would u mind check this repostiry https://github.com/Tops76/Dart-Turret.git in github and create somthing like lets say , basic on this code i want robot that move automaticly every period of time and check by using esp32cam that image from esp32cam will be analysed and give the exact position to the dart turret to shoot it
Autonomous Target-Tracking Dart Turret with ESP32-CAM
I'll help you create an autonomous dart turret system that uses an ESP32-CAM for target detection and tracking. Based on the Dart-Turret repository, we'll extend the functionality to include:
- Periodic autonomous movement
- ESP32-CAM integration for image capture
- Computer vision for target detection
- Position calculation for accurate targeting
- Automated firing mechanism
Let's build this system step by step:
How It Works
This autonomous dart turret system combines computer vision with servo control to detect and shoot at targets. Here's how it works:
- Periodic Scanning: The turret automatically scans the area at regular intervals (every 5 seconds by default).
- Image Capture and Analysis: The ESP32-CAM captures images during scanning and analyzes them using a simple color-based target detection algorithm.
- Target Tracking: When a target is detected with sufficient confidence, the system calculates the required pan and tilt angles to aim at the target.
- Firing Mechanism: Once aimed, the system activates the trigger servo to fire a dart at the target.
Serial Control: You can also control the turret manually via serial commands:
- 's': Start automatic scanning mode
- 'p': Pause scanning mode
- 'f': Force fire at current position
- 'm [pan] [tilt]': Move to specific pan and tilt angles
Implementation Details
Hardware Requirements
- ESP32-CAM module
- 3 servo motors (for pan, tilt, and trigger)
- Dart turret mechanism (from the original repository)
- 5V power supply (capable of at least 2A)
- Wiring as per the diagram
Software Components
- Main Control Logic (
main.cpp): Handles servo control, scanning routines, and overall system coordination. - Camera Configuration (
camera_pins.h): Defines the ESP32-CAM pin connections. - Target Detection (
target_detection.h): Implements a basic color-based target detection algorithm. - Project Configuration (
platformio.ini): Sets up the build environment and dependencies.
Customization Options
Target Detection: The current implementation uses simple color-based detection. For more advanced detection:
- Modify the
detectTarget()function to use edge detection, shape recognition, or machine learning. - Adjust the
DETECTION_THRESHOLDto change sensitivity.
- Modify the
Movement Parameters:
- Change
SCAN_INTERVALto adjust how frequently the turret scans. - Modify the scan pattern in
scanForTargets()for different coverage.
- Change
Servo Configuration:
- Adjust
PAN_MIN,PAN_MAX,TILT_MIN, andTILT_MAXto match your mechanical setup. - Fine-tune the
TRIGGER_RESTandTRIGGER_FIREpositions for your specific trigger mechanism.
- Adjust
Next Steps for Enhancement
- Add a web interface for remote control and monitoring
- Implement more sophisticated target recognition (e.g., person detection)
- Add motion tracking for moving targets
- Implement a calibration routine for improved accuracy
- Add multiple firing modes (single shot, burst, etc.)
