ece4180_team
Mert Us Matthew Hannay Logan Starr
Dependencies: mbed 4DGL-uLCD-SE
main.cpp
- Committer:
- mhannay3
- Date:
- 23 months ago
- Revision:
- 15:cae96e8b62a3
- Parent:
- 14:f390d08e5f92
- Parent:
- 13:3c6da0590428
File content as of revision 15:cae96e8b62a3:
#include "mbed.h"
#include "uLCD_4DGL.h"
#include <vector>
uLCD_4DGL uLCD(p28,p27,p30); // serial tx, serial rx, reset pin;
Serial Blue(p13, p14);
DigitalOut myLed(LED1);
enum Piece {e, wK, bK, wQ, bQ, wR, bR, wB, bB, wN, bN, w, b};
std::vector<Piece> whitePieces;
std::vector<Piece> blackPieces;
enum GameState {whiteSelecting, whitePickedUp, whiteAI, blackSelecting, blackPickedUp, blackAI};
struct pixelCoord {
uint8_t x;
uint8_t y;
};
struct boardPos {
uint8_t row;
uint8_t column;
bool operator==(const boardPos &other) const
{
return row == other.row && column == other.column;
}
};
class Nav_Switch
{
public:
Nav_Switch(PinName up,PinName down,PinName left,PinName right,PinName fire);
int read();
//boolean functions to test each switch
bool up();
bool down();
bool left();
bool right();
bool fire();
//automatic read on RHS
operator int ();
//index to any switch array style
bool operator[](int index)
{
return _pins[index];
};
private:
BusIn _pins;
};
Nav_Switch::Nav_Switch (PinName up,PinName down,PinName left,PinName right,PinName fire):
_pins(up, down, left, right, fire)
{
_pins.mode(PullUp); //needed if pullups not on board or a bare nav switch is used - delete otherwise
wait(0.001); //delays just a bit for pullups to pull inputs high
}
inline bool Nav_Switch::up()
{
return !(_pins[0]);
}
inline bool Nav_Switch::down()
{
return !(_pins[1]);
}
inline bool Nav_Switch::left()
{
return !(_pins[2]);
}
inline bool Nav_Switch::right()
{
return !(_pins[3]);
}
inline bool Nav_Switch::fire()
{
return !(_pins[4]);
}
inline int Nav_Switch::read()
{
return _pins.read();
}
inline Nav_Switch::operator int ()
{
return _pins.read();
}
const float KING_POSITION_VALUES[] = {2.0, 3.0, 1.0, 0.0, 0.0, 1.0, 3.0, 2,0,
2.0, 2.0, 0.0, 0.0, 0.0, 0.0, 2.0, 2.0,
-1.0, -2.0, -2.0, -2.0, -2.0, -2.0, -2.0, -1.0,
-2.0, -3.0, -3.0, -4.0, -4.0, -3.0, -3.0, -2,0,
-3.0, -4.0, -4.0, -5.0, -5.0, -4.0, -4.0, -3.0,
-3.0, -4.0, -4.0, -5.0, -5.0, -4.0, -4.0, -3.0,
-3.0, -4.0, -4.0, -5.0, -5.0, -4.0, -4.0, -3.0,
-3.0, -4.0, -4.0, -5.0, -5.0, -4.0, -4.0, -3.0
};
const float QUEEN_POSITION_VALUES[] = {-2.0, -1.0, -1.0, -0.5, -0.5, -1.0, -1.0, -2.0,
-1.0, 0.0, 0.5, 0.0, 0.0, 0.0, 0.0, -1.0,
-1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.0, -1.0,
0.0, 0.0, 0.5, 0.5, 0.5, 0.5, 0.0, -0.5,
-0.5, 0.0, 0.5, 0.5, 0.5, 0.5, 0.0, -0.5,
-1.0, 0.0, 0.5, 0.5, 0.5, 0.5, 0.0, -1.0,
-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0,
-2.0, -1.0, -1.0, -0.5, -0.5, -1.0, -1.0, -2.0
};
const float ROOK_POSITION_VALUES[] = {0.0, 0.0, 0.0, 0.5, 0.5, 0.0, 0.0, 0.0,
-0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.5,
-0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.5,
-0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.5,
-0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.5,
-0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.5,
0.5, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.5,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
};
const float BISHOP_POSITION_VALUES[] = {-2.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -2.0,
-1.0, 0.5, 0.0, 0.0, 0.0, 0.0, 0.5, -1.0,
-1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, -1.0,
-1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.0, -1.0,
-1.0, 0.5, 0.5, 1.0, 1.0, 0.5, 0.5, -1.0,
-1.0, 0.0, 0.5, 1.0, 1.0, 0.5, 0.0, -1.0,
-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0,
-2.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -2.0
};
const float KNIGHT_POSITION_VALUES[] = {-5.0, -4.0, -3.0, -3.0, -3.0, -3.0, -4.0, -5.0,
-4.0, -2.0, 0.0, 0.5, 0.5, 0.0, -2.0, -4.0,
-3.0, 0.5, 1.0, 1.5, 1.5, 1.0, 0.5, -3.0,
-3.0, 0.0, 1.5, 2.0, 2.0, 1.5, 0.0, -3.0,
-3.0, 0.5, 1.5, 2.0, 2.0, 1.5, 0.5, -3.0,
-3.0, 0.0, 1.0, 1.5, 1.5, 1.0, 0.0, -3.0,
-4.0, -2.0, 0.0, 0.0, 0.0, 0.0, -2.0, -4.0,
-5.0, -4.0, -3.0, -3.0, -3.0, -3.0, -4.0, -5.0
};
const float PAWN_POSITION_VALUES[] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.5, 1.0, 1.0, -2.0, -2.0, 1.0, 1.0, 0.5,
0.5, -0.5, -1.0, 0.0, 0.0, -1.0, -0.5, 0.5,
0.0, 0.0, 0.0, 2.0, 2.0, 0.0, 0.0, 0.0,
0.5, 0.5, 1.0, 2.5, 2.5, 1.0, 0.5, 0.5,
1.0, 1.0, 2.0, 3.0, 3.0, 2.0, 1.0, 1.0,
5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
};
class BoardState
{
private:
Piece array[64];
// These values are for white pieces, need to be inverted
// when making calculations for black pieces.
