ndesilets / turret Goto Github PK

Some notes

Simple web app which serves as a controls interface to interact with MODULE 2 (TURRET). User can aim turret with mouse x,y and fire with LMB. Also displays video feed from MODULE 2 (TURRET) IN: User input < from USER OUT: User input > to MODULE 2 (TURRET)

Client facing portion, SPA. Let user authenticate. If user authenticated: send user input to server + receive video stream from server. JS: Angular2 framework

• View feed from turret
• Interactive turret control
  • X,Y mouse movements (canvas mouse lock)
  • Set manual mode: controlled by user
  • Set auto mode: controlled by MODULE 3 (NEURAL NET) (later)
• Depending on auth
  • Public: No access (to save bandwidth)
  • Authorized: View and control

Authenticate user. Guard API routes from unauthorized access. Receive and sanitize user input from client. Forward commands to MODULE 2 (TURRET). Receive video stream from MODULE 2 (TURRET) and upload to client. D: vibe.d HTTP/WS framework

• Serve static content (compiled client bundles)
• Authentication
  • Don't want randos staring at my backyard and controlling an airsoft turret
• Session management
• Sanitize user input commands received from client and forward to MODULE 2 (TURRET)
• Serve cam feed from MODULE 2 (TURRET) (WebSocket?)

MongoDB

• Store user credentials
• Store sessions

Electronically controlled turret with mounted airsoft gun. 3D printed frame. Powered by Raspberry Pi + Arduino. Rotation controlled by 2 NEMA 17 stepper motors (may need something with more holding torque). Trigger switch actuated with relay. Receives control commands from MODULE 1 (WEB) to control turret. Receives control commands from either MODULE 1 (WEB) or MODULE 3 (CV / NEURAL NETWORK) to control turret (depending if manual or auto mode). IN: User input < from MODULE 1 (WEB) OUT: Video stream > to MODULE 1 (WEB)

Background application running on RPi which accepts input values from MODULE 1 (WEB) via IPC. Sends commands to Arduino via USB serial connection in format defined below in Arduino section. Python

• Receive commands from MODULE 1 (WEB)
  • X,Y acceleration values
  • Fire
• Send commands to Arduino
• Send webcam feed to MODULE 1 (WEB)
• Act as “network bridge” between Arduino and MODULE 1 (WEB)
  • Cheaper, easier than connecting an Arduino to the internet.
  • May run into minor latency issues because not realtime OS

Interface for stepper motors, trigger relay. Interprets commands received from USB serial connection and performs appropriate action (e.g. rotate turret on ? axis in ? direction by ? degrees, fire). TODO: stepper motor controllers, battery config C++

• Read 4-byte command from USB serial stream
• Control turrets
  • Stepper motor rotation
  • Firing

(assuming reliable multi-byte serial stream - order of bytes sent preserved): Input Serial Stream: 32-bit wide binary string Masks: 0x0000 = EMPTY PADDING (START OF COMMAND) 0x0F00 = ROTATE X (-128, 127) 0x00F0 = ROTATE Y (-128, 127) 0x000F = TRIGGER STATE (1, 255) (END OF COMMAND) First byte is ignored, only used to determine start of 32-bit binary string Second byte cast to signed 8-bit integer as X axis desired rotation Third byte cast to signed 8-bit integer as Y axis desired rotation Fourth byte cast to unsigned 8-bit integer as trigger state where 1 = off, 255 = on. Must not be zero.

##MODULE 3 (CV/NEURAL NET) [Later]

C++/Python: OpenCV framework?

• Automatic motion detection
• Send commands (rotate, fire) to Module 2 Raspberry Pi