S.A.R.C.A.S.M

Slightly Annoying Rubik’s Cube Automatic Solving Machine

S.A.R.C.A.S.M is a 3D-printed, Teensy-powered robot that scans, solves, and sassily comments on a Rubik’s Cube.

This repository contains the code and schematics of the build.

Additional details may be found on the Teensy forum thread:

https://forum.pjrc.com/index.php?threads/sarcasm-an-over-engineered-rubiks-cube-solving-robot.77338/

Demo videos

• Short clip: https://youtube.com/shorts/Xer4mPZZH8E
• Full demo: https://youtu.be/WV52RtuWXk0

Highlights

• Teensy 4.1 main controller + ESP32-CAM for image capture.
• ILI9341 display with custom 2D&3D graphics, animations, and lip-sync.
• Stepper + servos for cube handling with position sensors to detect faults.
• RGBW lighting synchronized to audio.
• On-device TTS (espeak-ng) with a collection of sarcastic lines.
• …

Note

A slight modification of Teensy’s core is required in order for the whole code to fit in RAM.

Edit cores/teensy4/usb_serial.c and cores/teensy4/usb_serial2.c and, in each file, remove the DMAMEM attribute in front of the definition of the txbuffer[] and rx_buffer[] arrays.

Warning

This is a work in progress. The repo is currently in a very messy and incomplete state (and will most likely stay that way until I find some time to work on it…). Sorry !