The armadillos here aren't vocal. They just freak out and rocket off into the bushes when frightened.
On rare occasions, they hop a couple of feet straight up into the air and flail around like maniacs before running away. It's a behavior evolved to frighten would-be predators and it's very effective at making humans freak out and rocket off into the bushes.
This is also the behavior that sends them into the front of oncoming cars. Cars would pass over other animals, but armadillos throw themselves right at the bumper.