Autonomous Nerf Gun Turret

This project utilizes an intel depth camera, Raspberry Pi 4B, Bluetooth controller, TPU, motion sensors, and computer vision to operate an Autonomous Nerf Gun Turret (ANGT).

Autonomous Mode

• AI runs on TensorFlow and OpenCV.
• The coral USB accelerator (TPU) speeds up the AI's inferences.
• The autonomous system steps between the different states as seen below:

Manual Mode

Users can also manually operate the ANGT with a Bluetooth game controller. Functionality includes:

• Horizontal movement (DC motor)
• Vertical movement (servo motor)
• Gun spooling
• Gun firing
• Beeper (noisemaker)
• LASER (manual aiming only)

Dependencies

SPD Logger

sudo apt install libspdlog-dev

WiringPi

https://github.com/WiringPi/WiringPi

RealSense SDK 2.0

https://github.com/IntelRealSense/librealsense

OpenCV (Python)

https://opencv.org/

TensorFlow (Python)

https://www.tensorflow.org/

Coral USB Accelerator

https://coral.ai/products/accelerator/

Raspian OS (Bullseye)

This version is required to get the realsense2 library to make and function. This library still only works in the C++ language.

Notes

• To fix the X11 forwarding issue with the camera and sudo, run sudo xauth merge ~/.Xauthority
• May also need to purge and reinstall Xauth