I taught a 3 day intensive class with these 2 kids to learn basic programming and robot control. THey said they wanted to build a talking Yoda, so that's what we built! It started with one of the legs from the Hexapod got its back-bone ccontrol. THis gave them the ability to place Yodas head in cartesian space using a game controller. they then recorded those loactions ans synced it up with the Text To Speech synthisys of each of his lines. Last they made a function that automatically ran his mouth based on what they had him say.
Here is the code that made it go: https://gist.github.com/madhephaestus/9ad31af45be2c1230da0
if you open that link in BowlerStudio, and a DyIO connected, yoda will start talking to you too!