diff --git a/board_detector.py b/board_detector.py
index 2852f938e8d665c195473152f3b73a3d2796dccc..87f3d164ccf993e51763fb31a9397e882d336e57 100644
--- a/board_detector.py
+++ b/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:
diff --git a/breadboard_set_up/breadboard_set_up.ino b/breadboard_set_up/breadboard_set_up.ino
index 137f46dd6dba5fbe908b1b86970cc4242327b1ce..6a8d53a5e35d442f76160e09519d49ae4472811e 100644
--- a/breadboard_set_up/breadboard_set_up.ino
+++ b/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;
}
}
diff --git a/chess_ai.py b/chess_ai.py
index 269ebf7b7710426c30d663a16c1b39ecfaff387c..67bd7ed6c9ef44df88b066aafd48c26ef7ea2e62 100644
--- a/chess_ai.py
+++ b/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})
diff --git a/game.py b/game.py
index 7e4325fc8aee4f59c984401039c09d22f6a5c779..99a9bce1599367506b93124e71e70b2ad742911f 100644
--- a/game.py
+++ b/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)
diff --git a/ocr_test_images/didn't work 8-55 (magnet test 3)/board1.jpg b/ocr_test_images/didn't work 8-55 (magnet test 3)/board1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..492a7cc868456ebc6565abf0eba83e9e6f28cee3
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diff --git a/ocr_test_images/didn't work 8-55 (magnet test 3)/board2.jpg b/ocr_test_images/didn't work 8-55 (magnet test 3)/board2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..03b2d89afc7111e7845bc2e80074f0a84ed38fd1
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diff --git a/ocr_test_images/didn't work 8-55 (magnet test 3)/board3.jpg b/ocr_test_images/didn't work 8-55 (magnet test 3)/board3.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..8c414a7b83f3738c29522cf24a7558285ec55e4e
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diff --git a/ocr_test_images/didn't work 8-55 (magnet test 3)/board4.jpg b/ocr_test_images/didn't work 8-55 (magnet test 3)/board4.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1a50fdebd441d69b454f0623546df80ad4658b22
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diff --git a/ocr_test_images/didn't work 8-55 (magnet test 3)/board5.jpg b/ocr_test_images/didn't work 8-55 (magnet test 3)/board5.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4771aad3005cbd627e8489c67093275c0f72d45d
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diff --git a/ocr_test_images/magnet test 8 (camera died)/board1.jpg b/ocr_test_images/magnet test 8 (camera died)/board1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d98fc20eca991b0c4c87440b7c121f50ed297840
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diff --git a/ocr_test_images/magnet test 8 (camera died)/board2.jpg b/ocr_test_images/magnet test 8 (camera died)/board2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..7f55539e0902ea99ea365b8d89e18594359a38ef
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diff --git a/ocr_test_images/magnet test 8 (camera died)/board3.jpg b/ocr_test_images/magnet test 8 (camera died)/board3.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..c056076b611d2ae4d7810e777b8b372ab30d78c4
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diff --git a/ocr_test_images/magnet test 8 (camera died)/board4.jpg b/ocr_test_images/magnet test 8 (camera died)/board4.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d108cdab45c8df25780b9473dffcb8ed712abb24
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diff --git a/ocr_test_images/magnet test 8 (camera died)/board5.jpg b/ocr_test_images/magnet test 8 (camera died)/board5.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..cfcf5cd881ac029da32280811e9f124924483eed
Binary files /dev/null and b/ocr_test_images/magnet test 8 (camera died)/board5.jpg differ
diff --git a/ocr_test_images/magnet test 8 (camera died)/board6.jpg b/ocr_test_images/magnet test 8 (camera died)/board6.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..3fcca115c02be8340d22664a6e0ef23100173deb
Binary files /dev/null and b/ocr_test_images/magnet test 8 (camera died)/board6.jpg differ
diff --git a/ocr_test_images/magnet test 8 (camera died)/board7.jpg b/ocr_test_images/magnet test 8 (camera died)/board7.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..4e4e9831321ede98fbcc4b6051cbd9f93b16874c
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diff --git a/ocr_test_images/magnet test 9/board1.jpg b/ocr_test_images/magnet test 9/board1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..d569e16613806754e6bb7da51cadba4795702019
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diff --git a/ocr_test_images/magnet test 9/board2.jpg b/ocr_test_images/magnet test 9/board2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..dd6ebea4f945649672865194ee0a59cc8653d32c
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diff --git a/ocr_test_images/magnet test 9/board3.jpg b/ocr_test_images/magnet test 9/board3.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..9c7d57a1c53aecb82fce3a86e4321989e471e185
