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Vlad Gorokhov fbb4a58d00 idle mind: snappier responses (wake on transcript, poll 2s, cooldown 2s, wait 8s)
2026-06-02 21:08:24 +01:00
captures Add sync_pico.sh and reflash_mp.sh: hands-free Pico firmware updates 2026-05-31 01:54:27 +01:00
configs Eye direction fixes (gestures + vision) 2026-05-31 19:44:02 +01:00
gpu Add gpu/server.py (Moondream FastAPI service for GPU box) 2026-05-31 17:07:39 +01:00
pi idle mind: snappier responses (wake on transcript, poll 2s, cooldown 2s, wait 8s) 2026-06-02 21:08:24 +01:00
pico Smooth interpolation + per-channel min/max/neutral calibration 2026-05-31 02:31:29 +01:00
tools Mute ears + lock head while robot speaks (stop self-feedback + look at user) 2026-06-02 21:02:13 +01:00
.gitignore Add TTS via OpenAI gpt-4o-mini-tts 2026-06-02 13:14:19 +01:00
README.md Initial project skeleton 2026-05-30 23:51:00 +01:00
requirements.txt Add channel calibration web UI: 16 sliders, raw PWM, persistent mapping 2026-05-31 02:24:36 +01:00

README.md

ksyonis

Humanoid robot platform: Pi 5 (vision + behavior) ↔ Pico (real-time servo controller) ↔ PCA9685 ↔ servos.

Layout

  • pi/ — Pi 5 Python: camera capture, vision (Hailo + Moondream), behavior, Pico client
  • pico/ — Pico firmware: servo controller, PCA9685 driver, safety limits
  • configs/ — YAML configs (servo map, calibration data)
  • tools/ — CLI utilities (servo twitch, calibration)

Hardware

  • Raspberry Pi 5 8GB + AI HAT+ (Hailo-8, 26 TOPS)
  • 2× Pi Camera Module 3 (one per eye)
  • Raspberry Pi Pico (servo controller)
  • 2× PCA9685 (16-ch PWM, I2C)
  • 17 digital metal-gear servos
  • 6V 30A PSU for servo rail