Attach the Raspberry pi servo hat to the Raspberry pi, x-axis servo on 0 and y-axis servo on 3
Upload the arduinosketch.ino to your arduino uno with relay shield
Attach Raspberry pi to Arduino Uno with usb cable
A sentry turret style robot which will detect motion, then track and fire at the object. The robot’s “turret” is rotated by two servos (X/pan axis and Y/tilt axis). The “eye”(webcam) and “gun” of the robot should be mounted on the turret. The arduino is attached by usb to the raspberry pi and is given the signal to fire over serial usb.
When activated, the robot will initialize an average image and wait to detect motion above a threshold size. It will target the mean HSV of a moving object and begin blob detection to center the camera’s view (using turret servos) on the object. When the object is centered, it will fire by sending a serial signal to the arduino.
Adafruit 16-Channel PWM / Servo HAT for Raspberry Pi – Mini Kit: The Raspberry Pi is a wonderful little computer, but one thing it isn’t very good at is controlling DC Servo Motors – these motors need very specific and repetitive timing pulses to set the position. Instead of asking the Pi Linux kernel to send these signals, pop on this handy HAT! It adds the capability to control 16 Servos with perfect timing. It can also do PWM up to 1.6 KHz with 12 bit precision, all completely free-running.
The Adafruit 16-Channel 12-bit PWM/Servo HAT will drive up to 16 servos or PWM outputs over I2C with only 2 pins. The on-board PWM controller will drive all 16 channels simultaneously with no additional Raspberry Pi processing overhead. What’s more, you can stack up to 62 of them to control up to 992 servos – all with the same 2 pins! Read more.
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Each Friday is PiDay here at Adafruit! Be sure to check out our posts, tutorials and new Raspberry Pi related products. Adafruit has the largest and best selection of Raspberry Pi accessories and all the code & tutorials to get you up and running in no time!
I updated the sentry turret by adding a single relay board to the raspberry pi