Differential pan-tilt

grabcad

The innovative concept originated from this video https://www.youtube.com/watch?v=Su6O6155UJM, which sparked the designer's imagination. The CAD files were later published, but unfortunately, they weren't compatible with my CAD software, so I had to recreate the mechanical design using FreeCAD and adapt it to my TEAC stepper motors. These motors are powered by a pair of A4988 stepper motor drivers that receive commands from an NEC V25 SBC, which was salvaged from an older project. The controller board runs a sophisticated drive+controller application that can be accessed through a serial link and managed through either a serial console (e.g. minicom) or commands issued by a remote program (I use a set of Python scripts for different applications). This setup enables the controller to maintain a simple set of command primitives that are used by higher level code to implement more complex applications such as integration with OpenCV for object tracking.