Automatic Bullseye, MOVING DARTBOARD


I suck at darts, but I’m good at engineering which means… I’m actually really good at darts. Most of the projects I’ve built for my YouTube channel take a month or two to pull off, But I’ve been working on this beast with my former NASA co-worker John for over 3 freaking years. And here she finally is. So it’s fairly self-explanatory, but you throw a dart, and as long as your initial throw is somewhere within this diameter or so, the dart board helps out a little bit. And what’s cool, is if you use this dart, it will make you the worlds best dart player, because you get a bullseye nearly every time, and even if you don’t it’s really close. But if you use this dart, it makes you the worlds worst dart player because it calculates the initial trajectory, and then moves the board in the exact opposite direction. So eventually we took this thing to a bar to see if it would work in the wild but before we get to that, let’s talk about how it actually works. Fundamentally, there are two main parts to this system. First, you need to somehow predict where a dart is going to land, with a typical throw from regulation distance, and you have about 200 milliseconds to do that. And then second, you need to somehow move the board to that predicted location, and you have about another 200 milliseconds to do that. So let’s start with the first part, about how we predict where the dart is going to land. So the real secret here is that our dart has these tiny retroreflectors on it, And then we have a VICON motion capture system. As humans, we can see in 3D because we have 2 eyes, And our brain calculates the difference between the two images, and then tells us how far or close things are. This is why if you close one eye, you instantly lose that depth perception. So that’s basically what we’re doing here, Except we have 6 “eyes” all around the room, And each of these “eyes” or cameras can take a 4K resolution picture, 260 times per second. But since it’s hard to visually separate something so small, moving so fast in front of a busy background, they actually use IR. So they blast out IR from all these IR LEDs and then it hits the retroreflectors, and then bounces back to the lens. So when I wave the dart around like this, this is what you and I see, but the motion capture system just sees a solitary dart, floating around. One of the reasons this board took us so long to build was that for the first 2 years, we were trying to make our own motion capture systems, so we had our own cameras, and one of these awesome NVIDIA TX1 boards which is basically like a Raspberry Pi, on Russian steroids. But it turns out, it’s a super complex problem to solve, and the VICON system was just turn key. So now that we have the XYZ position of the dart as it travels through the air, we used some MATLAB code to then predict, where it will land. And the trick here is that anything you throw into the air (neglecting air resistance), will travel in a perfect parabola. Even something you wouldn’t think of like a high jumper. If you track their center of mass, it actually follows a perfect parabola shape. So we used our understanding of parabolas, and from a side view, we used that to predict the final up and down position of the board. And then to predict the final left right position of the board, we know from a bottom view a dart will follow a linear path. So we used good old y=mx + b, and the y intercept or b in this case, tells you how to move it left and right for the final position. So now that we know where to move, let’s talk about how we actually do it. So the board itself is on two linear sliders which allows it to translate to any specific location. So that provides the track on where to move, but the engine would be these 6 stepper motors you can see from the front. Each motor has a spool and then some fishing line, and they all attach to the center of the back of the board right here. Once we have the predicted bullseye spot, the computer does the trigonometry, and then sends the commands over here to the motors. So to move to the left, it would say like “you need to spin up, but you need to unspin at the same rate”. Now you can see in the back the computer signal comes into this Arduino compatible board here, and then you got some preamps here that bump up the voltage signal to the 6 individual stepper motor controllers, and these stepper motor drivers take the moving instructions, and combine it with the power from the plug in the wall, after it goes through this AC/DC power converter and then finally a bunch of voltage pulses from the motor controller cause the motor to take small steps and either wind up, or wind down. Now keep in mind, all of this happens in less than half a second, and allows us to hit our sub millimeter precision in our board positioning. And we don’t just make one guess on the final position of the board, we update and refine that guess anywhere from 10 to 100 times, which is why sometimes you sort of see the board jitter into the final position. So we took it to a bar to see what people thought. In general we found if you’re really drunk, you get so pumped at your new abilities, if not slightly confused. *I used to suck at darts!* When I get an idea like this, I can’t not do it even if it takes me 3 years, and is a terrible financial decision. So I want to give a huge thanks to the cool people at DollarShaveClub.com I don’t really feel that comfortable with the whole Patreon thing, so if you think this is cool and you want to see more stuff like it in the future, you should go check them out. I’ve been a fan of what they do, from the beginning, and not only does it save you time and money, but I personally prefer their razors over the overpriced monopolized options you find at the store. So if you go to DollarShaveClub.com/MarkRober or use the link in the description, It’s $1 with free shipping for the first month, and a couple bucks a month after that. And as you would expect from cool people, there’s no hidden fees, no commitments, and you can cancel any time. I genuinely appreciate the support, and as always, thanks for watching.

