Mindstorms NXT Soccer Playing Robot

This is the Mark I version of my LEGO Mindstorms Soccer Playing Robot.  The Robot relies on 3x Rotacaster omni-whheels in a Holonomic Platform configuration for movement. The three Rotacasters are driven by 3x NXT Motors connected to the NXT Brick.

LEGO Mindstorms NXT
Soccer Bot - Mark I

A fourth NXT Motor is used for the Ball Kicking Mechanism. This motor is controller via a Mindsensor’s Motor Mux (NXT-MMX) connected to a secondary 9volt power supply at the rear of the robot.

The Robot uses two sensors, a standard LEGO Ultrasonic Sensor and a Hitechnic IR-Seeker. The Ultrasonic Sensor is used to detect that the ball is in contact with the Ball Kicking Mechanism. The Hitechnic IR-Seeker is a Infra-red light detector, used for locating and tracking the Infra-red emitting Hitechnic Soccer Ball.

LEGO Mindstorms NXT
Soccer Bot - Mark I
(Kicker Mechanism)

The NXT IRSeeker is a multi-element infra-red detector that detects infra-red signals from sources such as the HiTechnic IRBall soccer ball, infra-red remote controls. With a specially designed curved lens and five internal detectors, the IRSeeker has a 240 degree view making it perfect for playing robot soccer with the HiTechnic IRBall. The IRSeeker has enhanced modes that detect modulated IR signals, including the new RoboCup Jr stepped modulated mode, and it filters out background signals giving superior performance in brightly lit rooms and sunny locations. The sensor returns the signal direction and strength, making it easy to locate and gauge the relative distance to the target.

LEGO Mindstorms NXT
Soccer Bot - Mark I

NXC Source Code:


Download LDD Instructions:

LEGO Digital Designer File: NxtSoccerBot.lxf



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