This project came to be because I found a thermal printer and wanted to print out fortunes. In the process, I learned quite a bit about mechanical and electronic design. This repository hosts the end result of these experiments. There is much room for improvement with a v2, but I am unlikely to resume this project in the near future. I can say that a fortune printing robot is a hit at parties.

The api/ folder contains the files necessary to serve fortunes from the UNIX fortune-mod project. It uses FastAPI and is extremely basic.

The models/ folder contains the OpenSCAD file used to render models for all plastic parts. For the most part this can be tuned by changing variables, but some interrelated dimensions may not be entirely parametric as of this writing. The sg90.stl file imported by the code (not included) is a model I found on Thingiverse and is only used for rendering previews, it can be safely ignored.

The src/ folder contains the micropython source files used in this project. vector3d.py, imu.py, and mpu9250.py come from micropython-IMU/micropython-mpu9x50. deltat.py and fusion.py are from the micropython-IMU/micropython-fusion project and help translate the sensor data to heading, pitch, and roll information. The thermal.py file is renamed from Adafruit_Thermal.py found in their Python-Thermal-Printer repository. The button.py and servo.py libraries are my own and require some additional work. Namely the button is only firing once per press (by design) but that should be a different function from debouncing. The servo has some old PID related code that was not used in the final project and probably needs more cleanup as well. Finally, main.py contains the main program. The eye code needs considerable work here to match reality, but the basic functionality is in place.