static const float PAWN_VALUE = 10.0;
static const float KNIGHT_VALUE = 30.0;
static const float BISHOP_VALUE = 30.0;
static const float ROOK_VALUE = 50.0;
static const float QUEEN_VALUE = 90.0;
static const float KING_VALUE = 900.0;
public:
BoardState() {}
// calculates the advantage difference for the board state
float calculateBoardState()
{
float sum = 0.0;
for (int i = 0; i < 64; i++) {
int row = i / 8;
int column = i % 8;
Piece curr = getPiece(row, column);
switch(curr) {
case wK:
sum += KING_VALUE + KING_POSITION_VALUES[row*8 + column];
break;
case bK:
sum -= (KING_VALUE + KING_POSITION_VALUES[(7-row)*8 + (7-column)]);
break;
case wQ:
sum += QUEEN_VALUE + QUEEN_POSITION_VALUES[row*8 + column];
break;
case bQ:
sum -= (QUEEN_VALUE - QUEEN_POSITION_VALUES[(7-row)*8 + (7-column)]);
break;
case wR:
sum += ROOK_VALUE + ROOK_POSITION_VALUES[row*8 + column];
break;
case bR:
sum -= (ROOK_VALUE - ROOK_POSITION_VALUES[(7-row)*8 + (7-column)]);
break;
case wB:
sum += BISHOP_VALUE + BISHOP_POSITION_VALUES[row*8 + column];
break;
case bB:
sum -= (BISHOP_VALUE - BISHOP_POSITION_VALUES[(7-row)*8 + (7-column)]);
break;
case wN:
sum += KNIGHT_VALUE + KNIGHT_POSITION_VALUES[row*8 + column];
break;
case bN:
sum -= (KNIGHT_VALUE - KNIGHT_POSITION_VALUES[(7-row)*8 + (7-column)]);
break;
case w:
sum += PAWN_VALUE + PAWN_POSITION_VALUES[row*8 + column];
break;
case b:
sum -= (PAWN_VALUE - PAWN_POSITION_VALUES[(7-row)*8 + (7-column)]);
break;
default:
break;
}
}
return sum;
}
// returns the piece at a given location
Piece getPiece(int row, int column)
{
return array[column + 8 * row];
}
// puts a piece at a given location
void placePiece(Piece piece, int row, int column)
{
// pawn promotion handling
if (piece == w && row == 7) {
array[column + 8 * row] = wQ;
} else if (piece == b && row == 0) {
array[column + 8 * row] = bQ;
} else {
array[column + 8 * row] = piece;
}
}
/* removes a piece from the set position of the board
returns the bit representation of the piece
*/
Piece removePiece(int row, int column)
{
Piece removedPiece = array[column + 8 * row];
array[column + 8 * row] = e;
return removedPiece;
}
/* moves a piece from one position to another
returns the captured piece
*/
Piece movePiece(int startRow, int startColumn, int endRow, int endColumn)
{
Piece movingPiece = removePiece(startRow, startColumn);
Piece capturedPiece = removePiece(endRow, endColumn);
placePiece(movingPiece, endRow, endColumn);
return capturedPiece;
}
// generates a list of possible moves for a piece
// returns moves
std::vector<boardPos> getMoves(boardPos pos)
{
return getMoves(pos.row, pos.column);
}
std::vector<boardPos> getMoves(int row, int column)
{
std::vector<boardPos> moves;
std::vector<boardPos> lineMoves;
Piece movingPiece = getPiece(row, column);
uint8_t rowIndex;
uint8_t columnIndex;
bool isWhite;
switch(movingPiece) {
case wK:
case bK:
isWhite = movingPiece == wK;
if (validMove(isWhite, row + 1, column)) {
boardPos tPos = (boardPos) {
row + 1, column
};
bool possibleKingMove = true;
for (int i = 0; i < 64; i++) {
Piece possibleThreat = getPiece(i/8, i%8);
if (isWhite && (possibleThreat == bK || possibleThreat == bQ || possibleThreat == bR || possibleThreat == bN || possibleThreat == bB || possibleThreat == b)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
} else if (!isWhite && (possibleThreat == wK || possibleThreat == wQ || possibleThreat == wR || possibleThreat == wN || possibleThreat == wB || possibleThreat == w)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
}
}
if (possibleKingMove) {
moves.push_back(tPos);
}
}
if (validMove(isWhite, row, column + 1)) {
boardPos tPos = (boardPos) {
row, column + 1
};
bool possibleKingMove = true;
for (int i = 0; i < 64; i++) {
Piece possibleThreat = getPiece(i/8, i%8);
if (isWhite && (possibleThreat == bK || possibleThreat == bQ || possibleThreat == bR || possibleThreat == bN || possibleThreat == bB || possibleThreat == b)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
} else if (!isWhite && (possibleThreat == wK || possibleThreat == wQ || possibleThreat == wR || possibleThreat == wN || possibleThreat == wB || possibleThreat == w)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
}
}
if (possibleKingMove) {
moves.push_back(tPos);
}
}
if (validMove(isWhite, row - 1, column)) {
boardPos tPos = (boardPos) {
row - 1, column
};
bool possibleKingMove = true;
for (int i = 0; i < 64; i++) {
Piece possibleThreat = getPiece(i/8, i%8);
