Arduino Project

Arduino Robot Face with OLED Eyes and Servo Motor

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Looking for parts? Check out our all-in-one kits below — packed with components, beginner-friendly guides, and tons of fun.

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Name	Includes Arduino board	PURCHASE LINK
Ultimate Sensor Kit	Arduino Uno R4 Minima	BUY
Elite Explorer Kit	Arduino Uno R4 WiFi	BUY
3 in 1 Ultimate Starter Kit	Arduino Uno R4 Minima	BUY
Universal Maker Sensor Kit	×	BUY

Course Introduction

This project uses two SSD1306 OLED displays, a servo motor, and an Arduino UNO R4 WiFi to create an animated robot face.

The OLEDs display blinking eyes with moving pupils, while the servo smoothly turns the robot’s head from side to side, creating a lively and expressive robot.

Note

If this is your first time working with an Arduino project, we recommend downloading and reviewing the basic materials first.

1.1 Install Arduino IDE(Important)
1.2 Introduction of Arduino IDE

Required Components

In this project, we need the following components:

SN	COMPONENT INTRODUCTION	QUANTITY	PURCHASE LINK
1	Arduino UNO R4 Minima	1	BUY
2	USB Type-C cable	1	×
3	Breadboard	1	BUY
4	Wires	Several	BUY
6	Digital Servo Motor	1	BUY
10	OLED Display Module	2	BUY

Wiring

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Common Connections:

Digital Servo Motor
Connect to breadboard’s positive power bus.
Connect to breadboard’s negative power bus.
Connect to 9 on the Arduino.

OLED Display Module ×2
SDA: Connect to SDA on the Arduino.
SCK: Connect to SCL on the Arduino.
GND: Connect to breadboard’s negative power bus.
VCC: Connect to breadboard’s red power bus.

Writing the Code

Note
You can copy this code into Arduino IDE.
To install the library, use the Arduino Library Manager and search for Adafruit GFX and Adafruit SSD1306 and install it.
Don’t forget to select the board(Arduino UNO R4 Minima/WIFI) and the correct port before clicking the Upload button.

/*
  Blinky - Two OLED Robot Face
  Board: Arduino UNO R4 WiFi

  Hardware:
  - 2 x SSD1306 128x64 I2C OLED
  - 1 x Servo

  OLED addresses:
  - Left OLED  : 0x3C
  - Right OLED : 0x3D

  Servo:
  - Signal -> D9
*/

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

// ==============================
// OLED settings
// ==============================

#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
#define OLED_RESET -1

#define LEFT_ADDR  0x3C
#define RIGHT_ADDR 0x3D

Adafruit_SSD1306 leftEye(
  SCREEN_WIDTH,
  SCREEN_HEIGHT,
  &Wire,
  OLED_RESET
);

Adafruit_SSD1306 rightEye(
  SCREEN_WIDTH,
  SCREEN_HEIGHT,
  &Wire,
  OLED_RESET
);

// ==============================
// Servo settings
// ==============================

Servo neck;

const int NECK_PIN = 9;

int neckAngle = 90;
int neckDirection = 1;

// Neck movement limits
const int MIN_NECK_ANGLE = 50;
const int MAX_NECK_ANGLE = 130;

// ==============================
// Timing
// ==============================

unsigned long lastNeckUpdate = 0;

const unsigned long NECK_INTERVAL = 30;

// Blink timing
unsigned long blinkStartTime = 0;

bool blinking = false;

const unsigned long BLINK_DURATION = 150;

// ==============================
// Setup
// ==============================

void setup() {
  Serial.begin(115200);

  // Start UNO R4 standard I2C
  Wire.begin();

  // Use 400 kHz I2C
  Wire.setClock(400000);

  delay(200);

