Interactive Robot Head

#include <Arduino.h>
#include <SPI.h>
#include <Adafruit_GFX.h>
#include <Adafruit_GC9A01A.h>
#include <AudioTools.h>
#include <sam_arduino.h>

constexpr int TFT_SCK = 18, TFT_MOSI = 23, TFT_CS = 4, TFT_DC = 16, TFT_RST = 17;
constexpr int I2S_BCLK = 27, I2S_LRC = 26, I2S_DIN = 25, BUTTON_PIN = 32;
constexpr uint16_t BG = 0x0861, WHITE = 0xFFFF, PINK = 0xFBB7, BLUE = 0x4D9F;

Adafruit_GC9A01A screen(TFT_CS, TFT_DC, TFT_MOSI, TFT_SCK, TFT_RST);
I2SStream audioOut;
SAM sam(audioOut);
volatile bool speaking = false, speechQueued = false;
char queuedSpeech[48] = "";
uint8_t energy = 82, boredom = 18, social = 76, mood = 0, game = 0;
bool asleep = false, demoMode = false, buttonDown = false;
int ballX = 120, ballY = 120, ballDX = 4, ballDY = 3;
unsigned long nextBlink = 0, blinkUntil = 0, lastFrame = 0, lastNeedUpdate = 0, nextAutonomy = 0, pressStarted = 0;

void queueSpeech(const char *words) { if (!speaking && !speechQueued) { strlcpy(queuedSpeech, words, sizeof(queuedSpeech)); speechQueued = true; } }
#if defined(ARDUINO_ARCH_ESP32)
#define CREATE_SPEECH_TASK(task, name, stack, parameter, priority, handle, core) xTaskCreatePinned ## ToCore(task, name, stack, parameter, priority, handle, core)
void speechTask(void *) { for (;;) { if (speechQueued) { speaking = true; speechQueued = false; sam.say(queuedSpeech); speaking = false; } vTaskDelay(pdMS_TO_TICKS(20)); } }
#else
void processSimulatorSpeech() { if (speechQueued) { speaking = true; speechQueued = false; sam.say(queuedSpeech); speaking = false; } }
#endif
void center(const char *text, int y, uint16_t color, uint8_t size) { screen.setTextSize(size); screen.setTextColor(color, BG); int16_t x1,y1; uint16_t w,h; screen.getTextBounds(text,0,y,&x1,&y1,&w,&h); screen.setCursor((240-w)/2,y); screen.print(text); }

void drawFace() {
  screen.fillScreen(BG);
  if (asleep) { screen.drawLine(48,108,92,108,WHITE); screen.drawLine(148,108,192,108,WHITE); center("z z z",145,BLUE,2); return; }
  if (game) {
    if (game == 1) { center("TIC TAC TOE",12,WHITE,1); for(int i=0;i<3;i++){screen.drawLine(72+i*32,72,72+i*32,168,WHITE);screen.drawLine(40,72+i*32,136,72+i*32,WHITE);} center("X O X",112,PINK,2); }
    else if (game == 2) { center("PONG",12,WHITE,2); screen.drawRect(22,48,196,150,WHITE); screen.fillRect(30,94,5,42,BLUE); screen.fillRect(205,94,5,42,PINK); screen.fillCircle(ballX,ballY,6,WHITE); }
    else { center("SNAKE",12,WHITE,2); screen.fillRoundRect(55,96,96,14,7,PINK); screen.fillCircle(153,103,7,WHITE); screen.fillCircle(180,160,5,BLUE); }
    return;
  }
  bool closed = millis() < blinkUntil;
  if (closed) { screen.drawLine(46,105,94,105,WHITE); screen.drawLine(146,105,194,105,WHITE); }
  else { int look = mood == 4 ? 7 : ((millis()/1700)%3-1)*4; screen.fillRoundRect(43+look,76,54,66,25,WHITE); screen.fillRoundRect(143+look,76,54,66,25,WHITE); screen.fillCircle(70+look,109,15,BG); screen.fillCircle(170+look,109,15,BG); if(mood==2){screen.drawLine(40,66,94,78,PINK);screen.drawLine(146,78,200,66,PINK);} }
  if (speaking) screen.fillRoundRect(97,164,46,22,10,PINK);
  else if (mood == 1) { screen.drawCircle(120,180,20,BLUE); screen.fillRect(96,178,48,10,BG); }
  else if (mood == 2) screen.drawLine(98,188,142,170,PINK);
  else { screen.drawCircle(120,184,24,WHITE); screen.fillRect(94,160,52,24,BG); screen.fillRect(94,184,8,24,BG); screen.fillRect(138,184,8,24,BG); }
  if (mood == 6) center("<3",20,PINK,2); if (mood == 3) center("...",20,BLUE,2);
}