if (isWhite && (possibleThreat == bK || possibleThreat == bQ || possibleThreat == bR || possibleThreat == bN || possibleThreat == bB || possibleThreat == b)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
} else if (!isWhite && (possibleThreat == wK || possibleThreat == wQ || possibleThreat == wR || possibleThreat == wN || possibleThreat == wB || possibleThreat == w)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
}
}
if (possibleKingMove) {
moves.push_back(tPos);
}
}
if (validMove(isWhite, row, column - 1)) {
boardPos tPos = (boardPos) {
row, column - 1
};
bool possibleKingMove = true;
for (int i = 0; i < 64; i++) {
Piece possibleThreat = getPiece(i/8, i%8);
if (isWhite && (possibleThreat == bK || possibleThreat == bQ || possibleThreat == bR || possibleThreat == bN || possibleThreat == bB || possibleThreat == b)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
} else if (!isWhite && (possibleThreat == wK || possibleThreat == wQ || possibleThreat == wR || possibleThreat == wN || possibleThreat == wB || possibleThreat == w)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
}
}
if (possibleKingMove) {
moves.push_back(tPos);
}
}
if (validMove(isWhite, row + 1, column + 1)) {
boardPos tPos = (boardPos) {
row + 1, column + 1
};
bool possibleKingMove = true;
for (int i = 0; i < 64; i++) {
Piece possibleThreat = getPiece(i/8, i%8);
if (isWhite && (possibleThreat == bK || possibleThreat == bQ || possibleThreat == bR || possibleThreat == bN || possibleThreat == bB || possibleThreat == b)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
} else if (!isWhite && (possibleThreat == wK || possibleThreat == wQ || possibleThreat == wR || possibleThreat == wN || possibleThreat == wB || possibleThreat == w)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
}
}
if (possibleKingMove) {
moves.push_back(tPos);
}
}
if (validMove(isWhite, row - 1, column + 1)) {
boardPos tPos = (boardPos) {
row - 1, column + 1
};
bool possibleKingMove = true;
for (int i = 0; i < 64; i++) {
Piece possibleThreat = getPiece(i/8, i%8);
if (isWhite && (possibleThreat == bK || possibleThreat == bQ || possibleThreat == bR || possibleThreat == bN || possibleThreat == bB || possibleThreat == b)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
} else if (!isWhite && (possibleThreat == wK || possibleThreat == wQ || possibleThreat == wR || possibleThreat == wN || possibleThreat == wB || possibleThreat == w)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
}
}
if (possibleKingMove) {
moves.push_back(tPos);
}
}
if (validMove(isWhite, row - 1, column - 1)) {
boardPos tPos = (boardPos) {
row - 1, column - 1
};
bool possibleKingMove = true;
for (int i = 0; i < 64; i++) {
Piece possibleThreat = getPiece(i/8, i%8);
if (isWhite && (possibleThreat == bK || possibleThreat == bQ || possibleThreat == bR || possibleThreat == bN || possibleThreat == bB || possibleThreat == b)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
} else if (!isWhite && (possibleThreat == wK || possibleThreat == wQ || possibleThreat == wR || possibleThreat == wN || possibleThreat == wB || possibleThreat == w)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
}
}
if (possibleKingMove) {
moves.push_back(tPos);
}
}
if (validMove(isWhite, row + 1, column - 1)) {
boardPos tPos = (boardPos) {
row + 1, column - 1
};
bool possibleKingMove = true;
for (int i = 0; i < 64; i++) {
Piece possibleThreat = getPiece(i/8, i%8);
if (isWhite && (possibleThreat == bK || possibleThreat == bQ || possibleThreat == bR || possibleThreat == bN || possibleThreat == bB || possibleThreat == b)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
} else if (!isWhite && (possibleThreat == wK || possibleThreat == wQ || possibleThreat == wR || possibleThreat == wN || possibleThreat == wB || possibleThreat == w)) {
std::vector<boardPos> possibleThreatMoves = getMoves(i/8, i%8);
if (std::find(possibleThreatMoves.begin(), possibleThreatMoves.end(), tPos) != possibleThreatMoves.end()) {
possibleKingMove = false;
break;
}
}
}
if (possibleKingMove) {
moves.push_back(tPos);
}
}
break;
case wQ:
case bQ:
isWhite = movingPiece == wQ;
rowIndex = row + 1;
columnIndex = column + 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex++;
columnIndex++;
}
rowIndex = row - 1;
columnIndex = column + 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex--;
columnIndex++;
}
rowIndex = row + 1;
