Nerf Vulcan Sentry Gun

(http://www.quantcast.com/p-d6RKK49nWAdvA)

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About This Instructable

Posted:Jun 29, 2013

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BrittLiv (/member/BrittLiv/)Find out more about me(http://www.instructables.com/id/Featured-Author-BrittLiv/)

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Im a Chemical and Biological Engineeringstudent especially interested in ComputationalFluid Dynamics. To balance all the theoreticalwork I like to make stuff in my free time.

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Nerf Vulcan Sentry Gun http://www.instructables.com/id/Nerf-Vulcan-Sentry-Gun/?ALLSTEPS

1 of 18 12/07/2013 10:50

In this instructable, I will show you how to modify a Nerf Vulcan to automatically aim and fire at targets. As anadded bonus, this gun wont fire at anyone wearing a shirt with the instructables robot on it. I had this project inmind for a long time and finally managed to find the time to bring it to life.

If youve been browsing through my other instructables, you might have noticed that I am obsessed with Nerfguns. So far, Ive managed to infect just about everyone around me with the Nerf virus. It is really fun to see howthese plastic toys turn grown men into small boys!

My main aim was for it to look awesome; which was difficult to achieve without removing the front part of thegun. But, I managed to accomplish this without removing the barrel, and Im really happy with how it turned out!

A big thanks goes to Bob (http://www.instructables.com/member/sentryGun53/) who authored an awesome writeup on how to build a sentry gun (http://projectsentrygun.rudolphlabs.com/).

Please do not attempt this mod unless you are convinced that you will be able to do it; otherwise you might destroyyour gun.

Step 1: Stuff you need

Stuff you need

Related

See More (/tag/type-id/?q=)

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Automatic (/tag/type-id/category-play/keyword-automatic/)

(/id/Nerf-

Nerf Vulcan Modification Project(/id/Nerf-Vulcan-Modification-Project/)by Zinventor (/member/Zinventor/)

(/id/Arduino-

Arduino Controlled Nerf Vulcan(/id/Arduino-Controled-Nerf-Vulcan/)by alecnotalex (/member/alecnotalex/)

(/id/nerf-

nerf vulcan mod (/id/nerf-vulcan-mod/)by kidengineer (/member/kidengineer/)

(/id/Nerf-

Nerf Vulcan AC power mod(/id/Nerf-Vulcan-AC-power-mod/)by bogott (/member/bogott/)

(/id/Guide-

Guide To Nerf (/id/Guide-To-Nerf/)by nerd97 (/member/nerd97/)


2 of 18 12/07/2013 10:50

To build the base:Wood: 5 mm, 9 mm, 15 mm plywood20 x 40 x 45 mm and 20 x 40 x 128 mm rectangular block of wood (you can also use the 1.5 mm plywood)Junior drum throne2 x ball-bearing (12 x 28 x 8 mm)Axial ball bearing (80 x 105 x 19 mm)12 mm wooden poleWood glueSand paperWood fillerPaint/paint brush15 x spax/wood screws M4 x 40 mm; 4 x screws M4 x 16 mm4 x wing nuts: M54 x machine screws: M5 x 16 mm4 x bracketsTwo component glue

ElectronicsServo for the turn axis: BMS-660DMG+HS (http://www.hobbyking.com/hobbyking/store/__9440__bms_660dmg_hs_super_strong_digital_servo_mg_14_2kg_17sec_52g.html)Servo for the tilt axis: Hitec HS-805BB (http://www.hobbyking.com/hobbyking/store/__9810__Hitec_HS_805BB_Mega_1_4_Scale_servo_19_8kg_152g_0_19sec.html)WireArduino UnoTIP120 transistor1N4004 diode1k resistorPin header

