R/C LEGO® Dart Shooter Droid

Toy implies interaction! But when I build LEGO® Track Bot it lacked of any interaction. At the time I built the LEGO Track Bot I was not thinking about the interaction part of it at all. So I decided to build another Track Bot that have more features than the Track Bot. And I could play or interact with it.  
And the result is R/C LEGO^® "Dart Shooter Droid" that I am going to show you how to build one in this instructable. 

Dart Shooter Droid
Basically, this "Dart Shooter Droid" uses LEGO^® components similar to the previous built LEGO^® Track Bot, and "Dart Shooter Droid" uses the same vertical gearbox and base similar to Lego Track Bot. But I did some revision on the track to tighten them up a little more by replacing one of the hubs in triangular tracks with 24-tooth gears. By doing this the tracks move better than before.

This Droid is capable of rotating it torso to both left and right. The Droid has an arm equips with dart (or cannon) launcher., and capable to rotate the canon up and down to aim and shoot at some kind of target.

The Droid uses two of my Palm Arduinos,
- Palm Arduino II to control the upper part of the body.
- Palm Arduino V3 (LEGO® Compatible Arduino PCB) to control the tracks to move in any directions.
These two Arduinos are communicating with each other via I2C Communication protocol (See details Step 15).


The Target Bot
Along the way of building this "Dart Shooter Droid", I envisioned "through the looking glass" that I should create a game for the Droid. What if we have a target for the Dart Shooter to fire at.
I thought about line up a mini figures similar to the bowling pins. "But I don't have that many mini figures!" That doesn't work!

While I browsed through eBay - LEGO^® Technic pages, I saw the 8233/8239 set. I liked the look of the creature that can shoot the dart back. And I have some components enough to build the similar creature. 

So I decided to built the Target Bot similar to the creature in 8233/8239 Lego set. The Target Bot did not used exactly the same components as in 8233/8239, I did altered some components and left off some components.
For the construction details and parts list of the Target Bot see Step 16.

WARNING: Please do not shoot the dart to anybody face or eyes. The dart shooter or cannon used in the project can shoot the dart as fas as eight to ten feet. 

Disclaimer:
_{LEGO^®, TECHNIC, are property of The LEGO Group of Companies (http://www.lego.com), which does not sponsor, own, authorize or endorse this creation.}

In this project, I created a R/C LEGO® "Dart Shooter Droid" that combined the parts from components list below,

LEGO® Components
I divided LEGO® Components into four separate groups, Vertical Gearbox Support, Torso and Head, Left Arm, and Right Arm.
In addition I also provided the Instruction of the Target Bot. (Components for Target Bot, see Photo 5, are listed separately in Step 14.)
Following are components used in this project.

Torso and Head Components


Vertical Gearbox Support & Base Components



Rotational Base:

Torso Rotational Servo Housing
Tracks and Hubs:
Castor:

Left Arm Components


Right Arm Components
Target Bot
Note: This Target Bot is optional you can omit this part.
All the LEGO components are listed in Step 16.


Palm Arduino II
For the details, schematic and parts for Palm Arduino II go here.

Palm Arduino V3
For the details, schematic and parts for Palm Arduino V3 go here.

DIY Motor Controller PCB (Photo 4) or Motor Shield
For the details, schematic and parts for DIY Motor Controller go here.

Double Gearbox Kit
Tamiya 70097 Twin-Motor Gearbox Kit or similar.

Servos
2 nos. - 9g Micro Servo (T Pro SG90), or Power HD Micro Servo HD-1900A (Pololu #1050) or Adafruit's Micro Servo (#169) or similar.
1 no.   - Sub-Micro Servo 3.7g (Pololu #1053) or similar.


Tools
Razor Saw
X-acto Knife
Super Glue
Sugru

The "Dart Shooter Droid" used the same concept of the Track Bot or Star War Battle Droid's (#8001) torso and head.
The Droid Torso is little wider (by a stud.)

Following are the photos show how to assemble parts:

Photo 2 Shows all the components for head and torso construction.