columnIndex = column - 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex++;
columnIndex--;
}
rowIndex = row - 1;
columnIndex = column - 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex--;
columnIndex--;
}
rowIndex = row + 1;
columnIndex = column;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex++;
}
rowIndex = row - 1;
columnIndex = column;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex--;
}
rowIndex = row;
columnIndex = column + 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
columnIndex++;
}
rowIndex = row;
columnIndex = column - 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
columnIndex--;
}
break;
case wB:
case bB:
isWhite = movingPiece == wB;
rowIndex = row + 1;
columnIndex = column + 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex++;
columnIndex++;
}
rowIndex = row - 1;
columnIndex = column + 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex--;
columnIndex++;
}
rowIndex = row + 1;
columnIndex = column - 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex++;
columnIndex--;
}
rowIndex = row - 1;
columnIndex = column - 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex--;
columnIndex--;
}
break;
case wN:
case bN:
isWhite = movingPiece == wN;
if (validMove(isWhite, row + 2, column + 1)) {
moves.push_back((boardPos) {
row + 2, column + 1
});
}
if (validMove(isWhite, row + 2, column - 1)) {
moves.push_back((boardPos) {
row + 2, column - 1
});
}
if (validMove(isWhite, row - 2, column - 1)) {
moves.push_back((boardPos) {
row - 2, column - 1
});
}
if (validMove(isWhite, row - 2, column + 1)) {
moves.push_back((boardPos) {
row - 2, column + 1
});
}
if (validMove(isWhite, row + 1, column + 2)) {
moves.push_back((boardPos) {
row + 1, column + 2
});
}
if (validMove(isWhite, row - 1, column + 2)) {
moves.push_back((boardPos) {
row - 1, column + 2
});
}
if (validMove(isWhite, row - 1, column - 2)) {
moves.push_back((boardPos) {
row - 1, column - 2
});
}
if (validMove(isWhite, row + 1, column - 2)) {
moves.push_back((boardPos) {
row + 1, column - 2
});
}
break;
case wR:
case bR:
isWhite = movingPiece == wR;
rowIndex = row + 1;
columnIndex = column;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex++;
}
rowIndex = row - 1;
columnIndex = column;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
rowIndex--;
}
rowIndex = row;
columnIndex = column + 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
columnIndex++;
}
rowIndex = row;
columnIndex = column - 1;
while (validMove(isWhite, rowIndex, columnIndex)) {
moves.push_back((boardPos) {
rowIndex, columnIndex
});
if (getPiece(rowIndex, columnIndex) != e) {
break;
}
columnIndex--;
}
break;
case w:
case b:
isWhite = movingPiece == w;
int rowChange = isWhite ? 1 : -1;
if (validMove(isWhite, row + rowChange, column) && getPiece(row + rowChange, column) == e) {
moves.push_back((boardPos) {
row + rowChange, column
});
// The case for pawns moving two squares at the start
if (((isWhite && row == 1) || (!isWhite && row == 6)) && validMove(isWhite, row + rowChange + rowChange, column) && getPiece(row + rowChange + rowChange, column) == e) {
moves.push_back((boardPos) {
row + rowChange + rowChange, column
});
}
}
if (validMove(isWhite, row + rowChange, column + 1) && getPiece(row + rowChange, column + 1) != e) {
moves.push_back((boardPos) {
row + rowChange, column + 1
});
}
if (validMove(isWhite, row + rowChange, column - 1) && getPiece(row + rowChange, column - 1) != e) {
moves.push_back((boardPos) {
row + rowChange, column - 1
});
}
break;
default:
break;
}
return moves;
}
// returns a vector of board positions that a piece can move in a line
std::vector<boardPos> movesInLine(bool isMovingPieceWhite, int row, int column, int rowChange, int columnChange)
{
std::vector<boardPos> moves;
for (int i = 1; ; i++) {
// check if piece can move to location
if (validMove(isMovingPieceWhite, row + i * rowChange, column + i * columnChange)) {
moves.push_back((boardPos) {
row + i * rowChange, column + i * columnChange
});
// if piece is capturable, stop moving beyond it
if (getPiece(row + i * rowChange, column + i * columnChange) != e) {
break;
}
// if unable to move, break out
} else {
break;
}
}
return moves;
}
// returns if a piece can move to a given location
bool validMove(bool isMovingPieceWhite, int row, int column)
{
if (row < 0 || row > 7 || column < 0 || column > 7) {
return false;
}
Piece capturedPiece = getPiece(row, column);
switch(capturedPiece) {
case wK:
case wQ:
