Dicke Bertha

My first dual NXT based robot. I must say it is quite large... and heavy. It did undergo a refit later on since the video of it was done. The refit is shown in my video with my BrickFair 2010 MOCs. Mainly the barrel was shorter, added a Zamor gun to its arsenal and fitted touch sensors to the front and rear. This model used six motors and a variety of sensors. Two motors powered the drivetrain and were geared down 3:1. Zero-degree turns were a problem as the high weight caused the drivetrain to strain and make gears slide off axles. Another motor operated the turntable that rotated the main ball gun. Another motor operated the up/down tilt of the gun (this was removed and used for the Zamor launcher in the refit). Two motors fire the main ball gun using two 40-tooth gears moving a set of worm gears on an axle like a rack-and-pinion setup. AN ultrasonic sensor looked for targets, a HiTechnic EOPD sensor monitors the rear if it backed too close to something, a light sensor looked for light sources (the LED was also used to indicate current status of the robot), a HiTechnic color sensor monitors the balls in the magazine and a sound sensor to monitor ambient noise. Later on it was used as the tug in the LEGO Road Train.