A friend for your desk top!

You can control the mouth of the desk pal by sending an 8 bit little endien integer over serial. 0 is fully closed and 255 is fully open.

See ./example.py for an example.

• The servo is a Dynamixel XL330-M288-T controlled by a Raspberry Pi Pico 2
  • Pin 0: UART TX -> servo RX
  • Pin 5: Audio bit
  • Pin 6: Audio LR clock pin
  • Pin 7: Audio data
• The rest is 3D printed.

• The Pico uses USB CDC to expose a serial interface

Install probe-rs, connect to the SWD port of the Pico, and run:

cd microcontroller
cargo run --release

Install picotool, then run:

cd microcontroller
cargo build --release
picotool load target/thumbv8m.main-none-eabihf/release/microcontroller -t elf

The T-Rex model in TRexDeskPal.stl is based on a scan from the Smithsonian.

• source
• source GUID