Other Nerf Vulcan (e.g. here (http://www.amazon.com/gp/product/B003H9MTJ6/ref=as_li_ss_tl?ie=UTF8&camp=1789&creative=390957&creativeASIN=B003H9MTJ6&linkCode=as2&tag=myinstrucacco-20))6 Volt battery pack5 kg replacement spring for the VulcanOptional: Paint and plastic primer for the gun3 mm lead pearls or something similar as a counter weight6V 3700mAh battery pack9.6V 2000mAh battery packWebcamLaptop

ToolsDrill (3, 5, 12, 28 (to fit the bearing) mm drill bits)SanderScroll sawSoldering ironClaw hammerPhillips Head screw driverHot glue gun

Things like a scroll saw and a powerful drill are useful, but not a 100% necessary. I finished the whole tilt axiswith just a fret saw and a cordless drill which was far too weak to drill the 28mm hole (I used the fret saw instead).

Step 2: Take the Vulcan apart


3 of 18 12/07/2013 10:50

Taking the Vulcan apart is certainly not an easy task, so be careful and try not to snap any plastic pieces.

Start by taking the handle off. You wont have to loosen any screws. Just hold the gun down and pull it to theside, as shown in the first picture.Remove the screws from the belt retainer and take out the plastic inserts. Afterwards you can just pull it off.

Step 3: Take the Vulcan apart

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4 of 18 12/07/2013 10:50

Use a claw hammer, to pry off the bolt head.Remove the battery tray cover, as well as the battery tray.

Depending on the age of your Vulcan, there might be a sticker.If there is a sticker, you will then have to cut it in half.

Now remove all the screws from the main part of the blaster.You dont need to take the screws off which hold the barrel together unless you plan on painting theblaster.

Carefully pry the pieces apart.Be careful that you dont damage the wires.

Step 4: Optional: Replace the spring

I recommend changing the spring at this point, but that decision is up to you. When you use battery packs withhigher voltage, it will increase the firing rate, but not the strength of the shot.

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5 of 18 12/07/2013 10:50

In my opinion, a 5 kg spring works best (the original one is a two kilo spring). I tried a 7 kilo spring in one, andalthough it was strong, it resulted in a lot of mis-firing.

To replace the spring, follow these steps:Start by removing the orange plastic piece on the plunger.Remove the 10 screws marked in the first picture of this step.

Then take off the casing.Unhook the spring.

Remove the collar and spring from the plunger (as shown in the third picture).Carefully remove the plunger.Pull the plunger out of its casing.After unscrewing the screw which is holding the plunger head you will be able to change the spring.

In the last picture you can see how the firing speed improved. To give you an idea of the guns speed after thereplacement - it is about as fast as an unmodified Nerf Maverick.

I tried to remove the air restrictor, too but noticed no difference in the firing speed, so I just left it where it wasoriginally

Step 5: Rewiring

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6 of 18 12/07/2013 10:50

A big advantage of the Nerf Vulcan is that no extra servo is needed to fire it. The Arduino can directly be wired tothe motor of the gun.

To wire the Arduino to the Motor:First solder one wire to the positive side of the motor - as shown in the first picture.Then solder a second wire to the switch - as shown in the second picture.

Either unscrew the mechanism, or use pliers to place the wire underneath it, as shown in the third picture. Now allthat is left to do is to secure the wires with hot glue, as shown in the fourth picture of this step. I simply connectedthe two wires; But you can also add a switch, to also enable firing by pulling the trigger.

If you are planning on painting the gun, be sure to avoid painting the plunger head and the internal parts. The paintwill only disturb the function and be scraped off after a time.

Ive uploaded a picture to help you reassemble the Nerf gun. Be cautious so you dont snap or break any pieces.

Step 6: Turn axis

I originally wanted to use the base plate of the chair, but noticed that it was quite shabby. So after cutting off thecushion I replaced it with a 20x20x1.5 cm plywood plate, as shown in the pictures.

Cut a slot into the other 20x20x1.5 cm plywood plate, to fit the servo. Make sure that the axis is perfectly centered!