Photo 3 Liftarm 1x9 Bent 7x3 (#32271)

Photo 4, 5, 6 Cross Axle 6M (#3706)

Photo 7, 8, 9 Two 1/2 Bush (#32123), Cross Axle 5M (#32073), and Two Liftarm 2x4 L shape (#32140)

Photo 10, 11, 12 Two Connector Peg (#3673)

Photo 12, 13 Cross Axle 4M (#3705)

Photo 14, 15 2x4 Technic Plate (#3709), and Slope 45 6x2 Invert Brick with connector (#30390)
Photo 16, 17, 18 2x2 Plate with Holes (#2817), and Slant Brick (#2744)

Photo 19, 20 Two 1x2 Technic Brick (#3700)

Photo 21, 22 2x4 Technic Plate (#3709)

Photo 23, 24 Four Technic Lever (#6632)

Photo 25, 26, 27, 28 Two Technic Lever (#6632), and Cross Axle 2M with Groove(#32062)

Photo 29, 30 Two Connector with Peg 3M (#32556)

Photo 31, 32 Two Connector Peg/Cross Axle (#6562), and Cross Axle 6M (#3706)

Photo 33, 34 Liftarm 3x5 L-Shape with Quarter Ellipse Thin (#32250)

Photo 35, 36 Liftarm 3x5 L-Shape with Quarter Ellipse Thin (#32250)

Photo 37, 38, 39 Two Round Plate 1x1 Transparent Green (#30057), and Palabora Dish 2x2 (#4740)

Photo 40, 41 Two Round Plate 1x1 Transparent Red (#30057)

Continue from previous Step.

Following are the photos show how to assemble parts:

Photo 1, 2 Three Axle Conn Perp 3L (#32184), and Cross Axle 10M (#3737)

Photo 3, 4 Two 1/2 Bush  (#32123), and Two Bush for Cross Axle (#6590)

Photo 5, 6 Two Liftarm 1x4 (#2825)

Photo 7, 8 Axle Conn Perp 3L (#32184), and Cross Axle 8M (#3707)

Photo 9, 10 Two Liftarm 1x4 (#2825)

Photo 11, 12 Axle Conn Perp 3L (#32184)

Photo 13, 14, 15  Two Cross Axle 4M (#3705)

Photo 16, 17, 18, 19, 20 Two Liftarm 1x11.5 Double Bent Thick (#32009)

Photo 21 The head part is done.

Continue from previous Step.

Photo 1, 2, 3 Two Liftarm 1x11.5 Double Bent Thick (#32009), and Two Cross Axle 2M with Groove(#32062)

Photo 4, 5, 6  Four Connector Peg/Cross Axle (#6562), and two Axle Connector Block 3 x 6 with 6 Axle holes (#32307)

Photo 7, 8 Cross Axle 6M (#3706)

Photo 9,10, 11 Palm Arduino II

Photo 12, 13, 14 Two  Connector Peg with Friction (#2780), Two Cross Axle 2M with Groove(#32062) and Two Liftarm 2x4 L shape (#32140)

Photo 15, 16, 17 Two Cross Axle 6M (#3706) and Axle Joiner (#6538b)

Photo 18, 19 , 20 Two  Connector Peg with Friction (#2780), and Two Liftarm 2x4 L shape (#32140)

Photo 21, 22, 23 Two Technic Lever (#6632), and Two Technic Bush 1/2 Toothed Type II (#4265b)

Photo 24, 25 Four Technic Lever (#6632)

Photo 26, 27 Angle Element [4], 135 Degrees (#32192)

Photo 28, 29, 30 Connector with Peg 3M (#32556), Angle Element [1], 0 Degrees (#32013), Connector Peg with Knob  (#4274) and 
Rigid Tube 3 mm Dia. 7L  (#75c07)

Photo 31, 32, 33, 34 Angle Element [1], 0 Degrees (#32013), Connector Peg with Knob  (#4274) and Rigid Tube 3 mm Dia. 9L  (#75c09)

The Dart Shooter Droid used basically same way to support Twin-Motor Gearbox as I used in my LEGO® Track Bot. It consisted of triangular frame that used the Pythagoras' Theorem applied to use in diagonal Bracing (As shown in Photo 2 & 3.)

