I've included the link to our common section here here, and summarized my individual contributions here.

Contribution 1: Programming Servo Motors for base control

There were 3 servo motors. One of them controlled the yaw (up down angle), another the pitch (left right angle), and a third a rack and pinion mechanism that would push the

The specification I received from team leads was to get various angles for "yaw,pitch,fire" in that format, where yaw and pitch would range from 0 - 180, and fire would be 0 or 1.

I processed those incoming requests, send commands to all servos sequentially, and gave them all a second to process them. I've included my code for this here . I was able to do this both using the built in servo motor library, and via pwm control. I've included the pwm control version below, though a version using the built-in arduino library was also completted.

Here's a demo of it working:

Contribution 2: Generative AI Voice (may not have been fully implemented)

The goal of the robot was to shoot nerf bullets at people who come in late. It seems only fair that we had Prof. Gershenfeld's signature line: "please don't dribble in".

To this end, I use Prof Gershenfeld's testimonial here as an input for a speech synthesis model developed and available (via API or no-code UI) by Eleven Labs. I converted this to an mp3 and used it to synthesize the line "Please don't dribble in".

I'm included the mp4 file here.