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NIKA, Neural Instrument Kinetic Automaton: the robot that thinks in square waves. A tracked UNO + ESP8266 robot (MILA's sister) whose mind is a synthesizer: her drives are square-wave oscillators and the loudest is her thought, on the synth, her 16 RGB LEDs and an OLED. Part of the DREAM Robotics fleet.
Robot Type: Tracked robot (UNO + WiFi R3, like MILA)
NIKA is MILA's sister: the same board, tracks, modes, remote and fleet link, with a 16-LED RGB array, a small OLED, an infrared obstacle sensor and a synthesizer for a brain. Her drives are oscillators, and the loudest one is her thought: you can hear her think.
Windows controller:builds/NIKA-Controller.exe shows NIKA's own web page in a window, so it always matches the page. Source: scripts/web_controller.
Colours:colour_scheme.xml comes from her avatar: a rust orange lead, with her LED purple and badge green beside it.
Other languages:scripts/controllers has this robot's controller in C#, F#, Rust, Go and Julia, all reading one robot.json: W A S D to drive, the mode buttons and the sensors. See its README for how to run each.
Session analysis and training data (Fortran): press CSV in her Python controller to save the session to Documents/NIKA-telemetry, in the same format as MILA's, plus the thought she was having and its pitch. scripts/run-fortran turns it into a report: timing, modes, sensor stats and close calls. scripts/run-dataset turns her human-driven sessions into a dataset for teaching her to drive herself. Needs gfortran.
Four drives, each a square-wave frequency that follows what she senses. The highest one is her thought.
Drive
Frequency
What moves it
calm
196 Hz (G3)
always there, the hum underneath
curious
220 to 660 Hz
rises the longer the way ahead stays open (over 30 s), and starts again low after something gets close
caution
220 to 880 Hz
rises as something gets close (60 cm to 5 cm), 880 Hz when the IR sensor sees something
social
523 Hz (C5), falling over 10 s
she heard NORA (her talk or "I'm here" beacon over the IR link): someone's near
Her thought is heard, seen and acted on:
Heard: the synthesizer plays it. A digital potentiometer (MCP41010) sits where the kit's frequency pot was, so NIKA sets its pitch. With the kit's square-wave jumper, it's a square wave.
Seen: her 16 LEDs show its colour while she drives (calm teal, curious violet, caution orange, social pink), and the OLED its name and Hz.
Acted on: exploring by herself (obstacle mode), it sets her speed: curious 100%, calm 80%, social 55% with a hello beep, caution 45%.
Her dashboard and controller show it (THINKS, HZ), and RIFT sees it in her /status (thought, hz).
What she shares with MILA
FOLLOW: she keeps your hand 30 cm from her sonar, in short pulses. A button on her dashboard, F on the Python controller, 4 on the remote (a guessed code).
HELLO and DANCE: on the spot, in WASD or TANK: her sonar head shakes and she beeps. Buttons on her dashboard, H and N on the Python controller, 5 and 6 on the remote (guessed codes). Anything from her ESP cuts them short.
Live view: her Python controller draws her from above, tracks turning, sonar reaching out.
Several devices: up to four can be unlocked at once, her page follows a mode changed elsewhere, and /status carries rev, her settings in one number.
WASD, TANK and OBSTACLE modes, the IR remote, NORA's IR fleet link (address 0x0DA5), the drive PIN, Brainfuck talk, SCAN.
The wall guard when you drive her, and ticks faster as a wall gets close.
The fleet's WiFi ladder (the very bottom, below MILA), her own NIKA AP when she's alone, the dashboard on :5013, the imposter radar, ESP-NOW beacons. Everyone makes way for her: like MILA's, her ESP8266 can't hear them.
Listen (she has no speaker): 🔊 LISTEN on her dashboard (phone or PC browser) or L on the Python controller plays her thought, the synth's square wave at its Hz, humming underneath, and every beep, chirp and Brainfuck line her buzzer plays, on your phone's or PC's speaker. Her UNO reports each note to the ESP8266 (SND:<Hz>,<ms>), which serves them on GET /sound?since=<n> with her clock, so a chirp keeps its rhythm. Synthesised again on your side, not recorded: what you hear is what she played, not the room. Phones need the tap before they'll make a sound.
MIND mode (from MILA's): the LLM on her PC controller drives her one short move at a time, and her synth brain's thought (and its Hz) is one of the things it senses, so it knows how she feels. M on the Python controller, or MIND on her dashboard while it's connected (x86 PC, 8 GB+ RAM, GTX 1050 or better). Her voice: Zira, extra high.
Hardware
Part
Notes
UNO + WiFi R3 board (ATmega328P + ESP8266)
The same board as MILA, with its DIP switches
L298N motor driver + wooden tank chassis (like IDA's)
ENA / ENB on PWM pins 5 and 6
HC-SR04 on a servo
Looks ahead and to both diagonals
IR obstacle sensor (FC-51 style)
Only on/off: LOW when something is within the range set by its pot
16-LED RGB array (WS2812)
Brightness capped in code so it doesn't overload the board
The esp8266 boards: add https://arduino.esp8266.com/stable/package_esp8266com_index.json under File > Preferences > Additional boards manager URLs
The Python controller: pip install -r requirements.txt (pygame, requests), or run.bat / run.sh.
