This firmware controls an animatronic tentacle I built.
It takes Infrared Image data from any of the AMG88xx sensor family over I2C.
It uses a crude heuristic model to control a set of A4988 motor drivers (which in turn drive NEMA 17 motors to actuate the stages).
The tentacle will track hot objects, so in a cool dim room will track human faces which was the original goal.