After almost a year of work, we finally got to show off our Inmoov progress at my daughter's curriculum fair tonight.    Needless to say, it was a big day for all of us.    I've got kids, so of course the robot's name is "Jarvis" (sorry Iron Man).   I use the "Peter" voice, which pretty much sounds like Jarvis.

Anyway, here is Jarvis on his first ride in the car....

Great Work !

I have try to find the trouble with Robyn

I did not manage to replicate the problem as Markus told, but I was seeing from time to time some MRL->Arduino rx error

I was not caused by a buffer overflow, monitoring serial.available() show no number close the the Buffer size

So I decide to monitor the the incoming message in the arduino by echoing it to a 2nd arduino connected via I2C who can output the message to the serial monitor (that was fun to build)

I had the rothead and neck servo moving from 90 to 30/20 and robyn was speaking

my local environment is a bit of a mess. but here's some java code that is sure to blow up and give you issues talking to an arduino runing mrlcomm v.29

String port = "COM31";
Arduino ard = (Arduino)Runtime.createAndStart("ard", "Arduino");
ard.connect(port);
for (int i = 0 ; i < 10000; i++) {
  ard.sendMsg(ArduinoMsgCodec.GET_VERSION);
}
System.out.println("Done..");