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
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:
Let's build this system step by step:
This autonomous dart turret system combines computer vision with servo control to detect and shoot at targets. Here's how it works:
Serial Control: You can also control the turret manually via serial commands:
main.cpp
): Handles servo control, scanning routines, and overall system coordination.camera_pins.h
): Defines the ESP32-CAM pin connections.target_detection.h
): Implements a basic color-based target detection algorithm.platformio.ini
): Sets up the build environment and dependencies.Target Detection: The current implementation uses simple color-based detection. For more advanced detection:
detectTarget()
function to use edge detection, shape recognition, or machine learning.DETECTION_THRESHOLD
to change sensitivity.Movement Parameters:
SCAN_INTERVAL
to adjust how frequently the turret scans.scanForTargets()
for different coverage.Servo Configuration:
PAN_MIN
, PAN_MAX
, TILT_MIN
, and TILT_MAX
to match your mechanical setup.TRIGGER_REST
and TRIGGER_FIRE
positions for your specific trigger mechanism.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
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:
Let's build this integrated system:
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:
The code integrates all the hardware components from both the line-following robot and the dart turret:
The software is organized into several key functions:
Target Detection: The current implementation uses simple color-based detection. For more advanced detection:
detectTarget()
function to use edge detection, shape recognition, or machine learning.DETECTION_THRESHOLD
to change sensitivity.Movement Parameters:
SCAN_INTERVAL
to adjust how frequently the robot scans for targets.Servo Configuration:
PAN_MIN
, PAN_MAX
, TILT_MIN
, and TILT_MAX
to match your mechanical setup.TRIGGER_REST
and TRIGGER_FIRE
positions for your specific trigger mechanism.how this work Firing Control: Aim and trigger the dart launcher.