software/ code for animatronics?

[sleek nimbus]

I need help with getting some base code or software for a raspberry pi based animatronic. Every tutorial & project i 've found so far is horribly out of date or is trying to use custom controllers only the uploader has

i just need to control a basic 4-5 motor face. and if at all possible, sync it up to audio.

[lean tusk]

I wrote something like this a while back, but using Python on one computer to talk to an Arduino that operated the motors.

It did synch to audio

[sleek nimbus]

using a raspberry pi & servo hat, circuit python, but at this point i'd even take being coded in C.
Anything would help, it’s driving me mad that I haven’t been able to find anything in 3 years