![]() ![]() A wire also connects to the spring loaded part, so I can remove the shells, even if the turret is closed.Įach of the guns consists of a gravity fed magazine, a feeder and a flywheel shooter based on 2 outrunner motors. To shoot, first the flywheels are powered. It moves to the back using a rack and pinion system (shown below). The rack and pinion then moves the feeder to the front, hopefully with a dart. When the dart hits the flywheels, it is accelerated and shoots out. I said hopefully because gravity fed nerfs work poorly. Luckily, with 4 guns, the chance of 1 working is quite big.Īrduino side wiring fancy schematic Control There are extra weights on each magazine and even with those the guns do sometimes jam up. The turret is controlled using an Arduino mega 2560 and a Raspberry pi 3+. The Arduino mega does all of the visible parts. It moves all axes, it has several layers of protection for each motion, it handles all of the leds and servo motors. It can receive commands via serial and executes them. The Raspberry pi is responsible for the intelligent stuff. It looks at either a camera input or manual input, and determines where the turret needs to move. It also handles the speakers in the base. Together, they can make all the functions on the turret work. Now while I would love to say the software could do amazing work, it cannot. Currently it does simple blob tracking with Pygame in python. It is a poor method of tracking targets, but it is a simple way and I was running out of time. Also, the autonomous operation is not really there at the moment. The firmware can handle autonomous operation, but the software does very little automatically at the moment. I might add this later, or let some other keep people at my hackerspace do this, but this is not present at the moment.I start where I always do creating the 3D model.Īfter many hours of trawling the internet I had managed to grab around 50 reference images. All of which covered multiple angles, distances, some were concept art, some were proper renders and some was even fan art (fan art can be great ref material). It's all invaluable reference material when creating the 3D model, so it's worth spending time and getting a lot of it. From there, I grabbed a notepad to make my plan of attack so that the model would be able to house the LEDs for the eye and the 2 elbows and I could get everything clear in my head. I decided to make this a model that is locked in a pose rather than one that has any moving parts. The reason for this was that I was concerned slightly about the weight on the joints of the model, as some would be quite small and thin.Īs with any character, generally the easiest way to model them is in the standard T-Pose. Throughout the modelling process, I generally upload in-progress temp versions of the model to Shapeways, so I can check how much it's currently going to cost. ![]()
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