The path to creation is open for your imagination.
 Construction of Omni-directional Robocup Robot using LEGO Click to download lego_nxt_robocup.pdf file (2.4MBytes) detailing the construction details using Lego NXT and with omniwheels or Holonomic wheels. Click to download Lego NXT-G MyBlock and demo codes holonomicnxt.zip which is about 3MBytes. These codes provide omni-directional movement using omniwheels. Programs in C written for BRICX NXC compiler is listed below. //=======================================// This demo program is to demonstrate how to move// a robot fitted with 3 Holonomic wheels to move// in a specified direction.// Details on the Hoplonomic wheels and robot// constructions can be found at// http://www.holonomicwheel.com// Please feel free to use this program.// I do not wish to copyright this program// so that others can enjoy and improve on it.// Thank you.////====================================// This routine is to get an angle using the NXT// controller buttons for demo use only. int GetAngle (void){ int angle;  TextOut(0, LCD_LINE1, "Right = increase");  TextOut(0, LCD_LINE2, "Left = decrease");  TextOut(0, LCD_LINE4, "Angle = ");  angle=0;  do  { if (ButtonPressed(BTNRIGHT, true))      angle+=2;    if (ButtonPressed(BTNLEFT, true))      angle-=2;    TextOut(50, LCD_LINE4, "     "); // clears displayed number    NumOut(50, LCD_LINE4, angle);    Wait(300);  } while (!ButtonPressed(BTNCENTER, true))  return angle;}// -------------------------------// Works on 3 Holonomic wheels// using 3 NXT motors at 60 degrees.void Holonomic(int degree, int power){ int angle, powerA, powerB, powerC, max;  powerA=Cos(degree);  angle=degree-30;  powerB=Sin(angle);  angle=degree+30;  powerC=-Sin(angle);  max=abs(powerA);  if (max