CH1P-E 2.0 Claptrap Walking Robot

This Chip-E is remixed with CL4P-TP aka Claptrap from the video game Borderlands. This gives Chip-E an even more robotic look. Besides that we have added arms to enable better dancing abilities. With his new eye (Pi-Cam) he can see and snap pictures. Speaking of it we have added a Raspberry Pi Zero, with this major hardware upgrade the possibilities are almost endless. So e.g. we changed the little piezo speaker to a real speaker, which we connected over a lowpass filter to the GPIO Pin 18 of the Pi according to adafruits instructions: “https://learn.adafruit.com/adding-basic-audio-ouput-to-raspberry-pi-zero”. So now the ChipE is capable to talk in a real Language or to play songs.
The big problem we ran into with the Raspberry is, that there aren’t enough PWM pins, which are essential for the servos. We thought about using the adafruit servo driver, but we didn't want to wait until it arrives, so we added an Arduino UNO, which communicates over I2C with the Pi and just does the PWM-