  // ------------------------------
  // Left OLED
  // ------------------------------

  if (!leftEye.begin(
        SSD1306_SWITCHCAPVCC,
        LEFT_ADDR
      )) {

    Serial.println(
      "Left OLED initialization failed!"
    );

    while (true) {
      delay(100);
    }
  }

  // ------------------------------
  // Right OLED
  // ------------------------------

  if (!rightEye.begin(
        SSD1306_SWITCHCAPVCC,
        RIGHT_ADDR
      )) {

    Serial.println(
      "Right OLED initialization failed!"
    );

    while (true) {
      delay(100);
    }
  }

  Serial.println(
    "Both OLEDs initialized."
  );

  // Clear both displays
  leftEye.clearDisplay();
  rightEye.clearDisplay();

  leftEye.display();
  rightEye.display();

  // ------------------------------
  // Servo
  // ------------------------------

  neck.attach(NECK_PIN);

  neck.write(neckAngle);

  // Random blink timing
  randomSeed(
    analogRead(A0) ^
    micros()
  );

  // Show initial eyes
  drawEyes(0, false);
}

// ==============================
// Main loop
// ==============================

void loop() {
  unsigned long currentTime = millis();

  // ------------------------------
  // Update neck
  // ------------------------------

  if (
    currentTime - lastNeckUpdate >=
    NECK_INTERVAL
  ) {
    lastNeckUpdate = currentTime;

    neckAngle += neckDirection;

    // Reverse at movement limits
    if (
      neckAngle >= MAX_NECK_ANGLE
    ) {
      neckAngle =
        MAX_NECK_ANGLE;

      neckDirection = -1;
    }

    else if (
      neckAngle <= MIN_NECK_ANGLE
    ) {
      neckAngle =
        MIN_NECK_ANGLE;

      neckDirection = 1;
    }

    neck.write(neckAngle);

    // Move pupils with neck
    int pupilShift = map(
      neckAngle,
      MIN_NECK_ANGLE,
      MAX_NECK_ANGLE,
      -10,
      10
    );

    // ------------------------------
    // Blink control
    // ------------------------------

    if (!blinking) {

      // Random chance to blink
      if (random(0, 100) < 3) {
        blinking = true;

        blinkStartTime =
          currentTime;
      }
    }

    else {

      if (
        currentTime -
        blinkStartTime >=
        BLINK_DURATION
      ) {
        blinking = false;
      }
    }

    // Draw eyes
    drawEyes(
      pupilShift,
      blinking
    );
  }
}

// ==============================
// Draw both eyes
// ==============================

void drawEyes(
  int pupilShift,
  bool blink
) {
  leftEye.clearDisplay();
  rightEye.clearDisplay();

  if (blink) {

    // Closed eyes
    leftEye.drawLine(
      30,
      32,
      98,
      32,
      SSD1306_WHITE
    );

    rightEye.drawLine(
      30,
      32,
      98,
      32,
      SSD1306_WHITE
    );

  } else {

    // Left eye
    drawRobotEye(
      leftEye,
      64 + pupilShift,
      32
    );

    // Right eye
    drawRobotEye(
      rightEye,
      64 + pupilShift,
      32
    );
  }

  leftEye.display();
  rightEye.display();
}

// ==============================
// Robot eye
// ==============================

void drawRobotEye(
  Adafruit_SSD1306 &screen,
  int centerX,
  int centerY
) {
  // Outer white eye
  screen.fillCircle(
    centerX,
    centerY,
    20,
    SSD1306_WHITE
  );

  // Dark pupil
  screen.fillCircle(
    centerX,
    centerY,
    9,
    SSD1306_BLACK
  );

  // Small highlight
  screen.fillCircle(
    centerX - 3,
    centerY - 3,
    2,
    SSD1306_WHITE
  );
}

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Arduino Project

Arduino Robot Face with OLED Eyes and Servo Motor

Kit purchase

Course Introduction

Required Components

Wiring

Common Connections:

Writing the Code

Arduino Project

Arduino Robot Face with OLED Eyes and Servo Motor

Kit purchase

Course Introduction

Required Components

Wiring

Common Connections:

Writing the Code

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