03/17/2024 Had major issues with DigitalWrite with the firmataexpress module flashed to the Xiao. I added a separate Arduino Uno Rev3 (still mislabeled as UnoR4) that has Standard Firmata flashed to it, this fixed the issue with not being able to write out to the SSR and solenoid.

Added TGZ gamepad support by using it to control the Turret manually, pressing A to move pin8 on UnoR3 to HIGH for 0.25 seconds, triggering the mechanism to squirt water.

02/27/2024 I'm going to get a list of the components together this weekend and link to the components I used to make this. Feedback from Reddit was kind and I acknowlege it needs a lot of work!

MeowMister is a program to control a turret to focus on an object if it meets the criteria for distance from source of lidar. It utilizes pyfirmata2, a FirmataExpress sketch ( and opencv to control a servo to rotate the turret). I am using the FirmataExpress module that includes the boards.h that adds support for the Seeed XAIO m0 board. Now using a small lidar device (LD19) for controlling direction of turret. Will only fire once while I continue to prototype it.

Lidar Plot running main2.py

Water Turret

Circuit arrangement.

Seeeduino XAIO pinout

1/2" Nozzle and 1/4" tubing line feeds through printed Boxhole.stl

My cat lounging around.

"I know where you sleep" - Thomas

02/26/2024 Cleaned up the readme file. Added XAIO pinout and wiring arrangement.

02/25/2024 Line from bottom of lidar now blocks the cats access to door - No longer meows because the cat knows it will get shot with water if he crosses into lidar range.

02/22/2024 Added old open cv tracking servo, not using it currently. Am using LD19 module with https://github.com/henjin0/LIDAR_LD06_python_loder/blob/main/README_en.md lidar calculator for python. Adapted it to support displaying lidar set in the bottom right corner of a hallway and using matplotlib to draw the details of the incoming data from a LD19 to serial-USB converter.

01-23-2024 Added shell script to start the processes and launch servo_control.py and target_acquisition.py