first, I must congratulate you on the design and impementation. Outstanding.
I was trying to find if anyone had written any scripts for Raspberry Pi other than just the serial output.
Particularly autonimous movement using the head sensors.
There may not be existing codes because the robot should deal with the sensory data correlated to specific head orientation. On the other hand, the code shouldn't be too difficult to write if you can come up with some simple logics.
Hi, if you download the OpenCat code, you can find some Python modules in serialMaster folder. It can send commands through the serial port. You may need to configure the serial port setting of Raspberry Pi as described in https://docs.petoi.com/chapter4#4-4-raspberry-pi-serial-port-as-interface