Arduino Autonomous Nerf Sentry Turret by AVCU Elif

Arduino Autonomous Nerf Sentry Turret by AVCU Elif

Author:AVCU, Elif [AVCU, Elif]
Language: eng
Format: azw3
Published: 2019-02-08T16:00:00+00:00


#define G 9.8

#define STP_PER_DEG_YAW 3.333

#define STP_PER_DEG_PITCH 184859

#define MICROSTEPS 32

#define RPM 120

#define MOTOR_STEPS_Y 200

#define MOTOR_STEPS_X 1036

//17.7777 steps / degree

BasicStepperDriver pitch_stepper(MOTOR_STEPS_X, pins[1], pins[0]);

BasicStepperDriver yaw_stepper(MOTOR_STEPS_X, pins[4], pins[3]);

Servo trigger;

Pixy2I2C pixy;

enum States {

ACQUIRE,

POSITION,

SPOOL,

FIRE,

WIND_DOWN,

RETURN

};

States state = ACQUIRE;

void setup() {

Serial.begin(115200);

init_pins();

delay(1000);

//home_pitch();

pixy.init();

Serial.println("Ready...");

}



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