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Although it's now 2017 I still get requests for code used in this project. The version used in the last iteration of SilentBoB has been posted above. AndysEasing library and the NewPing_v1.5 library are required and have been included in the zip file. You will also need the slave arduino code that drives the led pixels, as well as the CYZ-RGB pixel hex file to program whatever attinys are used for the pixels. The CYZ-RGB page is long gone but I had saved a copy as well as the AndysEasing library ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/silentbob