100 Comments

  1. Pewdiepie’s Chair August 3, 2019 at 11:14 pm

    aimbot but it’s in real life

  2. Chris Jamieson August 3, 2019 at 11:26 pm

    Yo man I have so much respect for people like you and think you are so under appreciated with your talent this is honestly amazing keep up the good work

  3. Spiyder August 4, 2019 at 1:46 am

    you using lua. . . i can understand the code. . .

  4. boxy pixel August 4, 2019 at 4:17 am

    This guy understands the Minecraft enchanting text

  5. Gael Soto August 4, 2019 at 4:27 am

    Anyone as smart as him

  6. Evelinda Tingson August 4, 2019 at 6:34 am

    i did not understand anything scientific he said

  7. TheOnlyPhantom August 4, 2019 at 9:33 am

    This guy is the next Grant Thompson

  8. Fynix •ɞ• August 4, 2019 at 11:12 am

    You know that the highest is 3x 20 and Not Bulseye

  9. Willem Bennink August 4, 2019 at 5:27 pm

    What if you accedentally delete the whole program

  10. Kylian P August 4, 2019 at 9:20 pm

    Thats so cool!

  11. pONAS Volas August 5, 2019 at 5:00 am

    0:11 Powered by Arduino NANO???

  12. Roland Killian August 5, 2019 at 6:33 am

    What happens if you throw a spinning dart

  13. comex August 5, 2019 at 7:12 am

    So once i trickshotted a dart and hut a bullseye

    I was 9 and standing on the couch then i jumped of the couch(i maybe did a 360 but i forgot tbh) and threw the dart and hit the bullseye

  14. killermy92 August 5, 2019 at 3:10 pm

    Taken you 3 years? How many project do you got going at one time?

  15. Gilda Evans August 5, 2019 at 10:07 pm

    Hi Mark. I understand that you are the parent of an amazing young man with autism. So am I! In fact, my son is a fan of yours and he thought you might be interested in my podcasts, and suggested that I contact you. Perhaps you would agree to be a guest on a podcast? Here is the link so you can take a look: https://www.patreon.com/GEspecialneeds You can comment or send me a message on Patreon if you are interested. Hope to hear from you!

  16. sanket chavan August 6, 2019 at 1:03 am

    awesome project mark.

  17. friggers August 6, 2019 at 5:57 pm

    Tfw you accidentally summon a demon while trying to explain how the thing works.

  18. Liam Perkins August 6, 2019 at 7:19 pm

    Mark rober okay so let me talk about how it works

    Me:?????$:&&:)//??!&9/9297116(-&-0/0/“

  19. Kjramirez 87 August 6, 2019 at 8:01 pm

    "I used to suck at darts"

  20. Max Landy August 6, 2019 at 8:23 pm

    Amazing! Nice work

  21. Demented Nun August 6, 2019 at 9:01 pm

    So you found a way to chest

  22. Ana Paula Vásquez August 6, 2019 at 9:33 pm

    How are you so incredibly smart? I’m shocked

  23. BrokenShadows528 Games August 6, 2019 at 9:48 pm

    Account pic

  24. kolil August 7, 2019 at 1:44 am

    I havent heard y=mx+b for 3 months and it gave me ptsd flashbacks to 8th grade math

  25. Fuzion August 7, 2019 at 3:13 am

    I’ve learned more from this guy than I ever have in school

  26. kay tybh August 7, 2019 at 5:41 am

    Who else doesn’t understand a word he’s saying and just enjoys the video

  27. Kangaroo Grills August 7, 2019 at 5:53 am

    So can you make a bulletproof shield like this??

