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The robot has two actuation motors, a motor to spin the ball to hisself and one, to shoot the ball. Further more he possesses two rotation sensors on the left and right, three light sensors and a rotation sensor to input the angle.

The robot can be divided into three parts: The main module in the middle with actuation, shooting gadget and light sensors and on each side a module for recognition of the passed distance. On the left you can see the wheels that should spin the ball to the robot ("dribble") to not to loose the ball while turning. Unfortunately this didn't work properly, perhaps it was fixed too far up.

Here the position of the light sensors can be seen well. They are on about half the height of the ball, to receive its light optimal. The two outer ones are in the blue LEGO-bricks, the inner one is in the middle, between the two smaller wheels.

If the robot isn't put into the field parallel to the walls, the start position can be set by turning the gear on the back, that is directly connected to the rotation sensor.

The robot has to fit into a cylinder with a diameter of 18 cm and a height of 22 cm, which was very hard to realize. On the top view (sadly the photo distorts this a bit by its persepective) the robot adopts a circle, it takes advantage of the cylinder quite well.

All of the four wheels are in the same line to reduce friction. Ahead there is one pillar, behind there are two, which let the robot stand on the ground steady.

The shooting gadget worked very well. It's connected to the motor over several crone gears. Hit perfectly, the ball becomes quite fast. Getting it into the robot was very difficult, but I think I have solved this smartly.

On this picture one outer module is removed to view the inner life. The wheels are actuated over a reduction of 1:5 (8:40), which forces the robot to drive quite slowly. Too slowly, as I had to determine during the games. Just left over the acuation motors gears can be seen, which connect the "dribbler" to the motor.

The grip, which is mounted on the top of the robot, turned out to be very useful. With this the robot can be carried simply und safely. The RCX were also attached to the two bars of the grip.

Here the suspension of the two outer modules can be seen well. They allow the free-turning wheels to stay in contact with the floor, also at unevenesses. With trigonomical calculations the actual angle, as well as the x- and y-position is permantently determined. The calculation is indeed very accurately, but the wheel grip seems to be not perfectly, due to the angel becoming incorrectly fast.

A dismantled module can be seen here, once "extended", once "retracted". The white rubber presses the module onto the floor. It's kept steady at the robot with rails. I decided pro chains, connecting the wheels nearly without slip over a transmission of 1:2,5 (16:16:40) to the rotation sensors.

To make a stable communication between the two RCX possible, but also to prevent IR-light from getting outside (which is forbidden), the IR-emitter and receiver are connected with optical fibers. However, this part has to be removed when downloading a program from the PC.

 
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