case wR:
case wB:
case wN:
case w:
return !isMovingPieceWhite;
case bK:
case bQ:
case bR:
case bB:
case bN:
case b:
return isMovingPieceWhite;
case e:
return true;
}
return false;
}
};
class GameBoard
{
private:
BoardState boardState;
static const int BOARD_DARK_COLOR = 0x769656;
static const int BOARD_LIGHT_COLOR = 0xbaca44;
static const int HOVER_COLOR = 0x0000ff;
static const int SELECTED_COLOR = 0xff8800;
static const int MOVE_COLOR = 0xff00ff;
// gets the pixel coordinates of the top left of the square
static pixelCoord getTopLeftOfSquare(boardPos pos)
{
return getTopLeftOfSquare(pos.row, pos.column);
}
static pixelCoord getTopLeftOfSquare(int row, int column)
{
pixelCoord topLeft;
topLeft.x = 16 * column;
topLeft.y = 112 - 16 * row;
return topLeft;
}
// piece sprites (12 x 12)
static void drawPawn(int row, int column, bool white, bool light)
{
int X = white ? 0xffffff : 0x000000;
int _ = light ? BOARD_LIGHT_COLOR : BOARD_DARK_COLOR;
int sprite[144] = {_, _, _, _, _, _, _, _, _, _, _, _,
_, _, _, _, _, _, _, _, _, _, _, _,
_, _, _, _, _, _, _, _, _, _, _, _,
_, _, _, _, _, _, _, _, _, _, _, _,
_, _, _, _, _, X, X, _, _, _, _, _,
_, _, _, _, X, X, X, X, _, _, _, _,
_, _, _, _, X, X, X, X, _, _, _, _,
_, _, _, _, _, X, X, _, _, _, _, _,
_, _, _, _, _, X, X, _, _, _, _, _,
_, _, _, _, X, X, X, X, _, _, _, _,
_, _, X, X, X, X, X, X, X, X, _, _,
_, _, X, X, X, X, X, X, X, X, _, _
};
pixelCoord tl = getTopLeftOfSquare(row, column);
uLCD.BLIT(tl.x + 2, tl.y + 2, 12, 12, sprite);
}
static void drawRook(int row, int column, bool white, bool light)
{
int X = white ? 0xffffff : 0x000000;
int _ = light ? BOARD_LIGHT_COLOR : BOARD_DARK_COLOR;
int sprite[144] = {X, X, _, X, X, _, _, X, X, _, X, X,
X, X, _, X, X, _, _, X, X, _, X, X,
X, X, X, X, X, X, X, X, X, X, X, X,
X, X, X, X, X, X, X, X, X, X, X, X,
_, X, X, X, _, X, X, _, X, X, X, _,
_, X, X, X, _, X, X, _, X, X, X, _,
_, _, X, X, _, X, X, _, X, X, _, _,
_, _, X, X, _, X, X, _, X, X, _, _,
_, _, X, X, _, X, X, _, X, X, _, _,
_, X, X, X, X, X, X, X, X, X, X, _,
X, X, X, X, X, X, X, X, X, X, X, X,
X, X, X, X, X, X, X, X, X, X, X, X
};
pixelCoord tl = getTopLeftOfSquare(row, column);
uLCD.BLIT(tl.x + 2, tl.y + 2, 12, 12, sprite);
}
static void drawKnight(int row, int column, bool white, bool light)
{
int X = white ? 0xffffff : 0x000000;
int _ = light ? BOARD_LIGHT_COLOR : BOARD_DARK_COLOR;
int sprite[144] = {_, _, _, _, _, _, _, _, _, _, _, _,
_, _, _, _, _, X, X, _, X, X, _, _,
_, _, _, _, _, X, X, _, X, X, _, _,
_, _, _, X, X, X, X, X, X, _, _, _,
_, _, X, X, X, X, X, _, X, _, _, _,
_, _, X, X, X, X, X, X, X, _, _, _,
_, _, _, _, _, X, X, X, X, _, _, _,
_, _, _, _, X, X, X, X, X, _, _, _,
_, _, _, X, X, X, X, X, X, X, _, _,
_, _, X, X, X, X, X, X, X, X, _, _,
_, X, X, X, X, X, X, X, X, X, X, _,
_, X, X, X, X, X, X, X, X, X, X, _
};
pixelCoord tl = getTopLeftOfSquare(row, column);
uLCD.BLIT(tl.x + 2, tl.y + 2, 12, 12, sprite);
}
static void drawBishop(int row, int column, bool white, bool light)
{
int X = white ? 0xffffff : 0x000000;
int _ = light ? BOARD_LIGHT_COLOR : BOARD_DARK_COLOR;
int sprite[144] = {_, _, _, _, _, X, X, _, _, _, _, _,
_, _, _, _, X, X, X, _, _, _, _, _,
_, _, _, X, X, X, _, _, X, _, _, _,
_, _, _, X, X, _, _, X, X, _, _, _,
_, _, _, X, X, X, X, X, X, _, _, _,
_, _, _, _, X, X, X, X, _, _, _, _,
_, _, _, _, _, X, X, _, _, _, _, _,
_, _, _, _, X, X, X, X, _, _, _, _,
_, _, _, X, X, X, X, X, X, _, _, _,
_, _, _, X, X, X, X, X, X, _, _, _,
_, _, X, X, X, X, X, X, X, X, _, _,
_, _, X, X, X, X, X, X, X, X, _, _
};
pixelCoord tl = getTopLeftOfSquare(row, column);
uLCD.BLIT(tl.x + 2, tl.y + 2, 12, 12, sprite);
}
static void drawQueen(int row, int column, bool white, bool light)
{
int X = white ? 0xffffff : 0x000000;
int _ = light ? BOARD_LIGHT_COLOR : BOARD_DARK_COLOR;
int sprite[144] = {_, _, _, _, _, X, X, _, _, _, _, _,
_, _, X, _, _, X, X, _, _, X, _, _,
X, _, X, X, _, X, X, _, X, X, _, X,
X, _, X, X, _, X, X, _, X, X, _, X,
X, _, X, X, _, X, X, _, X, X, _, X,
X, X, X, X, X, X, X, X, X, X, X, X,
X, X, X, X, X, X, X, X, X, X, X, X,
X, X, _, X, X, X, X, X, X, _, X, X,
X, X, X, X, _, X, X, _, X, X, X, X,
_, X, X, X, X, X, X, X, X, X, X, _,
_, _, X, X, X, X, X, X, X, X, _, _,
_, X, X, X, X, X, X, X, X, X, X, _
};
pixelCoord tl = getTopLeftOfSquare(row, column);
uLCD.BLIT(tl.x + 2, tl.y + 2, 12, 12, sprite);
}
static void drawKing(int row, int column, bool white, bool light)
{