For Lego Track Bot's Twin-Motor Gearbox installation see Lego Track Bot Step 3: Gearbox & DIY Motor Controller PCB.

Following are the photos show how to assemble Vertical Gearbox Support & Base:

Photo 1 Shows the components use for Vertical Gearbox Support & Base construction.

Photo 2, 3 Show the Triangular frame that used the Pythagoras' Theorem applied to use in diagonal Bracing.

Photo 4 Assembled twin gearbox and LEGO components.

Photo 5, 6 Two Connector Peg with Friction 3M (#6558)

Photo 7, 8 Two 1x4 Technic Brick (#3701)

Photo 9, 10 Two Connector Peg with Friction 3M (#6558), Four  3x3 Liftarm (#32249) and Two 1x16 Technic Brick (#3703)

Photo 11, 12, 13, 14  Four Connector Peg with Cross Axle (#6562)

Photo 15, 16 Assembled previously assembled components to vertical gearbox.

Photo 17, 18 Two 1x12 Technic Brick (#3895)

Photo 19, 20 Two Connector Peg/Cross Axle (#6562) and Two Connector Peg (#3673)

Photo 21, 22 Two 1x10 Technic Brick (#2730)

Photo 23, 24 Two Cross Axle 8M (#3707) and Two Bush for Cross Axle (#6590)

Photo 25, 26 Axle Joiner (#6538b)

Photo 27 Turn to the rear end of the base

Photo 28, 29 Two Cross Axle 8M (#3707) and Two Bush for Cross Axle (#6590)

Photo 30, 31 Pin Joiner Round (#75535) 

Photo 32, 33, 34 Four 1x8 Plate (#3460)

Photo 35, 36, 37 Four 1x3 Plate  (#3623)

Photo 38, 39 1x12 Technic Brick (#3895)

Photo 40, 41, 42 Two Liftarm 1x3 Thin (#6632) and Four Connector Peg/Cross Axle (#6562)

Photo 43, 44, 45 1x2 Technic Brick (#3700) and 1x2 Plate (#3023)

Photo 46, 47, 48, 49 Two 2x2 Plate (#3022) and 1x2 Technic Brick (#3700)

I made some alteration to the back hubs. Instead of using the same type of hubs like I did in Track Bot, I used two 24-Tooth gears on each side which are a little bigger than the original hubs. This way the tracks become tighter and make the robot move better than the previous version.

For Track & Hub Installation of Lego Track Bot see Lego Track Bot's instructable, Step 4:Tracks and Hubs, and Step 9: Track and Hubs Part 2.

Following show the building instruction for the Track & Hub.

Photo 4, 5 Continue from previous Step.

Photo 6, 7 Two 1x2 Technic Brick (#3700)

Photo 8, 9 Two 1x4 Technic Brick (#3701)

Photo 10, 11 Two 1x8 Plate (#3460)

Photo 12, 13, 14, 15, 16 Two Technic Sprocket Drive Wheel(Hub) (#32007), Two 16T Gear (#4019) and Two Bush for Cross Axle (#6590)
Note: Repeat this step on the other side.

Photo 17, 18, 19, 20, 21 Two Bush for Cross Axle (#6590) and Four 24T Gear (#3648)
Note: Repeat this step on the other side.

Photo 22, 23, 24, 25 Two 5" Caterpillar Treads (#680C01)

Photo 26 Turn to the front of the base.

Photo 27, 28 1x6 Technic Brick  (#3703)

Photo 29, 30 Two 2x4 Technic Plate  (#3709)

Photo 31, 32 Two 2x2 Plate (#3022)

Photo 33, 34 1x8 Plate (#3460)

Photo 35 Turn to the rear of the base.

Photo 36, 37 Two 2x4 Technic Plate  (#3709)

All the Lego parts for battery compartment and rear castor.

