Removed code snippet
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Sharwin24
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@ -51,257 +51,3 @@ Resetting a chess board after a game is such a simple task for humans it is ofte
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The blue squares outlining the main board are reserved for captured pieces (and the extra queen). Whenever a capture occurs, the robot places the captured piece into the corresponding square.
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When solving for an optimal path using a state-space exploration with A*, the space rapidly expands and is infeasible to solve. Our approach was to use a greedy algorithm minimizing axes movement.
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```python
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from math import sqrt
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from CapturedPieceManagement import CapturedPieceManagement
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import chess
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import Arduino
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whiteSetup = [
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list("RNBQQBNR"),
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list("PPPPPPPP"),
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]
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blackSetup = [
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["r", "p"],
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["n", "p"],
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["b", "p"],
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["q", "p"],
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["q", "p"],
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["b", "p"],
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["n", "p"],
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["r", "p"],
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]
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def calculateMoveDistance(m):
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if m[0] == "board":
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return chess.square_distance(m[1], m[2])
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if m[0] == "white":
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return 2 - m[2] + chess.square_distance(chess.square(m[1], 7), m[3])
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if m[0] == "black":
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if m[1] == -1:
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return 1 + chess.square_distance(chess.square(0, m[2]), m[3])
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else:
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return 1 + chess.square_distance(chess.square(7, m[2]), m[3])
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def getSuccessors(fen, white, black):
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successors = []
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b: chess.Board = chess.Board(fen)
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empty_squares = [x for x in chess.SQUARES if b.piece_at(x) is None]
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for i in range(64):
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p = b.piece_at(i)
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if p is not None and init_board.piece_at(i) != p:
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min_dist = 100
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min_square = None
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for j in empty_squares:
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if init_board.piece_at(j) == p:
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d = sqrt((chess.square_file(i) - chess.square_file(j))**2 +
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(chess.square_rank(i) - chess.square_rank(j))**2)
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if d <= min_dist:
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min_dist = d
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min_square = j
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if min_square is not None:
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new_board = b.copy()
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new_board.set_piece_at(min_square, p)
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new_board.remove_piece_at(i)
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successors.append(((new_board.fen(), white, black),
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("board", i, min_square), min_dist))
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# White takens
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for x in range(8):
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for y in range(2):
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min_dist = 100
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min_square = None
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if x == 3 and y == 0:
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continue
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if white[y, x] == 1:
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p = whiteSetup[y][x]
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for e in empty_squares:
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if str(init_board.piece_at(e)) == p:
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d = calculateMoveDistance(("white", x, y, e))
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if d <= min_dist:
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min_dist = d
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min_square = e
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if min_square is not None:
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new_board = b.copy()
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new_board.set_piece_at(min_square,
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init_board.piece_at(min_square))
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newWhite = white.copy()
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newWhite[y, x] = 0
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successors.append(((new_board.fen(), newWhite, black),
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("white", x, y, min_square), min_dist))
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# Black takens
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for x in [-1, 1]:
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for y in range(8):
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min_dist = 100
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min_square = None
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if x == -1 and y == 3:
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continue
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if x == -1:
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blackCoord = 0
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else:
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blackCoord = 1
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if black[y, blackCoord] == 1:
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p = blackSetup[y][blackCoord]
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for e in empty_squares:
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# print(e, init_board.piece_at(e))
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if str(init_board.piece_at(e)) == p:
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d = calculateMoveDistance(("black", x, y, e))
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if d <= min_dist:
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min_dist = d
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min_square = e
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if min_square is not None:
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new_board = b.copy()
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new_board.set_piece_at(min_square,
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init_board.piece_at(min_square))
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newBlack = black.copy()
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newBlack[y, x] = 0
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successors.append(((new_board.fen(), white, newBlack),
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("black", x, y, min_square), min_dist))
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return successors
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startingFen = "rnbqkbnr/pppppppp/8/8/8/8/PPPPPPPP/RNBQKBNR"
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def findPathGreedy(fen, captured: CapturedPieceManagement):
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currentSquare = 56
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currentFen = fen
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w = captured.white
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b = captured.black
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moves = []
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while (currentFen.split(" ")[0] != startingFen):
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print("Fen: " + currentFen)
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print("White: " + str(w))
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print("Black: " + str(b))