int X = white ? 0xffffff : 0x000000;
int _ = light ? BOARD_LIGHT_COLOR : BOARD_DARK_COLOR;
int sprite[144] = {_, _, _, _, _, X, X, _, _, _, _, _,
_, _, _, _, _, X, X, _, _, _, _, _,
_, _, _, X, X, X, X, X, X, _, _, _,
_, _, _, X, X, X, X, X, X, _, _, _,
X, X, _, _, _, X, X, _, _, _, X, X,
X, X, X, X, _, X, X, _, X, X, X, X,
X, _, X, X, X, X, X, X, X, X, _, X,
X, X, X, X, X, X, X, X, X, X, X, X,
X, X, X, _, X, X, X, X, _, X, X, X,
_, X, X, X, X, X, X, X, X, X, X, _,
_, _, X, X, X, _, _, X, X, X, _, _,
_, X, X, X, X, X, X, X, X, X, X, _
};
pixelCoord tl = getTopLeftOfSquare(row, column);
uLCD.BLIT(tl.x + 2, tl.y + 2, 12, 12, sprite);
}
public:
BoardState getBoardState()
{
return boardState;
}
void setBoardState(BoardState newBoardState)
{
boardState = newBoardState;
}
// initializes the starting board state
GameBoard()
{
// draw board
for (int row = 0; row < 8; row++) {
for (int column = 0; column < 8; column++) {
uint64_t color;
if ((row + column) % 2 == 0) {
color = BOARD_DARK_COLOR;
} else {
color = BOARD_LIGHT_COLOR;
}
pixelCoord tl = getTopLeftOfSquare(row, column);
uLCD.filled_rectangle(tl.x, tl.y, tl.x + 15, tl.y + 15, color);
}
}
// draw pieces
placePieceAndDraw(wR, 0, 0);
placePieceAndDraw(wN, 0, 1);
placePieceAndDraw(wB, 0, 2);
placePieceAndDraw(wQ, 0, 3);
placePieceAndDraw(wK, 0, 4);
placePieceAndDraw(wB, 0, 5);
placePieceAndDraw(wN, 0, 6);
placePieceAndDraw(wR, 0, 7);
placePieceAndDraw(bR, 7, 0);
placePieceAndDraw(bN, 7, 1);
placePieceAndDraw(bB, 7, 2);
placePieceAndDraw(bQ, 7, 3);
placePieceAndDraw(bK, 7, 4);
placePieceAndDraw(bB, 7, 5);
placePieceAndDraw(bN, 7, 6);
placePieceAndDraw(bR, 7, 7);
for (int i = 0; i < 8; i++) {
placePieceAndDraw(w, 1, i);
placePieceAndDraw(b, 6, i);
}
}
// PIECE MOVEMENT AND GRAPHICS FUNCTIONS
// returns the piece at a given location
Piece getPiece(boardPos pos)
{
return getPiece(pos.row, pos.column);
}
Piece getPiece(int row, int column)
{
return boardState.getPiece(row, column);
}
/* puts the bit representation of a piece at the set position of the board
assumes that the position of the board is emptied beforehand
*/
void placePieceAndDraw(Piece piece, boardPos pos)
{
placePieceAndDraw(piece, pos.row, pos.column);
}
void placePieceAndDraw(Piece piece, int row, int column)
{
boardState.placePiece(piece, row, column);
pixelCoord tl = getTopLeftOfSquare(row, column);
switch(piece) {
case wK:
case bK:
drawKing(row, column, piece==wK, (row+column)%2);
break;
case wQ:
case bQ:
drawQueen(row, column, piece==wQ, (row+column)%2);
break;
case wB:
case bB:
drawBishop(row, column, piece==wB, (row+column)%2);
break;
case wN:
case bN:
drawKnight(row, column, piece==wN, (row+column)%2);
break;
case wR:
case bR:
drawRook(row, column, piece==wR, (row+column)%2);
break;
case w:
case b:
if (piece == w && row == 7) {
drawQueen(row, column, true, (row+column)%2);
} else if (piece == b && row == 0) {
drawQueen(row, column, false, (row+column)%2);
} else {
drawPawn(row, column, piece==w, (row+column)%2);
}
break;
}
}
/* removes a piece from the set position of the board
returns the bit representation of the piece
*/
Piece removePieceAndDraw(boardPos pos)
{
return removePieceAndDraw(pos.row, pos.column);
}
Piece removePieceAndDraw(int row, int column)
{
Piece removedPiece = boardState.removePiece(row, column);
pixelCoord tl = getTopLeftOfSquare(row, column);
uint64_t color;
if ((row + column) % 2 == 0) {
color = BOARD_DARK_COLOR;
} else {
color = BOARD_LIGHT_COLOR;
}
uLCD.filled_rectangle(tl.x+2, tl.y+2, tl.x + 13, tl.y + 13, color);
return removedPiece;
}
/* moves a piece from one position to another
returns the captured piece
*/
Piece movePieceAndDraw(boardPos startPos, boardPos endPos)
{
return movePieceAndDraw(startPos.row, startPos.column, endPos.row, endPos.column);
}
Piece movePieceAndDraw(int startRow, int startColumn, int endRow, int endColumn)
{
Piece movingPiece = removePieceAndDraw(startRow, startColumn);
Piece capturedPiece = boardState.removePiece(endRow, endColumn);
placePieceAndDraw(movingPiece, endRow, endColumn);
return capturedPiece;
}
// SQUARE BORDER GRAPHICS FUNCTIONS
// removes selection border around square
void unselectSquare(boardPos pos)
{
unselectSquare(pos.row, pos.column);
}
void unselectSquare(int row, int column)
{
if (row < 0 || row > 7 || column < 0 || column > 7) {
return;
}
pixelCoord tl = getTopLeftOfSquare(row, column);
uint64_t color;
if ((row + column) % 2 == 0) {
color = BOARD_DARK_COLOR;
