Oatmeal making robot

I like oatmeal, the real irish steel-cut kind.  But, it takes a half hour of slow simmering in milk, and you have to stir it continually, or it will stick and burn.  Its the 21st century - aren't robots supposed to do the boring jobs for us now.

Thanks to notbrainsurgery for figuring out the protocol and posting sample code for controlling the robot. (Details here)