or_boardgaming

Code for Outreach's Board Game Playing Robot

Integrated logic:

• turn on camera

• setup

  • run the corner detect logic and get the board params
  • detect the lines and points of board n create the perspective transform as needed

• when human turn:

  • wait until button pressed

• when bot turn:

  • determine current board state
    • click pic
    • find current piece positions
    • update board state
  • get best move
    • run tic tac toe algorithm to determine next best position
  • get path
    • determine location of best move from board position
    • smooth interp to go from rest location to pieces location to best move location to rest location
  • actual move
    • execute path to reach pieces
    • pick up piece
    • execute said path place piece
    • move arm to rest position away from human
  • indicate end of turn with light n sound