Lego parts used in this Step:

3 nos. 1x6 Technic Bricks (#3894)
2 nos. 2x4 Technic Plates(#3709)

4 nos. 1x2 Plates(#3023)

4 nos. Bush for Cross Axle (#6590)
2 nos. 1/2 Bush (#32123)
2 nos. Axle Pin Angle Connector (#6536)

2 nos. Tire High Narrow Ø15 X 6 (#87414)
2 nos. Hub with split axle hole (#3482)

4 nos. Connector Bush with Friction/Crossaxle (#43093)
2 nos. Liftarm 1x3 Thin (#6632)

1 no. Cross Axle 6M (#3706)
1 no. Cross Axle 4M (#3705)

The details construction are exactly the same as used in the Lego Track Bot follow this link for the details instruction,
Lego Track Bot, Step 11: Battery Compartment and Castor

Continue on from the previous Step.

Photo 1 Shows the finished Castor

Photo 2, 3 2x6 Technic Plate (#32001)

Photo 4, 5, 6 1x4 Technic Brick (#3701) and 2x6 Technic Plate (#32001)

Photo 7, 8 Two 2x2 Plate (#3022)

Photo 9, 10 Two 1x2 Plate  (#3023)

Photo 11, 12 1x6 Technic Brick (#3894)

Photo 13, 14, 15 Connector Peg/Cross Axle (#6562) and Liftarm 1x3 Thin (#6632)

Photo 16, 17, 18 Four 1x2 Plate (#3023)

Photo 19, 20 Technic Bush 1/2 Toothed Type II (#4265b) and Cross Axle 6M (#3706)

Photo 21, 22 Two Bush for Cross Axle (#6590)

Photo 23, 24, 25 Axle Joiner Perpendicular (#6536) and Cross Axle 4M (#3705)

Photo 26, 27 Two Wheels (Tire #87414, and Hub #3482)

Photo 28, 29 Two 1/2 Bush (#32123)

Photo 30, 31, 32 Two 2x4 Technic Plate (#3709)

Photo 33, 34, 35 Bush for Cross Axle (#6590)

Photo 36, 37 1x6 Technic Brick (#3894)

Photo 38, 39, 40 Two Liftarm 1x3 Thin (#6632) and Connector Peg/Cross Axle (#6562)

Following are the photos show how to assemble Torso Rotational Base:

Photo 1 Head and Torso in place on top of Vertical Gearbox and base

Photo 2, 3 Connector Peg/Cross Axle (#6562)

Photo 4, 5 Four Connector Peg (#3673)

Photo 6, 7, 8 Two Connector Peg/Cross Axle (#6562)

Photo 9, 10, 11 1x6 Technic Brick (#3894)

Photo 12, 13, 14 Two 8T Gear  (#3647) and Two Connector Peg/Cross Axle (#6562)

Photo 15, 16, 17 Two Connector Peg/Cross Axle (#6562) and 40T Gear (#3649)

Photo 18, 19, 20, 21 8T Gear  (#3647) and Cross Axle 6M (#3706)

Photo 22, 23, 24 Install Torso and Head onto the 40T Gear as shown

Photo 25, 26 Bush for Cross Axle (#6590)

Photo 27, 28, 29 Two Liftarm 1x3 Thin (#6632) and Four Connector Peg/Cross Axle (#6562)

Photo 30, 31 2x8 Technic Plate (#3738)

Photo 32, 33 2x8 Technic Plate (#3738) and 1x8 Plate (#3460)

Photo 34 Shows the Torso and Head installed on the Vertical Gearbox and base

Following are the photos show how to assemble Torso Rotational Servo Housing:

Photo 1, 2, 3, 4, 5 Two 2x2 Plate (#3022), 2x8 Technic Plate (#3738) and 1x6 Technic Brick (#3894)
Photo 6, 7, 8 16-Tooth Gear (#4019), Servo horn glued to the 3L Axle with knob (#6587), and 9g Micro Servo

Photo 9, 10, 11 Position the servo on to the assembled servo support, and try them on the back of the base. Then mark the position of the servo, and remove them from the position.

