Make it Real: Torbjörn's Turret (BUILD)

For a full write up on the circuit and control system visit https://www.digikey.com/en/maker/projects/237541f910854fdaaac281d246ef2089
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Building Steps:
-We got a stage light gimbal and stripped out all of the electronics. The existing electronics was underpowered and did not have the features we were looking for.
-The gimbal has 2 axis (pitch and yaw) powered by geared brushed dc servo motor. We got a bi-directional 2 channel motor driver to power the motors and used an Arduino as the servo brain. The Arduino reads the encoder from each motor and then directs the motor controllers accordingly.
-The turret was designed to have 2 modes. Automatic and Manual.
-Automatic mode utilizes a pixy smart camera which does onboard object and color tracking. The pixy moves the turret trying to continuously center the tracked object. Once the object is centered, it shoots.
-Manual mode uses a standard RC remote and receiver. Control the turret with a joist stick just like you would in a first-person shooter video game. This works especially well with the FPV camera. The remote and FPV setup are from hobby king
-The system is powered by a 6s 5ah lipo battery from hobby king
-Foam was used to make a skin similar to overwatch. It was cut, bent, glued, and then painted to fit.
-The paintball gun was mounted using 3d printed parts. Everything was printed on our lulzbot taz 6 available on amazon http://amzn.to/2fvfPyH. We used ABS+ from http://filaments.ca?rfsn=362416.42f3f.
-Geared DC motor with a cam was used to fire the gun. The arduino sends a signal to a relay shield which turns on the geared motor. The motor runs at 215 rpm with a double cam meaning the paintball gun will shoot at 430 shots / minute.
-A laser sight was attached to the barrel just for the fun of it.

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S10E04 - Just out for a rip are ya bud (oh ya!)