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The outer wheels can turn freely and are pressed on to the floor by a rubber, so that they do always have contact to it. They serve the measurement of the angle (view also "Tips and tricks").

From below you can see well how the menachanics of the bot work.

The two light sensors are mounted a bit slantwise to each other to cover a bigger range. By this the robot can also see, from which side the ball comes.

With the small contact area the friction is minimized.

 
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