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7 of 18 12/07/2013 10:50

Now you will have to cut a hole into each of the 0.5 cm plywood or MDF plates, in order to fit the axial ballbearing (take a look at step 1 for the measurements). Glue one to plate holding the servo and the other one to thethird plate. Drill a hole into the center of the third plat, which has to be big enough to allow you to screw the servoarm to the servo.

Step 7: Turn axis

Glue the sides to the bottom plate of the box, as shown in the first picture. The piece in the front was supposed tohold the webcam. But after using the gun for the first time, I noticed that even though the base is really sturdy itmoves a bit when the gun stops, which results in false detections. So I just decided to place the camera on the floorin front of the gun until Ill be able to find the time to build a tripod for the camera.

Before you paint the pieces, you should fill the holes and prime them. Next. , make sure that everything fits andscrew the servo in place. In my experience the best way to position the servo arm is to screw it to the servo and touse two component glue to attach it to the top piece. Before you do so, make sure that the angle the servo can turnin both directions is the same. After the glue is set, unscrew the arm from the servo and take the plate off. Now youcan screw the servo arm to the plate, to give the connection better strength.

Step 8: Tilt axis

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8 of 18 12/07/2013 10:50

Before attaching the pole as shown in this step, I wanted build a platform. The platform should make attaching andremoving the Vulcan as easy as possible; but I noticed that it didnt work. The main reason for this was that eventhough the center of gravity of the back and the front was pretty well balanced, the top and bottom really wasnt.So the servo didnt have enough power to move the gun.

I decided that the best way to attach the wooden pole would be through an existing screw hole. Since the gunshould be attached in its center of gravity, I had to use counterweights later on (I didnt want to take the front of thegun off, since I thought it looked good). Otherwise the center of gravity interferes with the ammo belt.

Drill a hole to fit the wooden pole through the screw hole marked in the first picture. Cut a disc with a 6 cmdiameter from the 1.5 cm plywood and drill a 12 mm hole into its center. Paint the disc and place the pole throughthe hole. Secure it with a screw, as shown in the pictures. I suggest that you paint the pole after youve placed it inthe bearings, otherwise it might not fit. Place the pole through the Nerf gun and glue the wooden disc to the plastic.Use two more screws to secure it.

Step 9: Tilt axis

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9 of 18 12/07/2013 10:50

Cut a wooden disc to fit the arm of the Hitec HS805BB servo. Secure it with the provided screws and screw it tothe servo. Cut all the pieces from the 9 mm plywood that are shown in the second step. Be sure to round the topedges of one side, as shown in the last picture. If you dont, your ammo belt might get stuck. Place the two ballbearings into the two identical side pieces and paint them after filling and priming. Cut a hole into the third pieceto fit the servo. Its very important that the axis is perfectly centered. You should really spend some time on thisstep, since it will greatly affect how well your gun will work.

Place the wooden pole holding the Nerf Vulcan between the two pieces with the bearings. Now use the 128 mmrectangular block of wood as a spacer (the lower end of the plates has to face the back of the gun). At first I tried tosecure the spacer with glue, but the connection was just not strong enough. So I used M4 x 40mm wood screws, tosecure it in place. It also makes it easier to take the gun apart later should it be necessary.

Glue the 45 mm rectangular block of wood to the bottom of one of the panels and cut the wooden pole to thecorrect length in order for it to perfectly fit into the wooden disc which youve build before. Attach the servo andscrew the wooden disc to the pole, as well as the servo plate to the spacer.

Then use the brackets, screws and wing nuts to attach the base, as shown in the pictures. Using the wing nutsallows an easy disassembly of the gun and therefore assures easy transportation.

Use the lead pearls or something similar as a counter weight, until the gun is perfectly in balance. Hot glue worksgreat to hold the pearls in place.

Step 10: Electronics

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10 of 18 12/07/2013 10:50

Connecting the two servos and the electronic trigger to the Arduino is relatively simple. The wiring is shown in thefirst picture. The 1k resistor protects the Ardunio from electric shorts and the diode prevents stray electricity andsparks. You can of course leave your circuit on the breadboard, but I decided to use a perfboard.The voltage of the battery pack connected to your gun motor controls the firing rate. If you want your gun to shootfaster feel free to use a second battery pack, or one with a higher voltage rate.