Photo 12, 13 Apply Sugru to the plate at the marked spot.
PHoto 14, 15 Re-install the assembled to the back of the Droid

Following are the photos show how to assemble left arm:

Photo 1. 2, 3 Connector with Peg 3M (#32556), Angle Element [4], 135 Degrees (#32192) and Two Angle Element [3], 157.5 Degrees (#32016)

Photo 4, 5 Three Cross Axle 2M with Groove(#32062)

Photo 6, 7 Three Cross Axle 3M (#4519)

Photo 8, 9, 10 Technic Lever (#6632)

Photo 11, 12, 13 Cross Axle 2M with Groove (#32062) and Perpendicular Axle Pin Connector (#6536)

Photo 14, 15 Technic Lever (#6632)

Photo 16, 17, 18 Cross Axle 2M with Groove (#32062) and Perpendicular Axle Connector (#32039)

Photo 19, 20, 21 Pole Reverser Handle (#6553) and Cross Axle 2M with Groove (#32062)

Photo 22, 23 Cross Axle 4M (#3705)

Photo 24, 25 Angle Element [5], 112.5 Degrees (#32015)

Photo 26??, 27, 28 Cross Axle 2M with Groove(#32062) and Angle Element [5], 112.5 Degrees (#32015)

Photo 29, 30, 31 Cross Axle 2M with Groove(#32062) and Angle Element [5], 112.5 Degrees (#32015)

Photo 32, 33, 34 Perpendicular Axle Pin Connector (#6536) and Connector Peg/Cross Axle (#6562)

Photo 35, 36 Ribbed 7 mm Dia. Tube 7L (#78c07)

Photo 37, 38 Connector Peg (#3673)

In this Step I will show you how to assemble the necessary (accessories) parts for the Right (Dart Shooter) Arm,

• Up/Down aiming servo attachment 
• Servo arm trigger mechanism
• and Trigger servo attachment

Following are the photos show how to assemble the Up/Down aiming servo attachment  on right arm:

Photo 1, 2, 3 Two Connector Peg (#3673) and Liftarm 1x5 Thin (#32017)

Photo 4, 5 Glue the parts together with SuperGlue as shown.

Following are the photos show how to assemble the Servo arm trigger mechanism:

Photo 6 Sub-micro generic servo (3.7g) or similar, Axle Towball (#2736) and Servo horn from the servo package cut down the arm to the length of the axle of Axle Towball (#2736)

Photo 7, 8, 9, 10, 11 Show how to modify the servo horn to fit the trigger cable.

Photo 12, 13, 14, 15, 16 Show how to custom make our own Trigger cable.
Part used in these steps: Two Flex Cable End, Ball Connection with Cage (#6644), electric hook up wire.
 
Photo 17, 18, 19 20, 21 Two  Lift arm 1x2 thin (#41677), Cross Axle 8M (#3707) and Cross Axle 5M (#32073) and Sugru

Photo 1 All the necessary parts for Right Arm (Dart Shooter) construction.

Photo 2, 3 Lift arm 1x2 thin (#41677), Connector Peg/Cross Axle (#6562) and Assembled trigger servo from previous Step.

Photo 4, 5, 6 Axle Joiner (#6538b) and Connector Peg/Cross Axle (#6562)

Photo 7, 8, 9 Cross Axle 2M with Groove (#32062) and Two Technic Lever (#6632)

Photo 10, 11 Connector with Peg 3M (#32556) and Axle Conn Perp 3L (#32184)

Photo 12, 13, 14 Cross Axle 2M with Groove (#32062) and Angle Element, 180 Degrees [2] (#32034)

Photo 15, 16, 17, 18 Cross Axle 2M with Groove (#32062) and Angle Element [4], 135 Degrees (#32192)

Continue from Previous Step.

Photo 1, 2 Two Cross Axle 3M (#3705)

Photo 3, 4 Competition Cannon (#57029)

Photo 5, 6 Cross Axle 4M (#4519)

Photo 7, 8 Liftarm Triangle Thin (#2905)

Photo 9, 10 Axle and Pin Connector Perpendicular (#6536) and Cross Axle (#)

Photo 1 1, 12, 13 1/2 Bush Connector (#32123) and Assembled servo horn and Cross Axle 3M with stud (#6587)

Photo 14, 15 1/2 Bush Connector (#32123)

Photo 16, 17 Worm Gear (#4716)

