Teabot communication protocol

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function/module information required communication protocol for simplest module hardware simplest hardware
hot water dispense when to start activity quantity temperature serial? temp controlled water, volumetric pump
milk dispense when to start activity quantity pulses (1pulse = 1ml?) volumetric pump
Tea bag dispense when to start activity quantity blend loose or bagged pulses (1pulse = 1 bag, separate channel per blend) solenoid? Servo? Robot arm?
sugar dispense when to start activity quantity type? pulses (1 pulse = cube?) solenoid? Servo? Robot arm?
mashing when to start activity quantity pulses (1 pulse = 1 dunk?) solenoid? Servo? Robot arm?
stiring when to start activity quantity direction pulses (1 pulse = 1 rotation?, separate channels per direction?) servo + motor?
squeezing when to start activity amount? voltage? Serial? servo? Robot arm?
whipped cream when to start activity quantity pulses (1pulse = 1ml?) solenoid? Servo? Robot arm?
cocoa dusting when to start activity quantity shape? pulses (1pulse = 1ml?), serial? servo? Robot arm?
lemon when to start activity quantity pulses (1pulse = 1 slice/squeeze?) solenoid? Servo? Robot arm?
honey when to start activity quantity pulses (1pulse = 1ml?) volumetric pump
'Irish' when to start activity quantity pulses (1pulse = 1ml?) volumetric pump
cup naming when to start activity Name font size? font? serial robot arm?