System Setup

Overview

This section provides step-by-step guidance for assembling the hardware components of the Auto-Aiming System and setting up the necessary software. Follow these instructions to ensure proper system configuration and functionality.

1. Components List

The project requires the following components:

Hardware

• Raspberry Pi 4: Main processing unit for image acquisition and target segmentation.
• Raspberry Pi Camera V2: High-definition camera for real-time video capture.
• ESP32-WROOM: Microcontroller responsible for PID control and servo actuation.
• Pan-Tilt Mechanism: A 3D-printed structure designed to mount and control the Raspberry Pi Camera.
• 9G Servo Motors (x2): Control pan (Z-axis) and tilt (X-axis) movements.
• I2C Interface: Communication bridge between Raspberry Pi and ESP32.
• Additional items:
  • Breadboard and jumper wires
  • Power supply for Raspberry Pi and ESP32
  • Screwdrivers and assembly tools

Software Dependencies

• OpenCV 2 (for C++): For image processing.
• GStreamer: For the video streaming pipeline between the Raspberry Pi and the Raspberry Pi Camera V2.

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2. Pan-Tilt Mechanism Assembly

Download the 3D Model

We used the Servo Pan Tilt - Raspberry Pi Camera model available on Thingiverse. This model is licensed under Creative Commons - Attribution - Share Alike (CC BY-SA).

3D Printing Components

1. Download the STL files from Thingiverse.
2. Use a standard 3D printer to print the components:
   • Recommended material: PLA or ABS.
   • Layer height: 0.2 mm.
   • Infill: 20% for a balance between strength and print time.

Assembly Instructions

1. Attach the Servos:
   • Fix the first servo to the base to control the rotation along the Z-axis (pan).
   • Mount the second servo to the tilt arm to control the X-axis rotation.
2. Install the Camera:
   • Secure the Raspberry Pi Camera V2 to the designated slot on the tilt arm.
   • Ensure proper alignment for stable image capture.

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3. Wiring Connections

Raspberry Pi to ESP32 (I2C Interface):

Pin (Raspberry Pi)	Pin (ESP32)
GPIO 2 (SDA)	GPIO 21
GPIO 3 (SCL)	GPIO 22
GND	GND

Servo Motors to ESP32:

Servo Pin	ESP32 Pin
Pan Servo	GPIO 15
Tilt Servo	GPIO 14
Power (VCC)	5V
Ground (GND)	GND

Camera Connection:

• Connect the Raspberry Pi Camera V2 to the CSI port on the Raspberry Pi.

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4. Software Setup

Raspberry Pi: Install OpenCV 2 (C++)

1. Update the system:

   sudo apt update && sudo apt upgrade

2. Install OpenCV development libraries:

   sudo apt install libopencv-dev

3. Test OpenCV with a sample C++ program:

   #include <opencv2/opencv.hpp>
   #include <iostream>
   
   int main() {
       cv::Mat img = cv::imread("test_image.jpg");
       if (img.empty()) {
           std::cout << "Image not found!" << std::endl;
           return -1;
       }
       cv::imshow("Test Image", img);
       cv::waitKey(0);
       return 0;
   }

   Compile the program using:

   g++ -o test_opencv test_opencv.cpp `pkg-config --cflags --libs opencv4`

Raspberry Pi: Install GStreamer

1. Install GStreamer and related plugins:

   sudo apt install gstreamer1.0-tools gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly

2. Test the pipeline with the Raspberry Pi Camera:

   libcamera-vid --inline --width 640 --height 480 --timeout 0 -o - | gst-launch-1.0 fdsrc ! decodebin ! videoconvert ! appsink

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5. Power Setup

• Use a reliable 5V, 2.5A power supply for the Raspberry Pi.
• Power the ESP32 using either:
  • A 5V USB connection.
  • The 5V and GND pins on the ESP32 board.

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6. Final Assembly and Testing

1. Secure all components to ensure stability.
2. Verify wiring connections.
3. Power on the system and manually test the pan-tilt mechanism by sending test signals to the servos.

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With the hardware and software setup complete, proceed to the Image Processing section for details on the image processing pipeline.