]));

}

delay(500);

}

void scrollMessage_P(const char* message, const byte* emoji) {

char buffer[32]; // Temporary buffer for string from PROGMEM

strcpy_P(buffer, message);

int len = strlen(buffer);

for (int c = 0; c < len; c++) {

displayChar(buffer[c]);

}

displayFace(emoji);

delay(1000);

lc.clearDisplay(0);

}

void moveHead(int angle) {

headServo.write(constrain(angle, 0, 180));

}

void moveRightArm(int angle) {

rightArmServo.write(constrain(angle, 0, 180));

}

void waveLeftArm() {

for (int i = 0; i < 3; i++) {

leftArmStepper.step(256);

delay(200);

leftArmStepper.step(-256);

delay(200);

}

void nodHead() {

for (int i = 0; i < 2; i++) {

moveHead(random(95, 105));

delay(200);

moveHead(random(75, 85));

delay(200);

}

moveHead(90);

}

void shakeHead() {

for (int i = 0; i < 3; i++) {

moveHead(random(100, 120));

delay(150);

moveHead(random(60, 80));

delay(150);

}

moveHead(90);

}

void doubleWave() {

for (int i = 0; i < 2; i++) {

moveRightArm(random(110, 130));

leftArmStepper.step(256);

delay(200);

moveRightArm(90);

leftArmStepper.step(-256);

delay(200);

}

void headSpin() {

moveHead(random(40, 60));

delay(150);

moveHead(random(120, 140));

delay(150);

moveHead(90);

}

void armWiggle() {

for (int i = 0; i < 3; i++) {

moveRightArm(random(90, 110));

delay(100);

moveRightArm(random(70, 90));

delay(100);

}

moveRightArm(90);

}

void headTiltLeft() {

moveHead(random(60, 80));

delay(1000);

moveHead(90);

}

void headTiltRight() {

moveHead(random(100, 120));

delay(1000);

moveHead(90);

}

void headTiltRandom() {

moveHead(random(60, 120));

delay(1000);

moveHead(90);

}

void headDroop() {

moveHead(random(110, 130));

delay(1000);

moveHead(90);

}

void headWobble() {

for (int i = 0; i < 3; i++) {

moveHead(random(80, 100));

delay(100);

moveHead(random(80, 100));

delay(100);

}

moveHead(90);

}

void armTwitch() {

for (int i = 0; i < 2; i++) {

moveRightArm(random(100, 120));

delay(80);

moveRightArm(random(80, 100));

delay(80);

}

moveRightArm(90);

}

void playTune_P(const int melody[], const int durations[], int length) {

for (int i = 0; i < length; i++) {

tone(BUZZER, pgm_read_word(&melody[i]), pgm_read_word(&durations[i]));

delay(pgm_read_word(&durations[i]) * 1.3);

noTone(BUZZER);

}

void performReaction_P(int index) {

Reaction reaction;

memcpy_P(&reaction, &reactions[index], sizeof(Reaction));

scrollMessage_P(reaction.message, reaction.emoji);

reaction.movement();

playTune_P(reaction.melody, reaction.durations, reaction.length);

}

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