I had some fun with an RC tank that has a built in pellet/airsoft cannon by sawing it apart and integrating onto my hexapod. I removed the excess plastic with a dremel and also removed the motor gearbox for the turret and used a modified standard servo for continuous rotation. To fire the airsoft cannon I used a TIP122 transistor to switch it on and off with a high/low command from the BS2. The code and sensors still need a lot of refinement, but it's ready now for experiments with seek and fire programs. Check out the video below and watch her chase me down while randomly firing!