DIY EMO Robot – ESP32, OLED Ekran ve 3D Baskı ile Akıllı Masaüstü Robotu

#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>

#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64

Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, -1);

// Göz boyutları
const int EYE_W = 28;
const int EYE_H = 28;
const int EYE_RADIUS = 8;
const int LEFT_EYE_BASE_X = 22;
const int RIGHT_EYE_BASE_X = 78;
const int EYE_BASE_Y = 18;

// Mevcut ve hedef göz pozisyonu (float -> yumuşak hareket için)
float currentX = 0, currentY = 0;
float targetX = 0, targetY = 0;

// Göz yükseklik oranı (blink için, squash/stretch)
float eyeHeightScale = 1.0; // 1.0 = tam açık, 0.0 = tamamen kapalı

void drawEyes(float xOff, float yOff, float heightScale)
{
  display.clearDisplay();

  int h = max(2, (int)(EYE_H * heightScale));
  int yAdjust = (EYE_H - h) / 2;

  int leftEyeX = LEFT_EYE_BASE_X + (int)xOff;
  int rightEyeX = RIGHT_EYE_BASE_X + (int)xOff;
  int eyeY = EYE_BASE_Y + (int)yOff + yAdjust;

  int radius = min(EYE_RADIUS, h / 2);

  display.fillRoundRect(leftEyeX, eyeY, EYE_W, h, radius, SSD1306_WHITE);
  display.fillRoundRect(rightEyeX, eyeY, EYE_W, h, radius, SSD1306_WHITE);

  display.display();
}

// Ease-in-out: yavaş başlar, hızlanır, yavaşlayarak biter (gerçek göz kası hareketi gibi)
float easeInOutQuad(float t)
{
  if (t < 0.5) return 2 * t * t;
  return 1 - pow(-2 * t + 2, 2) / 2;
}

// Gözleri hedef konuma yumuşak şekilde hareket ettirir
void moveEyesTo(float newTargetX, float newTargetY, int durationMs = 220)
{
  float startX = currentX;
  float startY = currentY;

  int steps = max(6, durationMs / 12);

  for (int i = 1; i <= steps; i++)
  {
    float t = (float)i / steps;
    float easedT = easeInOutQuad(t);

    currentX = startX + (newTargetX - startX) * easedT;
    currentY = startY + (newTargetY - startY) * easedT;

    drawEyes(currentX, currentY, eyeHeightScale);
    delay(12);
  }

  currentX = newTargetX;
  currentY = newTargetY;
  drawEyes(currentX, currentY, eyeHeightScale);
}

// Göz Kırpma (Blink) animasyonu
void blinkEyes()
{
  for (float s = 1.0; s >= 0.1; s -= 0.3) {
    drawEyes(currentX, currentY, s);
    delay(15);
  }
  drawEyes(currentX, currentY, 0.05);
  delay(40);
  for (float s = 0.1; s <= 1.0; s += 0.3) {
    drawEyes(currentX, currentY, s);
    delay(15);
  }
  drawEyes(currentX, currentY, 1.0);
}

void setup()
{
  Serial.begin(115200);
  if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
    Serial.println(F("SSD1306 OLED baslatilamadi!"));
    for (;;);
  }
  drawEyes(0, 0, 1.0);
}

void loop()
{
  // Rastgele bakış pozisyonları
  int dir = random(0, 5);
  if (dir == 0) moveEyesTo(0, 0, 180);
  else if (dir == 1) moveEyesTo(12, 0, 220);  // Sağa bak
  else if (dir == 2) moveEyesTo(-12, 0, 220); // Sola bak
  else if (dir == 3) moveEyesTo(0, -6, 200);  // Yukarı bak
  else if (dir == 4) moveEyesTo(0, 6, 200);   // Aşağı bak

  delay(random(1200, 3000));

  if (random(0, 10) > 3) {
    blinkEyes();
  }
}