IoT Nerf Tank

Destruction on Treads and Money well spent

Table of Contents

• Description
• Libraries
• To Run
• Commands
• Parts
• Credit

Description

For this project, we were inspired to combine a tank chassis with a nerf turret to create a tank that will be connected to a web server. The server will send json messages to certain topics on AWS where the tank (Raspberry Pi) will receive the messages through a proxy and execute the parsed commands.

Libraries / Modules

• Front-End
  • React
  • Vite
  • Axios
• Back-end
  • aws-iot-device-sdk
  • Cors
  • Express
• AWS-Tank Proxy:
  • awscrt
  • command_line_utils.py
    • awsiot-python-sdk
      • mqtt_connection_builder.py (should be in the awsiot directory)
        • If there is a error on call, the proxy could also depend on mqtt5_client_builder.py
• Tank Controller
  • RPI.GPIO
  • gpiozero
  • paho-mqtt

To Run / Test

• Get the SDK onto the pi and have certificates ready from aws to run commands to the pi from the client

  • create folder in the ~ directory called certs and place all of your certification files in there.
  • You will need to run a certain command in the ClientToJoxConnectionProxy directory.
    • python3 internetJox.py --topic <your topic-name> --ca_file ~/certs/AmazonRootCA1.pem --cert ~/certs/certificate.pem.crt --key ~/certs/private.pem.key --endpoint <your aws endpoint here>
      • You can also you the topic that the server uses: from_client.
  • You will also need to run another command in a seperate terminal called RobotJoxControl.py can be found in the RobotJoxControl directory
    • Run the file as ./RobotJoxControl.py.
  • Now the Tank should be able to listen to outside commands:
    • Jox <--- AWSProxy <--- ExternalClient(s)...
  • internetJox.py is not required for any other type of control or connection you would like to make with the tank! It is only a sample of a connection from a separate (or same) network client.

• Pull client and server code directories

  • You will need to add your certifications into the server directory as a folder named certifs
  • You will also need a json file named endpoint.json to hold your endpoint for the server to connect to:
    • i.e. { "endpoint": "<your_endpoint_here>" }
  • NodeJs must be install to run the client and sever
    • go into the client directory and run npm i then npm start
    • go into the server directory and run npm i then npm start
    • not the server should be up at localhost:5173 most likely (or whatever vite tells you its hosted at)
  • Now you can click on the buttons and the Pi should receive the messages!
  • Jox <--- AWSProxy <--- ExpressClient <---> UserClient

Commands

• There are not too many commands for the Tank to run, but knowing them can help customize how they can run (either from the proxy or from default calls)
  • Treads:
    • "leftTread:drive:<value between -1 to 1>"
    • "rightTread:drive:<value between -1 to 1>"
  • Turret:
    • To fire the turret, call commands in order:
      • "flywheel:fire"
      • "ammoRammer:fire"
    • Turret Elevation:
      • "gunElevator:<"up" or "down">::<degrees>"
        • The current degrees cannot exceed 90
    • Turret Left / Right:
      • "turretRing:<"turnRight" or "turnLeft">:<degrees>"
        • The current degrees cannot exceed 90
    • Targeting Laser:
      • "targetingLaser:<"on" or "off">"
    • Some commands can be set to 0 degrees (home angle):
      • "<"gunElevator" or "turretRing">:setHome"

Parts

• Refer to:
  • Parts_List.xlsx in the extras folder for all the turret parts bought
  • Bluetooth Nerf Turret - Hardware
  • SZDoit Black T300 Tank Chassis (Alternative and cheaper options for chassis are fine too)
  • Raspberry Pi
  • Also Refer to 3D printing parts for other parts to for mounting
  • Adafruit DC and Stepper Motor HAT for Raspberry Pi
    • Documentation for use

Credit

• Kole Davis
• Drew Bogdan
• Vincent Do
• Kevin Dang
• Aaron Crandall