Photo 18, 19, 20 Cross Axle 3M (#4519) and 1/2 Bush Connector (#32123)

Photo 21,22, 23, 24, 25 Cross Axle 2M with Groove (#32062) and Perpendicular Axle Pin Connector (#6536)

Photo 26, 27 8-Tooth Gear (#3647)

Photo 28, 29 Liftarm Triangle Thin (#2905)

Photo 30, 31 Liftarm 1x3 thin (6632)

Photo 32, 33, 34, 35, 36, 37 Axle and Pin Connector Perpendicular (#6536) and Pin with Friction Ridges Lengthwise and Towball (#6628)

Photo 38 Competition Arrow Liftarm Shaft(#57028)

Photo 39 9g servo and Sugru ready to be installed in situ.

Photo 40, 41, 42, 43, 44 Shows how the dart (cannon) shooter is installed on the Droid.

Photo 44, 45, 46, 47, 48 Shows how to installed 9g servo (Up and Sown aiming servo) is installed.

Photo 49, 50 Shows the wiring from the servos to Palm Arduino II.

Video
- Test the servos

Photo 1 XBee module on XBee breakout board assembled on the Palm Arduino II.

Photo 2, 3 Palm Arduino II with Motor Controller PCB that used as a demo in my Palm Arduino II, Step 5 demo.

Photo 4 Since I'm not going to use this Motor Controller PCB, I removed it out.

Photo 5 Palm Arduino II, Adafruit's XBee Adapter Kit (#126), I chose it because it alread has 3V3 regulator on board. And I had it for some time mind as well get it out and make it useful. XBee module (Serie I).Notice that it has ceramic antenna so it is very suitable to fit it inside the Droid torso. PCB for XBee Breakout board. I drilled the holes at the bottom. Nuts available from previous used.

Photo 6 This was a try out. It looked OK, the thickness would not exceed to room available in the Droid Torso.

Photo 7 A set up before I did solder the XBee Breakout Board to the PCB.

Photo 8 The actual installation of the Palm Arduino II with the XBee PCB. It worked!

Photo 9 A view from the front, we can see the XBee module. 

Included in this step are the necessary Source Codes:
- dartShooterProcessing.pde - Processing Sketch for controlling the Droid from PC or Mac, or Laptop
- palmArduinoII01.ino - Sketch to upload to Palm Arduino II (Backpack of Dart Shooter Droid) as the I2C Transmitter(Master)
- palmArduinoV301.ino - Sketch to upload to Palm Arduino V3 (front panel of Dart Shooter Droid) as the I2C Receiver(Slave)

Note: all the source codes are not optimized and provided as is. For details of XBee module configuration please see, Make Wired Robotic Arm Edge to "Wireless" with DIY Arduino + XBee  Step 13: Configure XBee and Test XBee

Photo 2 Shows how the PC or Laptop  send the commands to Palm Arduino II (Backpack). Then Palm Arduino II passes the command via I2C to Palm Arduino V3 (Front Panel).

Photo 3 Testing XBee Communications. The Xbee Comm. using the processes from Adafruit's XBee tutorial, Basic point-to-point communication.

Photo 4 Testing Shoot servo, also see video below. (For Testing of both servos, see video in Step 12.)

The 3.7g servo that I used as the trigger for the dart (cannon) needed to rotate about 40º to shoot the dart.
Here is the snippet of the Sketch show the shoot() method or function.


... //========== Shoot Servo void shoot() { // shoot at 40 deg. angle for(angle = 0; angle < 40; angle++) { servoShoot.write(angle); delay(5); } digitalWrite(ledPin, LOW); for(angle = 40; angle > 0; angle--) { servoShoot.write(angle); delay(5); } } ...

This Step is an example of how to built a target robot. I just wanted to have a lot more fun on this project.

But if you do not have Lego components to built this Target Bot. One of the options is to set up some mini-figures as the targets, similar to the bowling pins. Then you could control the Shooter Droid to shoot the dart try to knock down all the mini-figures at one blow.

This Target Bot is also equipped with the dart (cannon) shooter. So, when you command the "Dart Shooter Droid"  to shoot at the Target Bot and hit the target disc on the Target Bot, It could shoot the dart (cannon) back! So be aware. Or some one can pull the trigger and shoot the dart (cannon) back manually too.

