For my actual project, a soccer-playing NXT robot, I've started with a prototype that is capable of finding a ball that broadcasts infrared signals; on that behalf it uses the IR Seeker Sensor by HiTechnic :
The programmed with leJOS NXJ, the Java platform for LEGO® MINDSTORMS NXT; working with it again revealed to me how powerful and elegant, yet easy to use leJOS has become by now.
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