Team Nidaros Norway

Hadrware:

We use robots built from LEGO Mindstorms / ROBOLAB with plastic base. Each robot is controlled by two RCXs (the pictures show our earlier prototypes)

Sensors:

RoboBall IR sensors, 2 types (Wiltronics)Compass Sensor (Hitechnic.com)Standard LEGO rotation sensorStandard LEGO light sensor

Motors:

Standard LEGO 9V motors

Dribblers:

On one or both sides, controlled by two motors, using standard rubber tires from LEGO

Software:

NQC program

Communication & distributed architecture:

Master/Slave architecture.Slave is sending information from sensors to master perpetually: compass, floor (light sensor), and ball-near sensors. Slave operates dribblers in order to distribute the power consumption of motors on both RCXs

Kontakt: Trondheim Katedralskole, Munkegt. 8, 7013 Trondheim, Norway, e-mail: robocup@idi.ntnu.no

Communication:

//slave sends data to the mastervoid send_to_master(){ SendMessage(17); //header Wait(1); SendMessage(COMPASS); Wait(1); SendMessage(FLOOR); Wait(1); SendMessage(ball_fwd); Wait(1); SendMessage(ball_bwd);}

//master receives from the 2nd RCXtask receiver(){ int state = 0; int m;

while (true) { m = Message(); if (m) { switch (state) { case 0: if (m == 17) state = 1; break; case 1: compass = m; state = 2; break; case 2: floor = m; state = 3; break; case 3: ball_near_fwd = m; state = 4; break; case 4: ball_near_bwd = m; state = 0; break; } } }}