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diff --git a/ocr_test_images/magnet test 9/board4.jpg b/ocr_test_images/magnet test 9/board4.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6022478c88fe9b7acd7931f2f13a81d9bdef1994
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diff --git a/ocr_test_images/magnet test 9/board5.jpg b/ocr_test_images/magnet test 9/board5.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..db08b97e35624532ae5f96306d4f1c2c2f7f5405
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diff --git a/ocr_test_images/magnet test 9/board6.jpg b/ocr_test_images/magnet test 9/board6.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..fc9c435875e285ba3061c51830bf3d1bb038aac8
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diff --git a/ocr_test_images/magnet test 9/board7.jpg b/ocr_test_images/magnet test 9/board7.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..03e41075fb5765965e8e61610b1d1e4e0a10b683
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diff --git a/ocr_test_images/magnet test 9/board8.jpg b/ocr_test_images/magnet test 9/board8.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..02948d14b944d7b4ff531e5f57497f8d6368e3ff
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diff --git a/ocr_test_images/messed up/board1.jpg b/ocr_test_images/messed up/board1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a6a0244e3a61f06449d5ba778a2ae0bc09781baa
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diff --git a/ocr_test_images/messed up/board2.jpg b/ocr_test_images/messed up/board2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..98c1c1edcac9b3f8624030d9717409972d01b163
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diff --git a/ocr_test_images/messed up/board3.jpg b/ocr_test_images/messed up/board3.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..135db64a6ea7c75061a58b0a4aeffa03dacd8b9b
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diff --git a/ocr_test_images/worked but stockfish crashed/board1.jpg b/ocr_test_images/worked but stockfish crashed/board1.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..5685bc7311108d4e551d91339176804780c28081
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diff --git a/ocr_test_images/worked but stockfish crashed/board2.jpg b/ocr_test_images/worked but stockfish crashed/board2.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..68744e1cdebc8fbc3ce88b859534a42335adace5
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diff --git a/ocr_test_images/worked but stockfish crashed/board3.jpg b/ocr_test_images/worked but stockfish crashed/board3.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..01558b5d3d37acee29f51cd8463a1be9ffee84d6
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diff --git a/ocr_test_images/worked but stockfish crashed/board4.jpg b/ocr_test_images/worked but stockfish crashed/board4.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a4093d3962ec48cdb8124630c05b1168e8fbbd00
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diff --git a/ocr_test_images/worked but stockfish crashed/board5.jpg b/ocr_test_images/worked but stockfish crashed/board5.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..0e77a1bc3d03341ea9f9c23ef25d7ae54de81b06
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diff --git a/ocr_test_images/worked but stockfish crashed/board6.jpg b/ocr_test_images/worked but stockfish crashed/board6.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a60f420a038f33996209cc61526e5f57d551f4ef
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diff --git a/ocr_test_images/worked but stockfish crashed/board7.jpg b/ocr_test_images/worked but stockfish crashed/board7.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bdb7844d8e0961d3f977d541f7614d7fe9af3b5b
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diff --git a/planning.py b/planning.py
index 090b8e7cfc513eef618705ce07d25148b2643138..36b058002de64c9ceaa1fb57b32afe92944e5231 100644
--- a/planning.py
+++ b/planning.py
@@ -133,7 +133,8 @@ class Path_planning():
return path
def serialSend(self, message, cheating, promotion, castling):
- ser = serial.Serial("/dev/serial/by-id/usb-Silicon_Labs_CP2102N_USB_to_UART_Bridge_Controller_3ca0a1e14c55ed11b2b78f131d62bc44-if00-port0") # open first serial port CHANGE ON RASPBERRY PI
+ ser = serial.Serial("/dev/serial/by-id/usb-Silicon_Labs_CP2102N_USB_to_UART_Bridge_Controller_3ca0a1e14c55ed11b2b78f131d62bc44-if00-port0", 9600) # open first serial port CHANGE ON RASPBERRY PI
+ ser1 = serial.Serial("/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A5XK3RJT-if00-port0", 19200)
# print(ser.portstr) # check which port was really used
done = False
if promotion:
@@ -144,6 +145,7 @@ class Path_planning():
print(message)
# temp = "hello\n"
ser.write(message.encode()) # write a string
+ ser1.write(message.encode())
if(not cheating):
while(not done):
retVal = ser.readline(4)
@@ -154,6 +156,7 @@ class Path_planning():
# line = ser.readline()
# print(line)
ser.close()
+ ser1.close()
return
def pathToSerial(self, path, capLength):