Thanks a lot lo Bob Rudolph for writing the awesome code for the sentry gun (you can also download it here(https://github.com/sentryGun53/Project-Sentry-Gun)). Just upload the files to your Arduino. Make sure to adjustthe servo positions to your gun!

PSG Arduino code:

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11 of 18 12/07/2013 10:50

/* -------------------- Project Sentry Gun -------------------- ============================================================ ----- An Open-Source Project, initiated by Bob Rudolph ----- */ // Set your controller type here// type options: "Arduino_bare", "Shield_v4", "Shield_v6", "Shield_v7", "Standalone_v3", "Standalone_v5", "Standalone_v7", "Standalone_v8"#define type "Arduino_bare"

/* Help & Reference: http://projectsentrygun.rudolphlabs.com/make-your-own Forum: http://projectsentrygun.rudolphlabs.com/forum

Backup:

// contributed by Hugo K.

#include #include "EEPROMAnything.h"

/*// Booleans but int int controlMode; int safety; int firingMode; int scanWhenIdle; int trackingMotion; int trackingColor; int leadTarget; int safeColor;

EEPROMAnything.h

#include #include // for type definitions

template int EEPROM_writeAnything(int ee, const T& value){ const byte* p = (const byte*)(const void*)&value; int i; for (i = 0; i < sizeof(value); i++)

EEPROM.write(ee++, *p++); return i;}

template int EEPROM_readAnything(int ee, T& value){ byte* p = (byte*)(void*)&value;

Step 11: Processing IDE


12 of 18 12/07/2013 10:50

Post Comment

(/member/brendanmulcahy/)

Jul 4, 2013. 11:22 PM Reply (COTLHQDHIPISLHH)

36(/member/BrittLiv/)

Jul 5, 2013. 12:35 AM Reply (CFI7DZHHINOBGP9)

In order to run the sentry gun processing code, you will need to install the 32 bit version of the Processing IDenvironment first. You can download it here (https://processing.org/download/).

Create a folder named "Processing" and copy the files provided with this step into it. Furthermore you will have tocopy the files in the "copy these into processing root or system32" folder to your root system.

You can find a detailed description on how the software works on the project sentry gun page here(http://projectsentrygun.rudolphlabs.com/make-your-own/using-the-software). The only major new thing is thesurf classifier to detect the instructables robot. It can be controlled with these lines:

public boolean use_surf = true;public int surf_sensivity = 3; public String surfRefFile = "D:/Sentry/robot_live2.jpg";

Processing.zip (/files/orig/FSQ/YMXK/HI3TJVJH/FSQYMXKHI3TJVJH.zip)21 MB

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Next (http://www.instructables.com/id/Nerf-Vulcan-Sentry-Gun/?&sort=ACTIVE&limit=40&offset=40#DISCUSS)

brendanmulcahy (/member/brendanmulcahy/) says:

i am building a paintball turret,with stepper motors so it is faster, using the same program. i am wondering howyou set that feature so it doesnt fire at a logo or are you using the feature where it doesnt fire at a certain color.

BrittLiv (/member/BrittLiv/) (author) in reply to brendanmulcahy

Hi, it works with the SURF(http://en.wikipedia.org/wiki/SURF)classifier from the openCV(http://en.wikipedia.org/wiki/OpenCV)library. I originally wanted to add facialrecognition, but it was not reliable enough. Imight be adding some gesture recognition,though.I am not sure how well the logo recognitionwould work with a BB gun, since after a

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13 of 18 12/07/2013 10:50

(/member/drnation/)

Jul 7, 2013. 5:17 PM Reply (CM0J54IHIPILZ42)


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(/member/pnguin9999/)

Jul 10, 2013. 8:43 PM Reply (CWQXBN4HIZDARVZ)

certain distance the logo might be to small.Tell me, should you need help!