  28. Максим Цуранов August 7, 2019 at 12:10 pm

    Dude Perfect wants to know your location

  29. Zhi Wei Lee August 7, 2019 at 1:11 pm

    Should add some ai to it. Make it improve itself on previous tries

  30. Frank Hallard August 7, 2019 at 10:53 pm

    Man the humanworld 1.86 patch created a great glitch I’m gonna get used to this

  31. Burrito eat me Hacks August 8, 2019 at 12:56 am

    Rip grant he will be missed ;(

  32. Christian Leyva August 8, 2019 at 4:22 am

    Congrats on 8 mil

  33. Harish Ramar August 8, 2019 at 6:42 am

    ❤️

  34. SplashTown- EX August 8, 2019 at 4:45 pm

    Red stone on steroids

  35. Max Lindahl August 9, 2019 at 12:26 am

    This is some advanced redstone work

  36. Chris killer games Gonzalez August 9, 2019 at 4:58 am

    English pls

  37. Sharms Callueng August 9, 2019 at 2:16 pm

    Me tryna watch but cannot understand

  38. Sharms Callueng August 9, 2019 at 2:16 pm

    My head hurts

  39. possibly_ spaghetti August 9, 2019 at 9:34 pm

    For those 3 years you could have just practice…

  40. Shia Duroe August 9, 2019 at 11:55 pm

    4:25 after

    Erm English please lol soz kinda had to

  41. JoshDoesFlips August 10, 2019 at 1:00 am

    oR u cAn JusT uSE a MagNeT……

  42. Jackson key August 10, 2019 at 3:51 am

    Why is this important i can give you an answer this tech can bring VR to a whole new level if you could lay it horizontal then use the camras to move in the detection that you walk think of all the new games and tech that can come from this

  43. Anusha Popli August 10, 2019 at 8:48 am

    You could have used magnets too.

  44. Jeremy Rylance August 10, 2019 at 8:56 am

    You're a God

  45. ツOnePxmped August 10, 2019 at 4:00 pm

    English please

  46. Tobias T August 11, 2019 at 12:21 am

    what… you've been bored for 3 years?

  47. Weedy Gonzalez August 11, 2019 at 2:09 am

    Should've made it hit the triple 20 you would've gotten more points. Yes I'm that guy

  48. *HadenPlayz* August 11, 2019 at 7:40 am

    Lol guess you have I since of humour 5:23

  49. GrXffXn August 11, 2019 at 4:07 pm

    No a pro could beat you easy

  50. Christian Herring August 11, 2019 at 5:29 pm

    How much did that cost to build all together?

  51. GetaGripTV August 11, 2019 at 9:36 pm

    You can weaponize this for defense purposes in the military to stop and catch bullets.

  52. TheStormtrooper 78 August 11, 2019 at 11:34 pm

    Mark: i'm bad at darts but im good at engineering * throws dart* so it make me good at darts

    Actual good darts player: wait that's illegal

  53. Sammy G’ Owen August 12, 2019 at 5:36 am

    This vid is so underestimated, it’s so impressive

  54. ninja of the gods 2 August 12, 2019 at 5:46 am

    It ain't cheating because you ain't the robot

  55. OversizedShirt KimZ August 12, 2019 at 11:56 am

    Aimbot detected…

  56. Gary VerMeulen August 12, 2019 at 2:36 pm

    at 4:23…. bless you

  57. Cristi Macovei August 12, 2019 at 6:17 pm

    i can't even understand redstone in minecraft and yet people do these things…

  58. Jason Snow August 13, 2019 at 12:08 am

    I'm super late to the party but why did you use strings and trig and not a two-motor system where one moved the dartboard on the x-axis and one on the y-axis? I feel programming-wise that would take out so much math and accomplish the same results..?

  59. Fanders_ Sides August 13, 2019 at 5:34 am

    "I'm pretty bad at darts but im good at science so I'm pretty good at darts."

    what?

  60. KristonsTV August 13, 2019 at 7:25 am

    You know nothing about darts
    I am 15 years old and im a proffesional dart player
    It took me 1,5 years to learn everything its not too hard

  61. Wiede Ceulemans August 13, 2019 at 3:07 pm

    Mark rover: Gets 10mil views for a 3 year project using his engineering knowledge

    Pewdiepie: GOOD MORNING GAMERS -> 13mil views

  62. son August 13, 2019 at 4:55 pm

    honestly, how much did this cost?!

  63. lezzman August 13, 2019 at 6:33 pm

    Not bad, but most darts players are after the triple 20, not the bullseye. 😁

  64. onyx gaming August 13, 2019 at 7:52 pm

    Poo poo peepee search up yeefeng21 on Roblox

  65. Aiden C August 13, 2019 at 11:40 pm

    Its a reverse aim bot

  66. Jason Buben August 14, 2019 at 7:47 am

    Me watching him explain how it works
    🤯

  67. Jalwa Omar August 14, 2019 at 4:08 pm

    Dude perfect:Am I a joke to you

  68. Gus Murray August 14, 2019 at 5:26 pm

    😀

  69. King Slayer August 15, 2019 at 6:04 am

    Human body builder: working out with steroids
    The circuit board that was is on Russian steroids: *working out with buildings

  70. POP MUSIC August 16, 2019 at 11:27 am

    Dude perfect :Am I a joke to u Mark??

