The project is composed of:
* A functional frame, with modular wepon bay, which will host at last water and airsoft pellet balls, but may be hosting a paintball gun or a coil gun in a second build.It has one pantilt for aiming the body with the weapons, and one separate pantilt for aiming the eye with a laser. And of course, speakers!
* An arduino to control all servos and relays
* A CPU to run the machine vision software (C++/Qt/OpenCV). We'll start off with a laptop, and when debugged, port the software to a RaspberryPi or a Beaglebone Black.
We have a functional software prototype, and we'll start building the first hardware prototype on August 22.
Very short weekend hack-a-ton. Small improvements, big fun.
First, 3D-printed an air vortex for the airsoft gun module. After some miscalculations and misprints, we got the thing to shoot like an evil bastard. Not very accurate and not very reliable, so a lot of space for improvement, but it's a solid first step.
Marcos never knew what hit 'im.
Next up, we integrated an HC-SR04 sonar distance sensor in the software, to improve the projectile trajectory calculations. Surprisingly accurate for the ridiculous cost.
And of course we couldn't call it a day without some quality debriefing.
We've finished our first weekend-long hack-a-ton, with modest but robust results!
Not the prettiest nor the smartest turret in town, but she's our daughter and we love her.
There's still no housing, but 3D-printed suports for our relays and servos are working great, and we also have some working prototypes for the water gun and compressed air airsoft gun modules.
Software-wise, servo and relay control from the main CPU is robust thanks to the badass motherfucker that is Marcos, and everything can be neatly controlled using a joystick (PS4 and XBox 360 controllers supported!). Calibration is still not working correctly, so detection using a webcam is not ready yet, but we're very little quirks away from a 100% working (yet naked) turret!
Added a pantilt simulation to test calibration and targeting. The white crosshair is the body, and the red crosshair is the eye laser. In the future, we want to upgrade the eye laser to an eye range-finder laser, in order to measure distances and correct the trajectory of the projectiles.
Also added mjpeg streaming of the current video source, to enable a web/smartphone control app in the future :D