WEBVTT

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This is a complete Spark build beginning with an empty BotSims workbench

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We add every component individually connect every wire write the controller and

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run it The recording keeps all build operations with pauses trimmed and

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playback paced for this explanation No robot preset or assembled module is

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imported

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Open Components to browse the library Search narrows the list and the

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model badges distinguish behavioral components from geometry Spark needs an enclosure a

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two cell battery a five volt regulator an ESP32 ESP32 ESP32 a

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servo and an OLED face We will use the supported virtual interfaces

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Search for Emoji enclosure and press Add This is the first component

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in an otherwise empty scene New loose parts start on the ground

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Inspector shows dimensions mass position and physical attachment The yellow enclosure will

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support this small tabletop companion

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Anchor the enclosure to the world for a stationary desktop demonstration Choose

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On Emoji enclosure in the new component placement selector Add the battery

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and regulator separately Use Inspector position fields in metres to arrange them

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A physical mount makes parts move together it never creates an electrical

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connection

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Add the ESP32 ESP32 ESP32 DevKit position servo and OLED display one

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at a time Set their positions using the same Inspector fields Attach

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the display to the servo so its motion can be previewed The

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rest of the electronics remain mounted on the enclosure Fit brings the

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whole assembly into view

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Open Wiring All electrical components already appear because they belong to the

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project but none has a complete circuit yet Canvas supports dragging or

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clicking pins For this first build choose List and expand Connect using

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pin selectors which makes exact terminal selection straightforward

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Connect battery positive to regulator input and battery ground to regulator ground

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Connect the regulator five volt output to the ESP32 ESP32 ESP32 supply

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servo supply and display supply Connect each device ground back to battery

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ground These eight connections establish the supply rails and a common reference

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Do not feed the display directly from the battery

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Connect ESP32 ESP32 ESP32 SDA to display SDA and SCL to SCL

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Connect virtual servo channel one to the servo PWM input The completed

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robot now has eleven wires Canvas shows the finished network and the

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wiring status reports no modeled electrical conflicts or unwired parts Virtual aliases

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are not verified ESP32 ESP32 ESP32 hardware pin assignments

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Open Code and replace the starter program The step function stops the

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wheels checks for brownout cycles three face expressions and commands the installed

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servo by its exact part identifier A sine wave changes the normalized

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servo target smoothly Log messages appear only when the expression changes The

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source is included in the downloadable project

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In the servo Inspector enable Move attached parts and choose the Y

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motion axis This explicit switch previews the mounted face turning with the

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servo It is forward kinematics collision shapes and inertia remain at the

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reference pose It does not prove actuator torque dynamic joint loading or

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a physically balanced mechanism

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Hide the side panels to give the robot more room select Front

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view and press Run This is the actual robot that we just

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assembled and wired The display changes expressions and its servo turns the

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face Physics runs at one hundred twenty steps per simulated second the

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isolated JavaScript controller runs twenty times per simulated second

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Pause and choose Export project The portable robot JSON contains all six

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parts eleven wires physical attachments servo preview settings and controller source Auto

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save protects the current project in this browser an exported file lets

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you restore it later or on another device Open or download this

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exact finished build below the video