drnation (/member/drnation/) says:

As everyone else has said You Are A STAR! I have never commented on or voted for anyone before. If youlook at the forum for the Sentry Gun and the projects there, You are not even in their class. You soar above themall. The same goes for the projects on Instructables. As I go through your ile I see details that blow me away.You are a craftsman. It is refreshing to see. And you are versatile using different mediums. Hanging around ahardware store had to help that. Woodworking - OK you grew up in a lumber yard, electronics - nice work withthe Arduino and then the perfboard which looks like a professional prototype, and using R/C servos, and youreducation makes the testing and graphing of the mods to the gun understandable but still, in an Instructable?

This looks like the start of a prop seen in a movie and not some hacked together, hotmelt glue connected, pile of,well, you know what, that might shoot once but not much more than that. Your slick Arduino/perfboard build isvery clean and neat. I read almost all the instructables but yours is truly outstanding. I vote for YOU!!!Dr Marty

BrittLiv (/member/BrittLiv/) (author) in reply to drnation

Wow, just wow *blush*! Thank you, its nice tostart the week with such a compliment.

mikeasaurus (/member/mikeasaurus/) says:

This project made it on American television (http://www.rightthisminute.com/video/pesky-little-brothers-beware-nerf-vulcan-sentry-gun-knows-where-you-are). Way to go, Britt!

geoffmac (/member/geoffmac/) says:

Hi BrittLiv,

Thanks for an outstanding project and instructable! You have my vote and I definitely plan on building one ofthese. Just a question: How do you think this setup would work on a mobile base? Would the targeting algorithmneed some tweaking or would it work off the bat? Im thinking some sort of motorised wheel base for controlvia RC or even autonomous robot. Arduino controlled of course.

Look forward to seeing what you think.

BrittLiv (/member/BrittLiv/) (author) in reply to geoffmac

If you select the movement detection, youwould have to turn the firing off, whilemoving it (else it would just go crazy). Ifyou tell it to track a colour instead, it shouldwork of the bat.

kelseymh (/member/kelseymh/) says:

Hey, congratulations on becoming an Internet sensation! http://cheezburger.com/52267777

BrittLiv (/member/BrittLiv/) (author) in reply to kelseymh

Wow, thank you, I wasnt expecting that!

pnguin9999 (/member/pnguin9999/) says:

Excellent engineering. Looks very clean and professional.

Dr.Bill (/member/Dr.Bill/) says:

You have been featured here http://www.theblaze.com/stories/2013/07/09/diy-instructions-to-modify-a-nerf-gun-into-an-intimidating-automatic-sentry-firearm/ (http://www.theblaze.com/stories/2013/07/09/diy-


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instructions-to-modify-a-nerf-gun-into-an-intimidating-automatic-sentry-firearm/) KudosFrom Dr.Bill

pwaugh ma (/member/pwaugh+ma/) says:

OMG BrittLiv, you are like the perfect woman, haha. Im in luv. How cool would it be to come home to you andhave to evade your sentinel gun? You are a dream. :)

nadialtbr (/member/nadialtbr/) says:

You are famous! and instructbles are hitting the big news:http://www.theblaze.com/stories/2013/07/09/diy-instructions-to-modify-a-nerf-gun-into-an-intimidating-automatic-sentry-firearm/

BrittLiv (/member/BrittLiv/) (author) in reply to nadialtbr

Wow, the comments are really nice, thanks alot for showing it to me!

nadialtbr (/member/nadialtbr/) in reply to BrittLiv

My son now wants one of these, but all Ican do is cook, so hell have to live with thenormal Nerfs.

ndwalters (/member/ndwalters/) says:

Wow, now your just showing off!

jlang3 (/member/jlang3/) says:

I think Im in nerd love with you. This is simply amazing. I need to build one for the office and ceiling mount itjust outside my office door to stop certain coworkers from entering.

