My final project is the first in a set of robots that ignore you.

This one, uses a sound sensor to tell if you are talking, and when it hears you, it covers its ears with its hand. The other one shuts its eyes when it sees you, and the final one turns its head away from you.

This is a still of the project:

This is a video & circuit view:

(me snapping in order to activate)

Here is the code:


* Rui Santos
* Complete Project Details http://randomnerdtutorials.com
* by BARRAGAN <http://barraganstudio.com>
This example code is in the public domain.

modified 8 Nov 2013
by Scott Fitzgerald

#include Servo.h;

Servo handMovement;

int pos = 0;
int sensorPin=10;
boolean val =0;

void handsUp(){
for (pos = 0; pos <= 90; pos += 1) {
// in steps of 1 degree

void handsDown(){
for (pos = 90; pos >= 0; pos -= 1) {

void setup(){
pinMode(sensorPin, INPUT);
Serial.begin (9600);


void loop (){
val =digitalRead(sensorPin);
Serial.println (val);
// when the sensor detects a signal above the threshold value, he hears you!! hands up
if (val==HIGH) {
else {
handsDown(); }


Here is the fritz:

Assignment 7 – Rough Crit – Tatyana Mustakos

For my rough crit, I made an automaton that moves its head and hand. It also has shoulder rotation that allows it to rotate its arm, and well as tendons which allow it to reach out/ retract.



I made the face and hand out of paperclay, and the arm and body out of cardboard for this version. I will construct the final completely out of paper clay so that the aesthetics are more cohesive.

For the final version I want to have it so that the piece is still, but once someone holds their hand out to it, it looks up a bit and reaches out to touch their hand


* servo movement
* Tatyana Mustakos


Servo myservo; // create servo object to control a servo
// twelve servo objects can be created on most boards
Servo myservo1;

int pos = 0; // variable to store the servo position
int pos1 =0;
void setup() {
myservo.attach(9); // attaches the servo on pin 9 to the servo object

void loop() {
for (pos = 0; pos = 0; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable ‘pos’
delay(15); // waits 15ms for the servo to reach the position

for (pos1 = 0; pos1 = 0; pos1 -= 1) { // goes from 180 degrees to 0 degrees
myservo1.write(pos1); // tell servo to go to position in variable ‘pos’
delay(15); // waits 15ms for the servo to reach the position




My other project (sorry i couldnt pick) is a radial plotter, it draws images but is restricted to only curved brush strokes. the pen is attatched to an arm that can extend or retract (this affects the distance from the plotter itself, or the origin point), and can rotate side to side. This project is an experimentation of a sort of reverse computer vision, instead of traditional vector plotters, I wanted to focus more on the brush stroke (fake sketch prototype below)

I created a working(aside from the gear and inward rotary) prototype that extends and rotates around the base axis. I have working pieces and will laser cut them so that they function smothely. The arm can extend due to a motor rotating the gear, the pen will move up and down based on an actuator (with a mechanism simiair to a pen clicker), and the base will rotate with a servo (since it doesnt need to rotate more than 180 degrees).

I will implement drawing through processing and the load pixels function, calculating which line/curve segments the plotter should draw.

Another interesting thing that will occur is seeing what will happen/ how the image will draw differently based on where the plotter is placed


Tatyana Mustakos Assignment 5

I made a skeleton that dances when someone is close


I wanted to rig a sort of puppet so that it dances on its own.

I made a skeleton out of polymer clay, with a wire armature so that the limbs would be strong, and so that I could use wire to join the different pieces of the skeleton together so that they would all dangle from each other, and so that there was not much resistance or friction occurring, which allows it to move more fluidly and without as much restriction

After I made the form, I attached a string to the head, which controls the height of the skeleton, and one to each limb for individual arm and leg control.

In order to move them, I would string the string through the cardboard backing(visually separating the skeleton from the mechanisms) and use a servo motor to wind up the string and shorten it, causing the limb/head to rise or fall. I realized that since the servos only rotate up to 180 degrees, there was not enough circumference being used to wrap up a large enough amount of thread to really make a difference or let the skeleton dance, so I  attached sticks to the servo,s and tied the string to the end of them. This makes it so that the circumference that the knot is traveling is substantial enough to change the length of the thread sufficiently, and is less problematic(in terms of tangling) than winding up the cord.


Once I rigged the body up, I added the speaker, which plays a tune while the skeleton dances, and hooked up a sensor that detects when someone is nearby. When the sensor is triggered, the skeleton dances by moving his limbs a semi-random amount.

Assignment 5 zip


Assignment 5: WIP

Assignment 5-20171024T022725Z-001


Dial is supposed to change the volume of the speaker, I wanted to implement it as a control to a processing window (or if I’m unable to implement it, change as well the brightness of an LED) and create some sort of game or controls for one

Alternatively, If I get Arduino to work with processing, I can make it play a tune when something good happens and a different tune when something bad happens,  or just play around with visualization of music through processing and a limited keyboard on the Arduino

Assignment 4 – Going for a drive

Assignment 4


For this Project, I made a car that drives in a circle, the story behind this is that the people are going for a drive and, so they are driving in a circle,… forever…,

They can drive at varying speeds

In this version, they drive badly and crash the car (no one is harmed)