Our robocup 2017 code from team cyborg++
The sensors are connected like this:
NXT Brick
├── S1 (Outer Left HT Color Sensor)
├── S2 (Touch Splitter)
│ ├── 1 (Left Bumper)
│ ├── 2 (Center Bumper)
│ └── 3 (Right Bumper)
├── S3 (i2c Splitter)
│ ├── EV3 Splitter
│ │ ├── C1 (Outer Right EV3 Color Sensor)
│ │ ├── C2 (Left EV3 Color Sensor)
│ │ └── C3 (Right EV3 Color Sensor)
│ └── IR Dist Sensor
└── S4 (US Sensor)