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possibleMoves = getSuccessors(currentFen, w, b)
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bestCost = 100
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if len(possibleMoves) == 0:
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return False
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for m in possibleMoves:
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if m[1][0] == "board":
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dstToStart = chess.square_distance(m[1][1], currentSquare)
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if m[1][0] == "white":
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dstToStart = calculateMoveDistance(
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("white", m[1][1], m[1][2], m[1][3]))
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if m[1][0] == "black":
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dstToStart = calculateMoveDistance(
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("black", m[1][1], m[1][2], m[1][3]))
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cost = m[2] + dstToStart
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if cost < bestCost:
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bestCost = cost
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bestMove = m
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currentSquare = bestMove[1][-1]
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currentFen = bestMove[0][0]
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w = bestMove[0][1]
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b = bestMove[0][2]
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moves.append((bestMove[1], bestMove[0][0]))
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print(bestMove[1])
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return moves
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def convertSquareToCoordinates(square: str):
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return [ord(square[0]) - ord('a'), 8 - int(square[1])]
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def getAdjacentSquares(square: int):
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return [square + 1, square - 1, square + 8, square - 8]
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def isMoveLift(fen, move):
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b = chess.Board(fen)
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if move[0] == "board":
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# Check to see if there are pieces between start and end square
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start = move[1]
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end = move[2]
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minimum = min(start, end)
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maximum = max(start, end)
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offset = maximum - minimum
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if offset % 8 == 0:
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for i in range(minimum + 8, maximum, 8):
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if b.piece_at(i) is not None:
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return False
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if chess.square_file(start) == chess.square_file(end):
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for i in range(minimum + 1, maximum):
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if b.piece_at(i) is not None:
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return False
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if offset % 9 == 0:
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for i in range(minimum + 9, maximum, 9):
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if b.piece_at(i) is not None:
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return False
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for s in getAdjacentSquares(i):
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if b.piece_at(s) is not None:
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return False
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if offset % 7 == 0:
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for i in range(minimum + 7, maximum, 7):
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if b.piece_at(i) is not None:
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return False
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for s in getAdjacentSquares(i):
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if b.piece_at(s) is not None:
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return False
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return True
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def reset_game_board(fen, captured: CapturedPieceManagement):
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a = Arduino.Arduino("/dev/cu.usbmodem142101")
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a.waitForReady()
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path = findPathGreedy(fen, captured)
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if path is False:
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print("Unable to find path")
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return False
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for m, f in path:
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if m[0] == "board":
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startSquare = convertSquareToCoordinates(chess.square_name(m[1]))
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endSquare = convertSquareToCoordinates(chess.square_name(m[2]))
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a.sendCommand("move", [startSquare[0], startSquare[1]])
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a.waitForReady()
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if isMoveLift(f, m):
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a.sendCommand("pickup", [])
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else:
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a.sendCommand("smallPickup", [])
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a.waitForReady()
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a.sendCommand("move", [endSquare[0], endSquare[1]])
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a.waitForReady()
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a.sendCommand("drop", [])
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a.waitForReady()
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if m[0] == "white":
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a.sendCommand("moveWhiteTaken", [m[1], m[2]])
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a.waitForReady()
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a.sendCommand("pickupTaken", [])
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endSquare = convertSquareToCoordinates(chess.square_name(m[3]))
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a.sendCommand("move", [endSquare[0], endSquare[1]])
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a.waitForReady()
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a.sendCommand("drop", [])
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a.waitForReady()
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if m[0] == "black":
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a.sendCommand("moveBlackTaken", [m[1], m[2]])
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a.waitForReady()
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a.sendCommand("pickupTaken", [])
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endSquare = convertSquareToCoordinates(chess.square_name(m[3]))
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a.sendCommand("move", [endSquare[0], endSquare[1]])
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a.waitForReady()
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a.sendCommand("drop", [])
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a.waitForReady()
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if __name__ == "__main__":
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cap = CapturedPieceManagement()
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b = chess.Board()
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# Testing
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b.set_board_fen("r3k1nr/p4pNp/n7/1p1pP2P/6P1/3P1Q2/PRP1K3/q5bR")
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cap.placePiece("black", "pawn")
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cap.placePiece("black", "pawn")
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cap.placePiece("black", "pawn")
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cap.placePiece("black", "bishop")
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cap.placePiece("white", "pawn")
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cap.placePiece("white", "pawn")
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cap.placePiece("white", "bishop")
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cap.placePiece("white", "bishop")
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cap.placePiece("white", "knight")
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print(findPathGreedy(b.fen(), cap))
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reset_game_board(b.fen(), cap)
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```
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