Auto-Targeting Nerf Turret

Here is the code used to create this project https://www.youtube.com/watch?v=S3CwzkT6cK4

Note: This code is not perfect. I did not want to publish it, but I got many requests to share this code.

Hardware

See video

• Wemos D1 Wifi
• 3x Mini servo
• Laser diod
• Cheap webcam
• Nerf pistol

Code

• AutomaticGun/AutomaticGun.ino - Arudino code
• PythonScripts/control.py - Communication between computer and turret
• PythonScripts/camera.py (main) - Detecting target and laser dot, moving turret towards the target - Run this code
• PythonScripts/manual_control.py - For debugging purpose, Moving turret using WSAD and enter to shoot

Detection & Targeting

• The target must be a well visible fairly big circle
• A circle is detected in the image, if center of circle is stable for few frames, turrets starts moving towards it
• Laser dot should be small red dot
• The script tries to get the laser dot into the circle
• If the dot is inside the circle and close to the center for few frames, the trigger is pulled

Communication

• Communication between computer and Wemos d1 is implemented using UDP packets, computer and Wemos must be connect to the same network
• Every packet contains 3 bytes - [KEY=44, Action code, Value]
• Rotate (yaw) - [44, 120, [angle in degrees 0-180]]
• Pitch - [44, 88, [angle in degrees 0-180]]
• Reset the trigger - [44, 44, 0]
• Pull the trigger - [44, 44, 64]

Notes

• key Q - quit
• class Recorder in camera.py can be used for recording videos
• Packages - Numpy and Opencv is required for this project