Lego Mindstorms tank

This LEGO Mindstorms tank worked out quite well, construction is solid, turret is well-balanced. I programmed it quite basic to drive around on its own, off course, it does get stuck in the video at the end :) It has more possibilities than the video shows, the turret can turn approximately twice before cables get in the way, the cannon does work and is operated by the IR sensor which switches on the powerfunctions motor that shoots the cannon. I'll also post a video with the gun in more detail.