void updateMood(){ if(asleep)return; if(energy<20)mood=3; else if(social<25)mood=1; else if(boredom>75)mood=4; else mood=0; }
void pat(){ asleep=false; social=min(100,int(social)+24); energy=min(100,int(energy)+8); boredom=max(0,int(boredom)-25); mood=6; game=0; queueSpeech("HELLO FRIEND"); }
void autonomousAction(){ if(energy<18){asleep=true;game=0;queueSpeech("I AM SLEEPY");} else if(social<28){mood=1;queueSpeech("PLAY WITH ME");} else if(boredom>70){game=1+(esp_random()%3);boredom=35;queueSpeech("LET US PLAY");} else {mood=esp_random()%2?0:5;queueSpeech(mood==5?"OH WOW":"HELLO");} }

void setup(){
  pinMode(BUTTON_PIN,INPUT_PULLUP); SPI.begin(TFT_SCK,-1,TFT_MOSI,TFT_CS); screen.begin(); screen.setRotation(0); screen.fillScreen(BG);
  auto config=audioOut.defaultConfig(TX_MODE); config.sample_rate=22050; config.channels=1; config.bits_per_sample=16; config.pin_bck=I2S_BCLK; config.pin_ws=I2S_LRC; config.pin_data=I2S_DIN; audioOut.begin(config);
  sam.setOutputChannels(1); sam.setVoice(SAM::Sam);
#if defined(ARDUINO_ARCH_ESP32)
  CREATE_SPEECH_TASK(speechTask,"robotSpeech",8192,nullptr,1,nullptr,0);
#endif
  nextBlink=millis()+1800; nextAutonomy=millis()+25000; queueSpeech("HELLO I AM FACE BOT"); drawFace();
}

void loop(){
  unsigned long now=millis();
#if !defined(ARDUINO_ARCH_ESP32)
  processSimulatorSpeech();
#endif
  bool pressed=digitalRead(BUTTON_PIN)==LOW;
  if(pressed&&!buttonDown){buttonDown=true;pressStarted=now;} if(!pressed&&buttonDown){buttonDown=false; if(now-pressStarted>900){demoMode=!demoMode;asleep=false;game=2;queueSpeech(demoMode?"DEMO MODE":"DEMO STOPPED");}else pat();}
  if(now>=nextBlink&&!asleep){blinkUntil=now+125;nextBlink=now+1800+(esp_random()%2400);} if(now-lastNeedUpdate>15000){lastNeedUpdate=now;energy=max(0,int(energy)-1);boredom=min(100,int(boredom)+3);social=max(0,int(social)-2);updateMood();}
  if(now>=nextAutonomy){autonomousAction();nextAutonomy=now+20000+(esp_random()%25000);} if(game==2&&now-lastFrame>=50){ballX+=ballDX;ballY+=ballDY;if(ballY<55||ballY>190)ballDY=-ballDY;if(ballX<42||ballX>198)ballDX=-ballDX;}
  if(now-lastFrame>=50){lastFrame=now;drawFace();} delay(2);
}