Autonomous Nerf Turret

A project dedicated to creating a fully autonomous, AI-powered Nerf gun. The turret is equipped with a camera, allowing it to detect and track human targets.

Getting started

This project was built on MacOS on top of these main dependencies:

• bash
• conda
• CMake

If these are installed then run the following command in the project root to get the rest of the dependencies and setup the virtual environment:

source bin/init.sh

When coming back to the project to reactivate the environment run the following in the project root:

source bin/activate.sh

Important info

The files and folders in this project depend on each other and this means that the folder structure is important. If any folder structure or file is changed it could break some functionality.

Project structure

This project is driven by domain where each domain component lies in a folder in the 'components' directory. Each sub domain folder contains files that relate to the part of the project associated with that domain.

For example:

• The camera_vision folder contains files related to the computer vision tasks associated with face tracking.
• The arduino folder contains files related to the task of moving and controlling the stepper motor through the Arduino

Versions

• 1 - Stepperonline Nema 17 Stepper Motor, 45 Ncm, 1.5 A, 12 V, 39 mm, 4-Wire 1.8 Deg Stepper Motor with 1 m Wire for 3D Printers:
  • When firing under full load with stepper servo and gun the circuit pulls around 1.8A when running and 2.1A when starting up
  • Of this the gun motors take up around 1.1A at full speed and 1.9A when starting up
  • On stand still the circuit uses 0.08A

Good combination configurations

HEADLESS	Skip Frames	IMG Comp	Y-speed,smooth,lim	X-speed,smooth,lim	target_type	faces	objects	model
True	500	4x	2,1,10	30,1,60	person	True	True	yolov8n-seg.pt