there is assets/Dart_Turret_Wiring_Diagram.jpg this electrical schema of the dart turret and this is the schema of the robot that moves auto without esp32cam the image that i uploaded , based on these 2 images i want to combined the arduino code and esp32 lily go into a large esp32s3 and all the work will be do automaticly from the system moves auto in defined line to shooting the detected target by the esp32cam , and this the code for the #define enA 10//Enable1 L298 Pin enA
#define in1 9 //Motor1 L298 Pin in1
#define in2 8 //Motor1 L298 Pin in1
#define in3 7 //Motor2 L298 Pin in1
#define in4 6 //Motor2 L298 Pin in1
#define enB 5 //Enable2 L298 Pin enB
#define L_S A0 //ir sensor Left
#define R_S A1 //ir sensor Right
#define echo A2 //Echo pin
#define trigger A3 //Trigger pin
#define servo A5
int Set=15;
int distance_L, distance_F, distance_R;
void setup(){ // put your setup code here, to run once
Serial.begin(9600); // start serial communication at 9600bps
pinMode(R_S, INPUT); // declare if sensor as input
pinMode(L_S, INPUT); // declare ir sensor as input
pinMode(echo, INPUT );// declare ultrasonic sensor Echo pin as input
pinMode(trigger, OUTPUT); // declare ultrasonic sensor Trigger pin as Output
pinMode(enA, OUTPUT); // declare as output for L298 Pin enA
pinMode(in1, OUTPUT); // declare as output for L298 Pin in1
pinMode(in2, OUTPUT); // declare as output for L298 Pin in2
pinMode(in3, OUTPUT); // declare as output for L298 Pin in3
pinMode(in4, OUTPUT); // declare as output for L298 Pin in4
pinMode(enB, OUTPUT); // declare as output for L298 Pin enB
analogWrite(enA, 200); // Write The Duty Cycle 0 to 255 Enable Pin A for Motor1 Speed
analogWrite(enB, 200); // Write The Duty Cycle 0 to 255 Enable Pin B for Motor2 Speed
pinMode(servo, OUTPUT);
for (int angle = 70; angle <= 140; angle += 5) {
servoPulse(servo, angle); }
for (int angle = 140; angle >= 0; angle -= 5) {
servoPulse(servo, angle); }
for (int angle = 0; angle <= 70; angle += 5) {
servoPulse(servo, angle); }
distance_F = Ultrasonic_read();
delay(500);
}
void loop(){
//==============================================
// Line Follower and Obstacle Avoiding
//==============================================
distance_F = Ultrasonic_read();
Serial.print("D F=");Serial.println(distance_F);
//if Right Sensor and Left Sensor are at White color then it will call forword function
if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 0)){
if(distance_F > Set){forword();}
else{Check_side();}
}
//if Right Sensor is Black and Left Sensor is White then it will call turn Right function
else if((digitalRead(R_S) == 1)&&(digitalRead(L_S) == 0)){turnRight();}
//if Right Sensor is White and Left Sensor is Black then it will call turn Left function
else if((digitalRead(R_S) == 0)&&(digitalRead(L_S) == 1)){turnLeft();}
delay(10);
}
void servoPulse (int pin, int angle){
int pwm = (angle11) + 500; // Convert angle to microseconds
digitalWrite(pin, HIGH);
delayMicroseconds(pwm);
digitalWrite(pin, LOW);
delay(50); // Refresh cycle of servo
}
//Ultrasonic_read*****
long Ultrasonic_read(){
digitalWrite(trigger, LOW);
delayMicroseconds(2);
digitalWrite(trigger, HIGH);
delayMicroseconds(10);
long time = pulseIn (echo, HIGH);
return time / 29 / 2;
}
void compareDistance(){
if(distance_L > distance_R){
turnLeft();
delay(500);
forword();
delay(600);
turnRight();
delay(500);
forword();
delay(600);
turnRight();
delay(400);
}
else{
turnRight();
delay(500);
forword();
delay(600);
turnLeft();
delay(500);
forword();
delay(600);
turnLeft();
delay(400);
}
}
void Check_side(){
Stop();
delay(100);
for (int angle = 70; angle <= 140; angle += 5) {
servoPulse(servo, angle); }
delay(300);
distance_R = Ultrasonic_read();
Serial.print("D R=");Serial.println(distance_R);
delay(100);
for (int angle = 140; angle >= 0; angle -= 5) {
servoPulse(servo, angle); }
delay(500);
distance_L = Ultrasonic_read();
Serial.print("D L=");Serial.println(distance_L);
delay(100);
for (int angle = 0; angle <= 70; angle += 5) {
servoPulse(servo, angle); }
delay(300);
compareDistance();
}
void forword(){ //forword
digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, HIGH); //Left Motor forword Pin
digitalWrite(in3, HIGH); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}
void backword(){ //backword
digitalWrite(in1, HIGH); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, HIGH); //Right Motor backword Pin
}
void turnRight(){ //turnRight
digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, HIGH); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, HIGH); //Right Motor backword Pin
}
void turnLeft(){ //turnLeft
digitalWrite(in1, HIGH); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, HIGH); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
}
void Stop(){ //stop
digitalWrite(in1, LOW); //Left Motor backword Pin
digitalWrite(in2, LOW); //Left Motor forword Pin
digitalWrite(in3, LOW); //Right Motor forword Pin
digitalWrite(in4, LOW); //Right Motor backword Pin
} , the old code of the robot only without esp32cam without piston
Autonomous Line-Following Dart Turret Robot with ESP32-S3
I'll create a comprehensive solution that combines your line-following robot with the dart turret system, using an ESP32-S3 as the main controller. This integrated system will:
- Follow lines using IR sensors
- Avoid obstacles using the ultrasonic sensor
- Detect targets using the ESP32-CAM
- Aim and shoot at detected targets
Let's build this integrated system:
How It Works
This integrated system combines a line-following robot with a dart turret, all controlled by a single ESP32-S3 microcontroller. Here's how it works:
Core Functionality
- Line Following: The robot uses two IR sensors to detect and follow a line on the ground.
