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Pokey is a differential drive robot originally built to compete in the Ft. Collins, CO Robot Firefighting Challenge in March, 2008 but was also built to be versatile and expandable. So while the little fella is complete, he'll be refitted for new missions in the future.
He was originally equipped with an Orangutan LV168 controller, dual Sharp IR rangers on a custom built aluminum array rotated by servo, dual Lynxmotion floor sensors, and a Tamiya Double Gearbox drivetrain. Powered by 3 AA NiMH batteries, the robot senses flames with a pair of IR LEDs acting as photodiodes, amplified by a large flashlight reflector pointing in reverse (to facilitate easier navigation). Flame quenching (per rules) is an electric motor driving a plastic RC propeller.
The chassis is made of 1/4" plywood bases and poplar posts and painted bright red. The top deck where the flame detector and of the 3-tier robot is intended for mission-specific equipment like the IR detector and fire suppression propeller.
Working without encoders, Pokey's C software was designed to detect Firefighting maze walls, edges, intersections, and make constant radius turns to navigate. Unfortunately this didn't really work all that reliably. But, the little bot is quite fast, at least.
Pokey appeared along with his competitors in Robot magazine after the big event. He lost. :(