Assume no castling (only 2 largest contours in diff). Also pushing test images

board_detector.py

@@ -360,7 +360,8 @@ def find_pieces(warped_img, prev_warped_img, sorted_warped_points, reader, img_i
 
         diff_contours, hierarchy = cv2.findContours(diff_mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)
         diff_contours_sorted = sorted(diff_contours, reverse=True, key=cv2.contourArea)
-        diff_contours_sorted = diff_contours_sorted[0:5]
+        num_contours = 2 # was 4 to enable castling
+        diff_contours_sorted = diff_contours_sorted[0:num_contours]
         cv2.drawContours(diff_mask_contours, diff_contours_sorted, -1, (255), thickness=cv2.FILLED)
 
         if show_cv:
@@ -625,7 +626,8 @@ def find_pieces(warped_img, prev_warped_img, sorted_warped_points, reader, img_i
                 letter1, confidence1 = ("X (remove)", 0)
                 letter2, confidence2 = ("X (remove)", 0)
 
-                display_img([img_to_read])
+                if show_cv:
+                    display_img([img_to_read])
 
                 
                 # if contour_found:
@@ -667,7 +669,8 @@ def find_pieces(warped_img, prev_warped_img, sorted_warped_points, reader, img_i
                     # display_img([img_to_read,img_to_read_bigger])
 
                     img_to_read = deepcopy(img_to_read_bigger)
-                    display_img([img_to_read])
+                    if show_cv:
+                        display_img([img_to_read])
                     # print("Not found on first try")
                     # display_img([img_to_read])
                     result2 = reader.readtext(
@@ -696,7 +699,8 @@ def find_pieces(warped_img, prev_warped_img, sorted_warped_points, reader, img_i
                 if show_cv or show_board:
                     coord = letter_dict[j] + str(8 - i)
                     print(letter, confidence, coord)
-                    display_img([img_to_read])
+                    if show_cv:
+                        display_img([img_to_read])
 
                 for color, (lower, upper) in hue_thresh_dict.items(): # for each color threshold
                     if lower <= avg_hue < upper:

breadboard_set_up/breadboard_set_up.ino

@@ -246,8 +246,8 @@ void movePiece(){
         stepperX.run();
         stepperY1.run();
         stepperY2.run();
-        if (count > 200) {
-          vTaskDelay(10);
+        if (count > 600) {
+          vTaskDelay(1);
           count = 0;
         }  
       }
@@ -268,8 +268,8 @@ void movePiece(){
       stepperY1.run();
       stepperY2.run();
       count++;
-      if (count > 200) {
-        vTaskDelay(10);
+      if (count > 600) {
+        vTaskDelay(1);
         count = 0;
       }
     } 

chess_ai.py

@@ -131,7 +131,7 @@ def Stockfish_eval(FEN_string):
                                 parameters={"Skill Level":19})    # range: 0-19? 20 might exist or rounds to 19, https://github.com/vondele/Stockfish/blob/master/src/search.cpp
     else:
         # print("RASPI STOCKFISH")
-        stockfish = Stockfish(  path = "/home/Team33/Documents/Stockfish/arm_stockfish/stockfish/stockfish-android-armv7", # install Stockfish and input path to .exe here
+        stockfish = Stockfish(  path = "/home/Team33/Documents/Stockfish/arm_stockfish/stockfish/stockfish-android-armv8", # install Stockfish and input path to .exe here
                                 depth = 15,                          # 20 is good but slower, 15 is fine
                                 parameters={"Skill Level":19})
         

game.py

@@ -50,6 +50,8 @@ class ChessGame:
 
         self.reader = easyocr.Reader(['en'], gpu=False, verbose=False)
 
+        self.best_move = None
+
         # hard-coded borders to crop image
         self.left_cut = 0
         self.right_cut = 280
@@ -171,9 +173,9 @@ class ChessGame:
     def ai_turn(self):
         print("\n--- CHESS ROBOT'S TURN ---")
         # print("Board before chess_AI:", self.board.fen())  
-        ESP_input, best_move = chess_AI(self.board.fen(), self.prev_board.fen(), 0)
+        ESP_input, self.best_move = chess_AI(self.board.fen(), self.prev_board.fen(), 0)
 
-        print("Best Move: ", best_move)
+        print("Best Move: ", self.best_move)
 
         # convert best move to coordinates to send
          # ----------------------------ADD JOSE MOVE MAGNET STUFF
@@ -356,11 +358,13 @@ class ChessGame:
             if self.prev_board.turn == chess.WHITE: # if player just went, they cheated
                 self.player_cheating = True
             else: # chess robot just went
-                print("Did NOT find chess robot's move.")
-                if self.img_idx != 2:
-                    print("Detected Board: ")
-                    print(temp_board)
-                    print("\nPrevious Board: ",)
+                print("!")
+                self.board.push(chess.Move.from_uci(self.best_move))
+                # print("Did NOT find chess robot's move.")
+                # if self.img_idx != 2:
+                #     print("Detected Board: ")
+                #     print(temp_board)
+                #     print("\nPrevious Board: ",)
 
         # print("PREVIOUS BOARD:")
         # print(self.prev_board)