Here is my large robot platform using its motorized arm to push a few buttons. Currently the platform is remote controlled, but will eventually have autonomy. Running on a Raspberry Pi and a couple Arduinos.
Wii remote controlled Roomba bot I made for a talent/variety show. The main processor is a Raspberry Pi. It connects to the Wiimote through Bluetooth, and to the Roomba with a serial connection. The servos are standard pulse width modulation. The light bar is several shift registers stringed together.
Code is a bit messy, but here it is. Someday I’ll clean it up. 🙂 Needs pigpio for the servo control and cwiid for Wii remote control. I got the initial wii code working with help from https://www.theraspberrypiguy.com/raspberry-pi-how-to-use-a-wiimote/.
Here is my main code and the separate light bar code that can run simultaneously. Feel free to ask questions!
Check it out on http://robowarner.com/portfolio/wifi-roomba-spy-bot/ !