WARNING: Please do not shoot the dart to anybody face or eyes. The dart shooter or cannon used in the project can shoot the dart as fas as eight to ten feet.

Following is the list of the Lego parts used in this Step:

Lego Parts

3 nos. - Cross Axle 4M (#3705)

2 nos. Double Cross Block (#32184)
2 nos. Connector Bush with Friction/Cross Axle (#43093)
2 nos. Technic Bush 1/2 Toothed Type II (#4265b)


2 nos. - Pole Reverser Handle (#6553)
5 nos. - 2M Cross Axle W. Groove (#32062)
2 nos. - 2M Fric. Snap W/Cross Hole (#32054)
1 no.   - Connector Peg (#3673)

1 no.   - Dish 6 x 6 Inverted (Radar) Webbed - Type 2 (#4285b)
1 no.   - Dish 2 x 2 Inverted (Radar) (#4740)

2 nos. - Angle Element [6], 90 Degrees (#32014)
2 nos. - Angle Element [1], 0 Degrees (#32013)
9 nos. - Angle Element [5], 112.5 Degrees (#32015)

1 no.   - Ribbed 7 mm Dia. Tube 9L (#78c09)

2 nos. - Cone 1x1with Top Groove (#4589b)

1 no. - Competition Cannon (#57029)
1 no. - Competition Arrow Liftarm Shaft(#57028)


Photo 2 Competition Cannon (#57029)

Photo 3, 4, 5, 6, 7, 8 Cross Axle 4M (#3705), Two Axle Conn Perp 3L (#32184), Four 2M Cross Axle W. Groove (#32062), and Two Angle Element [6], 90 Degrees (#32014)

Photo 9, 10, 11, 12, 13 Cross Axle 4M (#3705), Two Pole Reverser Handle (#6553) and Two Angle Element [5], 112.5 Degrees (#32015) and Two Technic Bush 1/2 Toothed Type II (#4265b)

Photo 14, 15, 16, 17, 18, 19 Cross Axle 4M (#3705), Two 1/2 Bush Connector (#32123), Two  2M Cross Axle W. Groove (#32062) and Four  Angle Element [5], 112.5 Degrees (#32015)

Photo 20, 21 Two Connector Bush with Friction/Cross Axle (#43093), Two Angle Element [1], 0 Degrees (#32013) and 2M Fric. Snap W/Cross Hole (#32054)

Photo 22, 23, 24, 25, 26 Ribbed 7 mm Dia. Tube 9L (#78c09)

Photo 27, 28 Angle Element [5], 112.5 Degrees (#32015)

Photo 29, 30 Connector Peg (#3673)

Photo 31, 32 2M Cross Axle W. Groove (#32062)

Photo 33, 34 Dish 6 x 6 Inverted (Radar) Webbed - Type 2 (#4285b)

Photo 35, 36 Dish 2 x 2 Inverted (Radar) (#4740)

Photo 37, 38 Competition Arrow Liftarm Shaft(#57028)

Video
- Shows two ways of how Target Bot can shoot back to Dart Shooter Droid.

This was another fun project I worked on. And I was able to achieve my goal, further development of the project Lego Track Bot that not capable of doing anything except running around, and used the torso that came out of LEGO kit (Star War Battle Droid - #8001). This Dart Shooter Droid got it own torso design, has rotatable torso, and capable of shooting the dart (cannon), and also can move a lot better than the previous Lego Track Bot.

What works well?
- The tracks after alter the hubs, using 24T Gears instead of Hubs on one of the triangular tracks.

What doesn’t?
The aiming servo did not function very well. Because the limited movement of 8T Gear that attached to the Dart Shooter (Cannon). 

Gallery of photos of the finished Dart Shooter Droid.

Video:
- bench test video



- Test 4, moving and shooting. The 9V battery on the backpack, and battery for Palm Arduino V3 at the front panel of the Droid were kind of low. So I used the power supply via FTDI cables (two black cables behind the Droid) to both backpack and from panel Palm Arduino.