This is a modified version of Matthias Paul Scholz's Dicke Bertha
Typ II that can be found here:
http://mynxt.matthiaspaulscholz.eu/robots/dickeberthaII/index.html
The main modifications was making the robot go from stationary to
mobile. I installed the ultrasonic sensor on the gun barrel and used
the original motor for it plus another to provide a 3:1 drivetrain
with 4 wheel drive. Another was the addition of more sensors: light,
color, eopd, and sound. The color sensor monitors the number of
balls in the magazine and ensures the right kind of balls are there
as well. The light sensor for now is used as a visual indicator.
Lastly, because of a lack of suffcient parts ( I was building from
leftover parts of what I had without dismantling other projects) the
gun barrel is extended and I used my own design for the magazine.
Then it was just little add-ons like bumpers and what not. To build
this you'd need two NXT sets plus the Ultimate Builders Set from the
Robotics Invention System
Dicke Bertha (also known as Big Bertha) is named after the German
howitzer of the same name. It's big, it's neat, and it's complex!
LEGO Road Train
As the idea came from the Austrailian Road Trains, this uses the
power of Dicke Bertha to pull several trailers and the OdinScout
behind it with ease. The observation trailer has a spot for putting
in a camera and since that trailer is windowed, it gives an
interesting perspective.