Sentry water gun (lidar tracking!)

I added a cool kill switch, useful when persons are passing by that should not be shooted at :)

I noticed I didn't placed any pictures of the RPLidar A1 mounting method:

I removed the original screws of the RPLidar and inserted new ones that will dissapear in the lasercuted plastic panel. The thickness of the plastic panel is 8mm, this is a critical thickness because the laser eyes of the lidar sensor should not be covered by the plastic panel. Maybe I will still have some negative influence with the reflection of sunlight on the panel.... but for now just give it a try.

First test of the Sentry watergun, now with water and moving targets :)

Still some room for improvement, the movement is still a bit slow, also some elastic effect in the belts of the x-axis. The belts will be replaced by chains, also the stepper speed will be increased significant in next update.

But even with the current setup, there is already a lot of fun :)

First movements, still a bit shaky.... I need to optimize the hysteresis boundaries.

Installing stepper driver, water valve, lidar sensor:

Today I succesfully mounted the Nema 23 motor, everything worked as expected :)
Next step is mounting everything back together for first test and see if force has been improved over the Nema 17 with 6mm belt:

For shooting water I drilled some 3.2mm holes in standard M5 bolts. With real life test it seems that this was a good size for shooting more than 10 meters away

Installation of the 4-way electric valve. The valves are controlled by the relay board, I used standard 8p netwerk cable for connected them together.

The NEMA 17 motor for the x-axis was not strong enough (missing steps), also the 6mm GT2 belt was causing some elastic effect due to the installed mass on top of it. Therefore I'm now switching to 9mm belt in combination with NEMA 23 and TB6600 stepper driver. This will be a more powerfull setup for moving the x-axis.