In efforts to create a lightweight, scalable architecture, we implement a distributed electrical and firmware system that allows for expandability. We use a Raspberry Pi where we installed an operating system called Raspbian, allowing us to interface with the camera and the servos. The Raspberry Pi interfaces with an Arduino Uno, which controls the position of the servos.
Because the servos required too much power, we decided to power the Arduino from the Raspberry Pi and separately power the servos through an outside power source, drawing current from an outlet. We used a RaspPi Camera, which interfaced with the Raspberry Pi.
Check out our Arduino code here.