SwarmTurret: WiFi Controlled Foam Dart Turret

I built a 3D printed foam dart turret with streaming video controlled from any web browser on the local WiFi network. It's powered by a raspberry pi 4 and three servos for the X axis, Y axis and firing control. You can see a video of it in action here and more details on the hardware build can be found here.

The internals of the firing mechanism are from a Nerf Swarmfire, a blaster I selected because it uses a motorized direct plunger rather than a loud flywheel that takes time get up to speed. I designed most of the parts myself in Fusion 360 although the base was taken from an existing rotary display table project.

The turret has a dedicated mobile and desktop web interface that is immediately accessible on my local network (if someone else is not already connected to it). Code is available here.
 

The assembly of the parts should be rather self explanatory but I plan to add more pictures and description to this when I have time.
 

Components

• Raspberry Pi 4
• Adafruit Servo HAT
• Nerf Swarmfire
• 2x 18650 batteries and holder
• 2x 20KG High Torque Servos for X and Y axis control
• SG90 Servo for trigger
• M3 Nuts (10+)
• M3 Bolts of different lengths (8,12,20)
• Y Axis Bearings - 17mm ID, 40mm OD, 12mm Width
• Logitech C310 Webcam
• 8 x 150mm Steel Rod for Y Axis Pivot
• Right Angle USB Extender