Tracy_Marie (/member/Tracy_Marie/) says:

Wow. When I saw the photo, I thought, "Nerf?" The gun itself looks real. "Warning! This home protected byautomatic fire power!" Who needs bullets? Have paint on the tip of the nerf ammo to "Tag" intruders! Ha! Idont know anything about eletronics, etc. But this idea is awsome!

srajan4 (/member/srajan4/) says:

Hi. You did a good job. But I would like to know more about your tracking program. I did a small project 4years back, in which made a robot to track and follow targets. So you have used opencv. But how were you ableto achieve the precise movements of servo motors in the feedback loop? My robot tracked alright, but could notalight with the target on a real time basis. Once it points in the direction of the target, it tends to go a littlefurther, and again tries to align and again overshoots, and this goes into an azimuth oscillation. Also, the imageprocessing and target recognition is slow and out of sync with the servo motors.

phoenix1701 (/member/phoenix1701/) says:

Absolutely Fan-Freaking-TASTIC! I will put ALL my hats on my head, then take them OFF to you! WELLdone!

BrittLiv (/member/BrittLiv/) (author) in reply to phoenix1701

Lol, thanks a lot!


15 of 18 12/07/2013 10:50

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Rexd666 (/member/Rexd666/) says:

Had two Vulcans and an Arduino sitting on the shelf waiting for a project like this. Thanks for givingme the kick to get moving on the project. Ordered all the parts, then discovered that despite being ametric country for a long time, dowel in Australia is all 12.7mm or 1/2". Back to EBay for differentbearings.Thanks for the great work.

pish 398 (/member/pish+398/) says:

And sorry but other question how did you make the shoots box

BrittLiv (/member/BrittLiv/) (author) in reply to pish 398

Do you mean the ammo box? I dont needone, since the motor is strong enough to feedthe belt into the mechanism.

DCengineer (/member/DCengineer/) says:

One more question: how can the movement be stabilized? It may be worth adding averaging the motion to makeit not as jittery.

BrittLiv (/member/BrittLiv/) (author) in reply to DCengineer

It runs a lot more stable with the right servos.It would be an option to use two HitecHS-805BB servos, but they are quiteexpensive.

DCengineer (/member/DCengineer/) in reply to BrittLiv

Makes sense, those probably have built-innoise cancellation. What if you added acapacitor to the signal wire?


Thanks


One questionHow dif you put so many shoots

BrittLiv (/member/BrittLiv/) (author) in reply to pish 398

I connected the belts. Here is a nice tutorialon how to do it:http://modworks.blogspot.de/2009/04/nerf-vulcan-mod-increase-ammo-belt.html(http://modworks.blogspot.de/2009/04/nerf-vulcan-mod-increase-ammo-belt.html)

DCengineer (/member/DCengineer/) says:

Another addition: put in a Rasperry Pi or BeagleBone so that it can be made completely standalone.


Hi, I dont think, that they would be fast enough. The tracking requires some computer power.


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DCengineer (/member/DCengineer/) in reply to BrittLiv

Maybe, but you also have to remember thatRpI is running a lightweight Debiandistribution, which uses much less processingpower then Windows 7/Mac OS.


Hi, I am actually running it on Ubuntu. Iagree what you say about java, but getting itto run in C++ requires a lot of work.

DCengineer (/member/DCengineer/) in reply to DCengineer

Although is support of what you said, thetracking program uses Processing, which isbuilt on top of Java (and therefore fairly slow).

jtmcdole (/member/jtmcdole/) says:

Simply awesome!

user1044 (/member/user1044/) says:

Genius!

thequantumcat (/member/thequantumcat/) says:

Hahaha, as an army cadet I can safely say that exercises would be so much more fun if we had this on sentryduties...

throbscottle (/member/throbscottle/) says:

I may attempt this for my grandson. Deep Awe.

Boomshadow (/member/Boomshadow/) says:

This looks...

(_)

( _)> - .

( _ )

Like a blast. Well-done!

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