To the ATF, It is structurally impossible for this design to be used with a real weapon and is not our goal. I am a law-abiding citizen.

To Lockheed Martin, call me...

Documentation is NOT complete. In progress

TF2Sentry

This is the final piece of a project with Maiikiru and Bradon to create a fully functioning level one sentry from TF2 using an AIRSOFT gun.

Inbetween classes and work each of us have put countless hours into creating a cool project.

The work can be broken up into 3 repos.

• Maiikiru's CV Repo for the brain and the logic
• Bradon's CAD Repo for the physical CAD/STL files
• Current Repo for circuitry and build instructions.

This repo is my work (Steven Naliwajka/ConvexBurrito5), GitHub, LinkedIn.

Two options for targeting:

1. Maiikiru has gone through and created a Computer vision (CV) repo that automatically detects and targets people: Maiikiru's CV Repo
2. I have also gone and created a remote control, a slightly modified wrangler

To jump straight into building, see the Documentation folder.

Review of my learned Skills

• At a high level, what we are trying to accomplish is simple however, as always, implementation is not as easy. I have learned lots:
  • Communication!
    • I2C Communication, learned how to implement and write code to utilize it in python.
    • Radio, utilizing 2.4Ghz wireless transceiver modules to talk from the turret to the wrangler
  • Power!
    • The turret and wrangler run off batteries.
    • 7.6v, 12v, 9.2v was all required. Got to use Buck DC voltage regulators.
    • Load calculation to make sure at least 5 hours of battery life.
  • Circuitry!
    • Circuitry to be able to plug in the turret without removing the battery. Same for Wrangler.
    • Performed proper wire size calculations; by working out max amps through each.
  • Coding!
    • Python - My first real project in python. I'm typically a java slob, so it was a little bit of a culture shock. But I'm glad I got to learn.
    • Arduino(C++) - Got to continue to hone my skills.
    • Git - I was dragged into the 21st century by Maiikiru. I'm proficient at Git now.
  • 3D Design!
    • Solidworks - I am competent at solidworks now.
  • Improved my 3D printing troubleshooting skills... and gotten a sizeable print farm out of it (2 decked out Ender 3s)
  • Working with Motors/Servos with control from both I2C and PWM.

With that out of the way, lets look into what we have completed.

Features of the project

• Detection and tracking of a person, See Maiikiru's CV Repo
• We have provided Maiikiru's CV Repo with standard API interfaces so it easy to implement multiple hardware solutions. So far:
  • Raspberry Pi 5 (Please do not use a pi4, we tried to make it work, the performance is not good) , See 'instructionFT232H.md'
  • Standard laptop using Adafruit's FT232H Breakout, See 'instructionRaspberryPi4.md'
• There are 4 interfaces implemented in each solution
  • FiringController
    • Handles the firing by pulling logic high on a switch to bridge the motor on the airsoft gun.
  • MotorController
    • Handles all motion. Basic set of methods to move your servos.
    • Idle motion, pans slowly looking for people.
  • PeripheralController
    • Handles the leds
  • SoundController
    • Handles all the sound, runs off of the devices default speaker.
• If a switch on the wrangler is turned on, automatic movement from Maiikiru's CV Repo will be disabled and overruled.
  • Input will be solely from the joystick and the firing button on the Wrangler.

How can you build one?

Good news! Through many sleepless nights of documentation I have compiled instructions to build your own TF2 Turret. You can begin by heading to the Documentation folder