Pokey: Getting Close...
The last few evenings I've been burning the midnight oil. Pokey's camera and vision processor board are mounted to the chassis, encoder discs are installed, and various other details completed.
Only three days left to work on it and there's lots to do.
I had two programs for the main controller. One implemented remote control over bluetooth. The other interfaced with the camera board to point Pokey at a bright light. Fortunately I got this latter pair of programs working again.
If I combine the two I can at least demo Pokey, driving it to a room with a candle, pressing a button, and letting the robot take over from there to find and put out the flame.