} else {
color = BOARD_LIGHT_COLOR;
}
uLCD.rectangle(tl.x, tl.y, tl.x + 15, tl.y + 15, color);
}
// draws the hover border around square
void hoverSquare(boardPos pos)
{
hoverSquare(pos.row, pos.column);
}
void hoverSquare(int row, int column)
{
pixelCoord tl = getTopLeftOfSquare(row, column);
uLCD.rectangle(tl.x, tl.y, tl.x + 15, tl.y + 15, HOVER_COLOR);
}
// draws selection border around square
void selectSquare(boardPos pos)
{
selectSquare(pos.row, pos.column);
}
void selectSquare(int row, int column)
{
if (row < 0 || row > 7 || column < 0 || column > 7) {
return;
}
pixelCoord tl = getTopLeftOfSquare(row, column);
uLCD.rectangle(tl.x, tl.y, tl.x + 15, tl.y + 15, SELECTED_COLOR);
}
// draws the movement border around square
void movementSquare(boardPos pos)
{
movementSquare(pos.row, pos.column);
}
void movementSquare(int row, int column)
{
pixelCoord tl = getTopLeftOfSquare(row, column);
uLCD.rectangle(tl.x, tl.y, tl.x + 15, tl.y + 15, MOVE_COLOR);
}
};
// game variables
GameBoard gameBoard;
GameState state = whiteSelecting;
boardPos cursorPos = (boardPos)
{
3, 4
};
bool OnePlayer = true;
boardPos selectedPos;
Piece selectedPiece;
std::vector<boardPos> possibleMoves;
// callbacks
void moveCursor(int rowChange, int columnChange)
{
// calculate new positoin that is within board bounds
int newRow = cursorPos.row + rowChange;
newRow = newRow <= 7 ? newRow : 7;
newRow = newRow >= 0 ? newRow : 0;
int newColumn = cursorPos.column + columnChange;
newColumn = newColumn <= 7 ? newColumn : 7;
newColumn = newColumn >= 0 ? newColumn : 0;
boardPos newPos = (boardPos) {
newRow, newColumn
};
// draw border around square that should be there after moving cursor off
if (cursorPos == selectedPos) {
gameBoard.selectSquare(cursorPos);
} else if (std::find(possibleMoves.begin(), possibleMoves.end(), cursorPos) != possibleMoves.end()) {
gameBoard.movementSquare(cursorPos);
} else {
gameBoard.unselectSquare(cursorPos);
}
// draw hover rectangle over new square
cursorPos = newPos;
gameBoard.hoverSquare(cursorPos);
}
void joyStickUp()
{
moveCursor(1, 0);
}
void joyStickDown()
{
moveCursor(-1, 0);
}
void joyStickLeft()
{
moveCursor(0, -1);
}
void joyStickRight()
{
moveCursor(0, 1);
}
void joyStickPressed()
{
switch(state) {
case whiteSelecting:
case blackSelecting: {
possibleMoves.clear();
selectedPos = cursorPos;
Piece tempPiece = gameBoard.getPiece(cursorPos);
std::vector<Piece> pickablePieces = state == whiteSelecting ? whitePieces : blackPieces;
// check that piece is white and able to be picked up
if (std::find(pickablePieces.begin(), pickablePieces.end(), tempPiece) != pickablePieces.end()) {
selectedPiece = tempPiece;
possibleMoves = gameBoard.getBoardState().getMoves(cursorPos);
// draw movement squares
for (std::vector<boardPos>::iterator it = possibleMoves.begin(); it != possibleMoves.end(); ++it) {
gameBoard.movementSquare(*it);
}
gameBoard.selectSquare(selectedPos);
// transition state
if (OnePlayer) {
state = whitePickedUp;
} else {
state = state == whiteSelecting ? whitePickedUp : blackPickedUp;
}
} else {
selectedPos = (boardPos) {
10, 10
};
}
break;
}
case whitePickedUp:
case blackPickedUp: {
// check if move is valid
if (std::find(possibleMoves.begin(), possibleMoves.end(), cursorPos) != possibleMoves.end()) {
// move the piece
Piece capturedPiece = gameBoard.movePieceAndDraw(selectedPos, cursorPos);
// check for king capture
if (state == whitePickedUp && capturedPiece == bK || state == blackPickedUp && capturedPiece == wK) {
// game end
}
// transition state
if (OnePlayer) {
state = blackAI;
} else {
state = state == whitePickedUp ? blackSelecting : whiteSelecting;
}
// check if placing piece back down
} else {
// transition state
state = state == whitePickedUp ? whiteSelecting : blackSelecting;
}
// unselect movement squares
for (std::vector<boardPos>::iterator it = possibleMoves.begin(); it != possibleMoves.end(); ++it) {
gameBoard.unselectSquare(*it);
}
gameBoard.unselectSquare(selectedPos);
gameBoard.hoverSquare(cursorPos);
possibleMoves.clear();
selectedPos = (boardPos) {
10, 10
};
break;
}
case whiteAI:
break;
case blackAI: {
boardPos bestMoveSourceDepth0 = (boardPos) {
0, 0
};
boardPos bestMoveDestDepth0 = (boardPos) {
0, 0
};
float bestMoveValueDepth0 = 100000.0;
for (int i = 0; i < 64; i++) {
boardPos currSourceDepth0 = (boardPos) {
i/8, i%8
};
Piece currPieceDepth0 = gameBoard.getBoardState().getPiece(i/8, i%8);
