Not long had my lego mindstorms NXT set, and i am very impressed!
The motors have encoders, to the nearest degree of output shaft have reasonable torque and speed. The ligght sensors also seem to work extremely well off micromouse walls!
Heres some webcam shot of a wallfollower i have been experimenting with Allan. Working quite nice now :).
Heres a video of a drive train i am thinking of using too, known as a synchro drive. Each wheel can turn in any direction on the spot and go in any direction, could be very useful - Thumper worked in such a way:
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