Control software for the TaubenTurret system: An automated, computer vision driven water turret system for targeted pigeon deterrence.

• Automated Targeting: Uses a Raspberry Pi Camera to detect motion, triggering an external AI object detection API to identify pigeons.
• Pan/Tilt Control: Calculates 3D physical angles from 2D pixel coordinates to smoothly aim the watergun via PWM-controlled servos.
• Web Interface: Includes a built-in FastAPI web UI for viewing the live MJPEG stream, manual firing, and browsing recorded video clips.
• Auto-Recording: Captures and saves .mp4 video events whenever motion is detected.

• 3D models and hardware list available on makerworld.

• Python 3.9+
• make and uv for environment management.
• An active external object detection backend API: taubenturret-backend
• Required Python packages: fastapi, uvicorn, opencv-python (cv2), numpy, requests, and picamera2.

First, create your local environment configuration file by copying the provided template:

cp .env.example .env

Before running the system, make sure your properties in the .env file are set up correctly. Important settings to verify:

• Webserver Auth: WEBSERVER_USERNAME, WEBSERVER_PASSWORD, and WEBSERVER_PORT.
• AI Endpoint: DETECTOR_API_URL to point to your external detection API.
• Hardware Tuning: Validate your SERVO_PAN_*, SERVO_TILT_*, and WG_* constants to ensure your servos don't over-rotate and the watergun relay timings are safe.
• Storage: Ensure RECORD_DIRECTORY points to a valid path where the Pi can save video files.

Use the provided Makefile to quickly set up the environment and install dependencies:

make setup
make install

Start the main control loop by running:

make run

Once running, you can access the dashboard by navigating to http://<raspberry-pi-ip>:<webserver-port> in your browser and logging in with your HTTP Basic Auth credentials.