if (currPieceDepth0 == bK || currPieceDepth0 == bQ || currPieceDepth0 == bR || currPieceDepth0 == bB || currPieceDepth0 == bN || currPieceDepth0 == b) {
std::vector<boardPos> possibleMovesDepth0 = gameBoard.getBoardState().getMoves(currSourceDepth0);
for (std::vector<boardPos>::iterator it = possibleMovesDepth0.begin(); it != possibleMovesDepth0.end(); ++it) {
BoardState bsDepth0;
for (int j = 0; j < 64; j++) {
bsDepth0.placePiece(gameBoard.getBoardState().getPiece(j/8, j%8), j/8, j%8);
}
bsDepth0.movePiece(currSourceDepth0.row, currSourceDepth0.column, (*it).row, (*it).column);
float bestMoveValueDepth1 = -100000.0;
for (int i2 = 0; i2 < 64; i2++) {
boardPos currSourceDepth1 = (boardPos) {
i2/8, i2%8
};
Piece currPieceDepth1 = bsDepth0.getPiece(i2/8, i2%8);
if (currPieceDepth1 == wK || currPieceDepth1 == wQ || currPieceDepth1 == wR || currPieceDepth1 == wB || currPieceDepth1 == wN || currPieceDepth1 == w) {
std::vector<boardPos> possibleMovesDepth1 = bsDepth0.getMoves(currSourceDepth1);
for (std::vector<boardPos>::iterator it2 = possibleMovesDepth1.begin(); it2 != possibleMovesDepth1.end(); ++it2) {
BoardState bsDepth1;
for (int j2 = 0; j2 < 64; j2++) {
bsDepth1.placePiece(bsDepth0.getPiece(j2/8, j2%8), j2/8, j2%8);
}
bsDepth1.movePiece(currSourceDepth1.row, currSourceDepth1.column, (*it2).row, (*it2).column);
float bestMoveValueDepth2 = 100000.0;
for (int i3 = 0; i3 < 64; i3++) {
boardPos currSourceDepth2 = (boardPos) {
i3/8, i3%8
};
Piece currPieceDepth2 = bsDepth1.getPiece(i3/8, i3%8);
if (currPieceDepth2 == bK || currPieceDepth2 == bQ || currPieceDepth2 == bR || currPieceDepth2 == bB || currPieceDepth2 == bN || currPieceDepth2 == b) {
std::vector<boardPos> possibleMovesDepth2 = bsDepth1.getMoves(currSourceDepth2);
for (std::vector<boardPos>::iterator it3 = possibleMovesDepth2.begin(); it3 != possibleMovesDepth2.end(); ++it3) {
BoardState bsDepth2;
for (int j3 = 0; j3 < 64; j3++) {
bsDepth2.placePiece(bsDepth1.getPiece(j3/8, j3%8), j3/8, j3%8);
}
bsDepth2.movePiece(currSourceDepth2.row, currSourceDepth2.column, (*it3).row, (*it3).column);
float thisMoveValueDepth2 = bsDepth2.calculateBoardState();
if (thisMoveValueDepth2 < bestMoveValueDepth2) {
bestMoveValueDepth2 = thisMoveValueDepth2;
}
}
}
}
if (bestMoveValueDepth2 > bestMoveValueDepth1) {
bestMoveValueDepth1 = bestMoveValueDepth2;
}
}
}
}
if (bestMoveValueDepth1 < bestMoveValueDepth0) {
bestMoveSourceDepth0 = currSourceDepth0;
bestMoveDestDepth0 = *it;
bestMoveValueDepth0 = bestMoveValueDepth1;
}
}
}
}
Piece capturedPiece = gameBoard.movePieceAndDraw(bestMoveSourceDepth0, bestMoveDestDepth0);
if (capturedPiece == bK) {
// game end
}
state = whiteSelecting;
break;
}
default: {
break;
}
}
}
// bluetooth
volatile bool button_ready = 0;
volatile int bnum = 0;
volatile int bhit = 0;
enum statetype {start = 0, got_exclm, got_B, got_num, got_hit};
statetype bluetooth_state = start;
void parse_message()
{
switch (bluetooth_state) {
case start:
if (Blue.getc() == '!') bluetooth_state = got_exclm;
else bluetooth_state = start;
break;
case got_exclm:
if (Blue.getc() == 'B') bluetooth_state = got_B;
else bluetooth_state = start;
break;
case got_B:
bnum = Blue.getc();
bluetooth_state = got_num;
break;
case got_num:
bhit = Blue.getc();
bluetooth_state = got_hit;
break;
case got_hit:
if (Blue.getc() == char(~('!' + ' B' + bnum + bhit))) button_ready = 1;
bluetooth_state = start;
break;
default:
Blue.getc();
bluetooth_state = start;
}
}
Nav_Switch myNav(p9, p6, p7, p5, p8); //pin order on Sparkfun breakout
int main()
{
whitePieces.push_back(wK);
whitePieces.push_back(wQ);
whitePieces.push_back(wB);
whitePieces.push_back(wN);
whitePieces.push_back(wR);
whitePieces.push_back(w);
blackPieces.push_back(bK);
blackPieces.push_back(bQ);
blackPieces.push_back(bB);
blackPieces.push_back(bN);
blackPieces.push_back(bR);
blackPieces.push_back(b);
moveCursor(0, 0);
Blue.attach(&parse_message,Serial::RxIrq);
while (1) {
if (state == blackAI) {
joyStickPressed();
}
if (myNav.up()) {
joyStickUp();
} else if (myNav.down()) {
joyStickDown();
} else if (myNav.left()) {
joyStickLeft();
} else if (myNav.right()) {
joyStickRight();
} else if (myNav.fire()) {
joyStickPressed();
} else if (button_ready && bhit == '1') {
switch(bnum) {
case '1':
joyStickPressed();
break;
case '5':
joyStickUp();
break;
case '6':
joyStickDown();
break;
case '7':
joyStickLeft();
break;
case '8':
joyStickRight();
break;
}
button_ready = false;
}
wait(0.2);
}
}