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Open Turret

An open sourced highly accurate pan-tilt system for anything that needs to be panned and tilted!

The hardware is still quite experimental, but I hope to refine it and release instructions soon.

To-Do:

  • Hardware
    • Add holes for pushing out bearings
    • Make wiring rotation continuous (implement slipring)
    • Add tripod mount
    • Fix rigidity of pan axis
  • Document Hardware
  • Explore using the Pi Zero or Wireless integrate electronics below tilt axis
  • Get joystick to control motors
  • Make easy stepper coding interface
  • Add zoom camera assembly
  • Test whether I need to focus the laser

Code To-Do:

  • Add skipped step / stall error feedback
  • Further optimise speed for equal steps
  • Return to home button
    • I2C Communicatoin
    • Arduino code
  • D-pad steps
  • D-pad Speed modes
  • Send zero signal from pi before exiting code on exit button (reset method) => exithandler atexit
  • Fix thread error when firing laser

Specifications:

  • Better than 0.1º accuracy in both pan and tilt axis
  • 360º continuous pan and 135º tilt in either direction
  • Support weight of a laser diode
  • Have a standard mounting interface
  • Be as quiet and cheap as possible
  • Entirely made of off-shelf or 3D printed parts
  • Safety Measures
    • IR Detection
    • Radar movement detection
    • Short Pulse duration
    • Guiding laser
    • Alert before firing
    • Kill switch
  • Decent speed (~36º/s)
  • Targeting System
    • Manual (joystick)
    • IR Laser guided
    • Sound Guided
    • Image guided
  • On-board Status Display

Milestones

  • Implement joystick control of two axes and laser
  • Successfully move both axes with 0.1º precision
  • Implement full system functionality including safety measures
  • Implement an automated detection and firing software

Software Implementation Ideas

  • Fully manual control with joystick
  • Automatic IR Laser guided aiming
  • Autonomous targeting and firing by means of image recognition
  • Autonomous targeting and firing by means of acoustic triangulation

Parts

  • 2x NEMA17 Stepper Motors 0.9º 4.2 kg/cm
  • 2x TMC2209 Stepper Drivers
  • Joystick
  • 1W Peak Laser Diode
  • Bearings
  • Axle Rods
  • Various 3D Printed Parts
  • Timing Belts
  • Nuts n' Bolts

Credit

Thank you to the following resources for making this project possible.