Autonomous Computer Controlled Turret / Sentry

To get an idea of what this will be like when finished, click here.

This will protect the Tree House from enemies :)

The tree house will have a RFID / radio controlled winch that will lower stairs to allow access.  When the stairs are lowered, it will hit a limit switch that will deactivate the turret.
When you leave, you raise the stairs which will in turn activate the turret, and anything that approaches will get shot with a paintball or 70... :)

The basic setup is a webcam that looks for movement in it's field of view, and when it sees movement, it positions a paintball gun at the target with some VERY strong, heavy duty servos and then pulls the trigger with a medium duty servo.

The main weapon :) ( I may change it to an Airsoft pistol or a water cannon if this turns out to be overkill :) ) I got this from http://www.pntball.com.	The "Turret" - CNC Machined Delrin and Aluminum. One servo will go in the base to move it along the X axis (Left / Right) and another in the stationary vertical shaft to move it on the Y axis (Up / Down). There is a less powerful servo that will mount on the moving Y axis shaft that will pull the trigger.  got this from www.paintballsentry.com.	The Netbook that will control it all and the webcam that will be the "Eyes". I am using an old Logitech 9000 webcam and an Acer Aspire One Netbook that I already had laying around.	The X axis, Y Axis and Trigger Pulling Servos. I got these from the same site I got the servos for the Hexapod - www.servocity.com	USB Servo Controller. For info, go to www.pololu.com - Basically it's this with some custom Firmware.
Logitech 9000 webcam - Back cut off to mount on turret base.	Overhead view of the "System" - Servos installed, webcam mounted, I had Ryan and Matthew walk down the hall and peek around the corner and it tracked and fired every time! ( No actual paintballs!!! - Just pulled the trigger with no paintballs in the hopper or air in the cylinder)	Another View. Still needs more calibration if it's going to be hung upside down, but I would not want to be the one to try to sneak into the tree house!	And another... I'll post a video of it tracking / moving / firing when I calibrate it some more and have a better base built...	Anyone want to volunteer for a live fire test??? I need a tester like the kid in the video above!!! I plan on hooking it up to a 80 cubic foot, 3000 psi SCUBA tank so it will run out of ammo way before it would run out of air.
I got this adapter to be able to refill the 3 air tanks to the right from my SCUBA tanks!!! How AWESOME is that!?!?!?	3 HPA Tanks - 1 for each of the boys and 1 for the sentry.	The boys paintball guns.	2000 more paintballs (Over 6000 now)