Pinout
Pin
Part
Pin
Part
D0 / D1
ESP8266 serial (DIP 1 + 2)
D8
Buzzer
D2 / D3
HC-SR04 TRIG / ECHO
D9 / D10
OLED DC / CS
D4, D7, D5
L298N IN1, IN2, ENA (right)
D11 / D13
OLED MOSI (SDA) / SCK (SCL), and the digital pot's
A2, A4, D6
L298N IN3, IN4, ENB (left)
D12
IR obstacle sensor OUT
A0
RGB array data
A1
Servo
A3
IR remote receiver
A5
Digital pot CS
OLED RST
the board's RESET pin
Why: ENA and ENB need PWM, and on an UNO the Servo library takes Timer1 (no PWM on 9 and 10) and the buzzer and IR receiver take Timer2 (3 and 11). Pins 5 and 6 are the only PWM pins left, so the RGB array, which needs no PWM, is on A0.
Controls
Controls
Keyboard: web page and every desktop controller
Key
Does
1 / 2 / 3
WASD / TANK / OBSTACLE mode
F
FOLLOW mode: she keeps your hand 30 cm from her sonar (Python controller; a button on her web page)
H / N
HELLO / DANCE, on the spot, in WASD or TANK (Python controller; buttons on her web page)
W / Up, S / Down
forward / back (WASD mode, hold)
A / Left, D / Right
turn left / right (WASD mode, hold)
W+A, W+D, S+A, S+D
curve: one track drives (Python controller; the stick too)
Python controller: driving in OBSTACLE takes over (WASD); she stops when you let go
Q / A
left track forward / back (TANK mode, hold)
E / D
right track forward / back (TANK mode, hold)
Space
stop, in any mode (controllers; the STOP button too)
EMULATE / VOICE / THEME
Python controller: a pretend NIKA on this PC / her voice / colours
M
her MIND mode on / off: the LLM on this PC drives her (Python controller; x86 PC, GTX 1050+)
X
speed preset: 100, 75, 50, 25 % (web page)
L
listen: her thought and beeps play on your phone / PC (LISTEN on the web page; she has no speaker)
F1
this window (Python controller; KEYS on the web page)
Esc
quit (controllers)
driving from the web page needs her PIN first (UNLOCK)
Gamepad or joystick (ARM's flight stick works too)
Key
Does
Left stick / D-pad
drive, half-way round curves (WASD mode; takes over from OBSTACLE)
LB / RB, right stick, twist
turn left / right (Python controller)
A (button 0)
stop (any mode)
B (1) / X (2) / Y (3)
OBSTACLE / WASD / TANK mode (Python controller)
Start (7)
speed + 25 % (Python controller)
C++, C# and F# controllers: stick or D-pad drive, triggers speed, A stops, bumpers change mode
NORA's IR link (her web page, controller or Bluetooth)
Key
Does
arrows / I J K L
drive
STOP
stop, and out of obstacle mode
AUTO / MANUAL
OBSTACLE / WASD mode
SPEED
speed preset
LOCK / UNLOCK
lock her wheels (nothing drives her) / free them
the same lock over WiFi: /motorlockOn, /motorlockOff?pw= (RIFT's Lock all / Unlock all)
Quick start
Copy scripts/esp8266/secrets.example.h to secrets.h (the fleet's WiFi passwords and her PIN).
Flash scripts/NIKA to the UNO and scripts/esp8266 to the ESP8266 with the Arduino IDE, setting the DIP switches for each (as on MILA).
Set the synth kit's jumper to square wave and tune SYNTH_K in NIKA.ino by ear, so each thought's Hz sounds right.
Power her on: she joins the fleet's network, or hosts NIKA. Open http://<her IP>:5013/, or run the controller:
run.bat # Windows
./run.sh # Linux / macOS
python scripts/nika_controller.py --host <her IP> --port 5013
python scripts/nika_controller.py --emulate # a pretend NIKA on this PC (scripts/fake_nika.py), no robot
The controller (scripts/nika_controller.py):
Two keys curve her: W+A drives only her right track, so she arcs forward-left (W+D, S+A, S+D the same
way), and so does the stick half-way round: one track on, one off (no speed control on her UNO).
Driving takes over: driving in OBSTACLE puts her in WASD, and she stops when you let go. STOP
(Space, the pad's A) works in any mode.
Settings stick: mode and speed are sent again until her /status says so.
EMULATE: a pretend NIKA with her synth brain (calm, curious, caution and their pitches) in a pretend room.
VOICE: she talks through this PC (Zira, dreamy and musical: she hears in pitches). L still plays her
synth's thoughts here. THEME: DEFAULT, LIGHT or CUSTOM, from colour_scheme.xml (new: sampled from her
avatar: her rust jacket and autumn leaves, with her purple LEDs and circuit-green badge beside them).
Pads: Xbox, PlayStation and Switch pads all have the same buttons (gamepad_drive.py). Her MIND log:
~/.robot_minds/logs/NIKA-<date>.log.
WiFi signal
Her /status has wifi_rssi (her signal, 0 while she hosts), which RITA's STATS shows. Her ESP8266 has no Bluetooth: Bluetooth controllers reach her through NORA's IR link.
