Because of the difficulties experienced with using CMUCam as an overhead environment monitor, the structure of the project has changed to play more to the strengths of the camera. The game will now be played as follows:
2 soccer players per team, controlled wirelessly via Firefly nodes and accelerometer-based controllers
1 soccer goalie, using the 3pi robot and CMUCam. The goalie will be autonomous and have the job of tracking the ball via CMUCam when it comes close and preventing it from entering the goal.
We will possibly still be implementing the GUI to keep track of the score, and depending on whether the CMUCam can effectively view HALF the field while controlling the goalie, we will still provide some sort of player positioning if each camera can monitor half the field and update the GUI sensor node.