I trained the raccoons that visit my house at night. I started them out getting a peanuts from a water bottle. Then I tied the bottle to a rope. Then kept raising the bottle higher. At that point, I built an automated feeder system using a linear actuator activated by pulling the rope with the bottle attached. It had LEDs that were green / red to show when the feeder would / wouldn't dispense peanuts. It was all driven by an ESP32, it even had a web page on our LAN reporting how many correct / incorrect pulls were done. Over the coarse of a few nights they figured it out. Raccoons are so cool.
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