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Aaron Tainter
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Add setup guide
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‎README.md

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Original file line numberDiff line numberDiff line change
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# Tracking-Turret
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A motion tracking turret.
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## Install Guide
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Make sure pip is installed.
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```bash
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sudo apt-get install python pip
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```
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Setup I2C on your Raspberry Pi
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https://learn.adafruit.com/adafruits-raspberry-pi-lesson-4-gpio-setup/configuring-i2c
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Install the Adafruit stepper motor HAT library.
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```bash
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sudo pip install git+https://github.com/adafruit/Adafruit-Motor-HAT-Python-Library
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```
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Install OpenCV 3. Follow all steps for python 2.7 instructions
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http://www.pyimagesearch.com/2016/04/18/install-guide-raspberry-pi-3-raspbian-jessie-opencv-3/
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Make sure to create your virtual environment with the extra flag.
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```bash
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mkvirtualenv cv --system-site-packages -p python2
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```
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Source your bash profile
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```bash
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source ~/.profile
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```
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Activate your virtual environment
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```
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workon cv
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```
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Clone this repository
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```
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git clone [email protected]:HackerHouseYT/Tracking-Turret.git
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```
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Navigate to the directory
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```
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cd Tracking-Turret
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```
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Install dependencies to your virtual environment
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```
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pip install imutils RPi.GPIO
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```
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Run the project!
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```
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python turret.py
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```
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## Setting Parameters
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turret.py has a couple parameters that you can set.
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```python
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### User Parameters ###
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MOTOR_X_REVERSED = False
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MOTOR_Y_REVERSED = False
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MAX_STEPS_X = 30
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MAX_STEPS_Y = 15
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RELAY_PIN = 22
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#######################
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```
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These will be located at the top of the file. Use `vim turret.py` to open the file. Press `i` to edit.
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Once you've made your changes, press `esc` then `ZZ` to save.

‎turret.py

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Original file line numberDiff line numberDiff line change
@@ -220,9 +220,15 @@ def __calibrate_x_axis(self):
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break
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elif ch == "a":
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Turret.move_forward(self.sm_x, 5)
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if MOTOR_X_REVERSED:
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Turret.move_backward(self.sm_x, 5)
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else:
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Turret.move_forward(self.sm_x, 5)
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elif ch == "d":
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Turret.move_backward(self.sm_x, 5)
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if MOTOR_X_REVERSED:
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Turret.move_forward(self.sm_x, 5)
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else:
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Turret.move_backward(self.sm_x, 5)
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elif ch == "\n":
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break
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@@ -243,9 +249,15 @@ def __calibrate_y_axis(self):
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break
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if ch == "w":
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Turret.move_backward(self.sm_y, 5)
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if MOTOR_Y_REVERSED:
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Turret.move_forward(self.sm_y, 5)
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else:
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Turret.move_backward(self.sm_y, 5)
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elif ch == "s":
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Turret.move_forward(self.sm_y, 5)
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if MOTOR_Y_REVERSED:
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Turret.move_backward(self.sm_y, 5)
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else:
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Turret.move_forward(self.sm_y, 5)
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elif ch == "\n":
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break
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@@ -278,18 +290,30 @@ def __move_axis(self, contour, frame):
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# move x
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if (target_steps_x - self.current_x_steps) > 0:
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self.current_x_steps += 1
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t_x = threading.Thread(target=Turret.move_backward, args=(self.sm_x, 2,))
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if MOTOR_X_REVERSED:
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t_x = threading.Thread(target=Turret.move_forward, args=(self.sm_x, 2,))
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else:
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t_x = threading.Thread(target=Turret.move_backward, args=(self.sm_x, 2,))
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elif (target_steps_x - self.current_x_steps) < 0:
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self.current_x_steps -= 1
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t_x = threading.Thread(target=Turret.move_forward, args=(self.sm_x, 2,))
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if MOTOR_X_REVERSED:
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t_x = threading.Thread(target=Turret.move_backward, args=(self.sm_x, 2,))
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else:
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t_x = threading.Thread(target=Turret.move_forward, args=(self.sm_x, 2,))
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# move y
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if (target_steps_y - self.current_y_steps) > 0:
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self.current_y_steps += 1
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t_y = threading.Thread(target=Turret.move_forward, args=(self.sm_y, 2,))
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if MOTOR_Y_REVERSED:
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t_y = threading.Thread(target=Turret.move_backward, args=(self.sm_y, 2,))
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else:
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t_y = threading.Thread(target=Turret.move_forward, args=(self.sm_y, 2,))
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elif (target_steps_y - self.current_y_steps) < 0:
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self.current_y_steps -= 1
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t_y = threading.Thread(target=Turret.move_backward, args=(self.sm_y, 2,))
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if MOTOR_Y_REVERSED:
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t_y = threading.Thread(target=Turret.move_forward, args=(self.sm_y, 2,))
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else:
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t_y = threading.Thread(target=Turret.move_backward, args=(self.sm_y, 2,))
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# fire if necessary
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if not self.friendly_mode:
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break
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if ch == "w":
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Turret.move_backward(self.sm_y, 5)
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if MOTOR_Y_REVERSED:
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Turret.move_forward(self.sm_y, 5)
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else:
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Turret.move_backward(self.sm_y, 5)
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elif ch == "s":
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Turret.move_forward(self.sm_y, 5)
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if MOTOR_Y_REVERSED:
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Turret.move_backward(self.sm_y, 5)
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else:
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Turret.move_forward(self.sm_y, 5)
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elif ch == "a":
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Turret.move_forward(self.sm_x, 5)
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if MOTOR_X_REVERSED:
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Turret.move_backward(self.sm_x, 5)
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else:
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Turret.move_forward(self.sm_x, 5)
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elif ch == "d":
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Turret.move_backward(self.sm_x, 5)
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if MOTOR_X_REVERSED:
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Turret.move_forward(self.sm_x, 5)
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else:
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Turret.move_backward(self.sm_x, 5)
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elif ch == "\n":
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Turret.fire()
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