  71. Apple Sink August 16, 2019 at 6:09 pm

    I'm bad at Fortnite, but I'm good at programming, which means…

    I'm actually really good at Fortnite.

  72. Spice Cube Animations August 16, 2019 at 7:50 pm

    I guarantee that out of the 10 mil people watch this 9.99 mil don't know what he is talking about

  73. Aldrym Tyler Gamatero August 16, 2019 at 10:23 pm

    Where's the dartboard that hits triple 20 every time?

  74. Landon Moody August 17, 2019 at 6:06 am

    Aim bot

  75. Swallabat August 17, 2019 at 3:29 pm

    Now all you need to do is add a voice command system, so that the player can call out the bits that they are aiming for like "treble 19", to make it genuinely useful. (you can't win a game of darts with just bullseyes..)

  76. Dylan Frank August 18, 2019 at 10:18 am

    In case you didn’t know, he once worked at NASA

  77. Infinite August 18, 2019 at 12:01 pm

    1v1 me club penguin no aimbot

  78. Matthew Hewitt August 19, 2019 at 11:43 am

    Au natural? I I didint know mark played video games especially undertale au means alternate universe

  79. EndoRealmMG August 19, 2019 at 1:38 pm

    Who only watches these videos for the finish product😂😂

  80. Bindhu Chinnadurai August 19, 2019 at 4:21 pm

    "Raspberry Pi on Russian steroids" -Mark Rober

  81. Zane Meyer August 19, 2019 at 6:10 pm

    Wait isn’t triple 18 better than bullseye?

  82. YTDRCD August 19, 2019 at 7:46 pm

    What I heard from his explaining:
    Mark is a darn genius

  83. Thomas Chapman August 19, 2019 at 9:10 pm

    "I suck at darts, but I'm good at engineering, which means… that I'm actually good at darts."

  84. Muhammad Zia August 20, 2019 at 1:44 am

    mark rober? more like the engineering god rober

  85. AES August 20, 2019 at 10:07 am

    you spend 3 years on this project and video only lasts approx. 7 min. dudes are playing minecraft for 3 hours straight and none of them has a talent as much as you. Great job mate great job..

  86. ryder herrera August 20, 2019 at 11:56 pm

    4:23 english please

  87. g d August 21, 2019 at 1:27 am

    INCREDIBLE JOB

  88. Isabel Gliniecki August 21, 2019 at 5:28 am

    “And if you get it within this circle it will help out a little.” Well, guess I’m still bad at darts

  89. mmilerngruppe August 21, 2019 at 8:24 am

    how many cashmonies your spend on it?

  90. Duracelbunny August 21, 2019 at 9:23 pm

    New to the channel, but AFAIK, as an fellow engineer, I approve this content. Many thumbs up.

  91. Themoigt August 21, 2019 at 11:07 pm

    Such an amazing idea and project very finely executed!

  92. Adeel Syed August 21, 2019 at 11:46 pm

    😮

  93. Abhishek August 22, 2019 at 4:21 pm

    Rocket Science : am i joke to you

  94. H Skowron August 22, 2019 at 8:00 pm

    Who else was thinking can you explain that in English

  95. SoldierSide77 August 22, 2019 at 11:33 pm

    All this technology, yet the MLB still won't allow non-human umpires.

  96. SoldierSide77 August 22, 2019 at 11:36 pm

    Next, do the reverse: the board moves in a repeating pattern at speed, and a robot has to throw a dart and hit the bullseye every time.

  97. Fanny God August 23, 2019 at 4:07 am

    Mom: I will give you an i phone if you get a bull's-eye

    Me: Mom can we go to this man
    Mom: NAN!?!

  98. I really like Operation Ivy August 23, 2019 at 5:53 am

    Bullseyes aren’t even the most valuable part of the dartboard

  99. Ashwin Saechueng August 23, 2019 at 10:27 am

    Who else just watches his videos for the best moments but never understand any of the explanations of how it works?

  100. wonderyear August 23, 2019 at 6:08 pm

    Tfw when you realize bullseye isnt the best spot on the board

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