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Open Turret

An open sourced highly accurate pan-tilt system for anything that needs to be panned and tilted!
My goal for this project is to make a precise pan tilt mechanism that is accessible for everyone. The hardware is still quite experimental, but I hope to refine it and release build instructions soon. Feel free to contact me if you are interested in contributing, I will happily provide further build details.

3D Turret Render OpenTurret PCB 3D Front

To-Do

  • Hardware
    • Add holes for removing bearings from parts
    • Make wiring rotation continuous (implement slipring)
    • Add tripod mount
    • Fix rigidity of pan axis
    • End-stops for tilt axis calibration
    • Pan Calibration Method
    • Rotary encoder on steppers for more positional feedback
    • Compass and accelerometer for positional feedback and calibration\
  • PCB
    • Replace Q1 with two transistors - more accessible; less footprint specific
    • Just one oscillator for motor drivers
    • Just one ADC voltage divider
    • Correctly ground oscillator
    • SPI signal quality?
    • Buck converter noise filtering
    • Input power noise filtering (FB)
  • Document Hardware
  • Test load capacity and stability
    • Design large-scale version
    • Design slower much more precise version
  • Explore using the Pi Zero or Wireless integrate electronics below tilt axis
  • Get joystick to control motors
  • Make easy stepper coding GUI
  • Add zoom camera assembly
  • Test whether the laser needs to be focussed to burn

Code To-Do

  • Add skipped step / stall error feedback
  • Add tilt axis to all implementations
  • Refactor I2C event methods
  • Shutdown & Startup motion method
  • Add config file support
    • Save settings changed in GUI to remember configs
    • Restore defaults option

Required Specifications

  • Better than 0.1º accuracy in both pan and tilt axis
  • 360º continuous pan and 135º tilt in either direction
  • Support weight of a laser diode
  • Have a standard mounting interface
  • Be as quiet and cheap as possible
  • Entirely made of off-shelf or 3D printed parts
  • Safety Measures
    • IR Detection
    • Radar movement detection
    • Short Pulse duration
    • Guiding laser
    • Alert before firing
    • Kill switch
  • Decent speed (~36º/s)
  • Targeting System
    • Manual (joystick)
    • IR Laser guided
    • Sound Guided
    • Image guided
  • On-board Status Display

Milestones

  • Implement joystick control of two axes and laser
  • Successfully move both axes with >=0.1º precision
  • Implement full system functionality including safety measures
  • Implement an automated detection and firing software

Working Software Modes

  • Full Manual: Control the turret and laser with a joystick
  • Laser Guided: Autonomous Laser guided aiming of turret
  • Sky Tracking: Use online data to track stars, planets, satellites, and air traffic. (For telescopes NOT lasers)

New Software Modes Ideas

  • Autonomous targeting and firing by means of image recognition
  • Laser shape drawing mode
  • Autonomous targeting and firing by means of acoustic triangulation

Parts

  • 2x NEMA17 Stepper Motors 0.9º 4.2 kg/cm
  • 2x TMC2209 Stepper Drivers
  • Joystick
  • 1W Peak Laser Diode
  • Bearings
  • Axle Rods
  • Various 3D Printed Parts
  • Timing Belts
  • Nuts n' Bolts

Credit

Thank you to the following resources for making this project possible.