- Obstacle Avoidance: An ultrasonic sensor and a scanning servo detect obstacles in the path, allowing the robot to navigate around them.
- Target Detection: The ESP32-CAM continuously captures images and analyzes them to detect targets (currently using color-based detection).
- Autonomous Operation: The robot alternates between line following and target scanning modes, automatically stopping to aim and fire when a target is detected.
Operation Modes
- Line Following Mode: The default mode where the robot follows a line while avoiding obstacles.
- Target Mode: When a potential target is detected, the robot stops, aims the turret, and fires if the target is confirmed.
- Scanning Mode: Periodically, the robot pauses to scan for targets in its surroundings.
Key Components
- ESP32-S3: The main controller that handles all processing and control logic.
- ESP32-CAM: Provides vision capabilities for target detection.
- L298N Motor Driver: Controls the DC motors for robot movement.
- Servo Motors: Control the turret's pan, tilt, trigger, and the ultrasonic sensor's scanning movement.
- IR Sensors: Detect the line for following.
- Ultrasonic Sensor: Detects obstacles in the robot's path.
Implementation Details
Hardware Integration
The code integrates all the hardware components from both the line-following robot and the dart turret:
- Motor Control: Uses the L298N driver to control the robot's movement.
- Servo Control: Uses the ESP32Servo library to control all four servos.
- Camera Integration: Uses the ESP32 camera library for image capture and processing.
- Sensor Reading: Handles both digital (IR) and analog (ultrasonic) sensors.
Software Architecture
The software is organized into several key functions:
- Setup Functions: Initialize motors, servos, and camera.
- Movement Functions: Control the robot's motion (forward, backward, turns).
- Sensing Functions: Read and interpret sensor data.
- Target Detection: Process camera images to find targets.
- Firing Control: Aim and trigger the dart launcher.
Customization Options
Target Detection: The current implementation uses simple color-based detection. For more advanced detection:
- Modify the
detectTarget()function to use edge detection, shape recognition, or machine learning. - Adjust the
DETECTION_THRESHOLDto change sensitivity.
- Modify the
Movement Parameters:
- Change
SCAN_INTERVALto adjust how frequently the robot scans for targets. - Modify the obstacle avoidance algorithm for different environments.
- Change
Servo Configuration:
- Adjust
PAN_MIN,PAN_MAX,TILT_MIN, andTILT_MAXto match your mechanical setup. - Fine-tune the
TRIGGER_RESTandTRIGGER_FIREpositions for your specific trigger mechanism.
- Adjust
Next Steps for Enhancement
- Add a web interface for remote control and monitoring
- Implement more sophisticated target recognition (e.g., person detection)
- Add motion tracking for moving targets
- Implement a calibration routine for improved accuracy
- Add multiple firing modes (single shot, burst, etc.)
how this work Firing Control: Aim and trigger the dart launcher.