aleksandra.toton.96Programming.
Software is divided into two parts. Fisrt one is program for choosing the best move. Program having the board, simulate moves for each chequer, then respond of player, againg robots move and again players moove. So thanks to this simulation robot knows every possible move. Moves have it's value and on base of them program choose the best option. Program create a list of movements and killed enemy chequers. Second part is program related to making the robots move. Everything connected to engines and sensors.
#include <hFramework.h>
#include <Lego_Light.h>
#include <Lego_Touch.h>
#include <cstdlib>
#include <cstdio>
using namespace hSensors;
using namespace hFramework;
int symul[6][5];
char czas;
int tab[26][2];
int tab_temp[25][2];
int value;
int value_temp;
int index;
int los=1;
int moves[13][2];
int kills[12][2];
int x,y;
int X,Y;
bool is_open=true;
void open(){
if(is_open==false){
hMot4.rotRel(-1200,300,1);
is_open=true;
}
}
void close(){
if(is_open==true){
hMot4.rotRel(1200,300,1);
is_open=false;
}
}
void go_to_sensor(){
hMot3.rotRel(-800,700,1);
hMot5.rotRel(-170,500);
hMot2.rotRel(-170,500,1);
}
void go_to_board(){
hMot5.rotRel(-300,500);
hMot2.rotRel(-300,500,1);
hMot5.rotRel(3250,500);
hMot2.rotRel(3250,500,1);
X=0;
Y=7;
}
void go_to(int poz_x, int poz_y){
//1 2
int dirx,diry;
dirx=(poz_x-X)*650;
diry=(poz_y-Y)*812;
hMot5.rotRel(dirx,500);
hMot2.rotRel(dirx,500,1);
hMot3.rotRel(diry,700,1);
X=poz_x;
Y=poz_y;
}
void go_back(){
int disy=(7-Y)*812+200;
hMot3.rotRel(disy,700,1);
int disx=X*(-650)-3500;
hMot5.rotRel(disx,500);
hMot2.rotRel(disx,500,1);
}
void throw_out(){
close();
go_back();
open();
}
int check(){
Lego_Light sensor(hSens2);
sensor.init ();
int16_t val;
int average=0;
for (int i=0;i<20;i++) {
val = sensor.readRaw();
average=average+val;
LED1.toggle();
sys.delay_ms(10);
//printf("val %5d average %d\r\n",val,average);
}
sensor.deinit ();
average=average/20;
printf("AVERAGE %d\r\n",average);
if(average<1700){printf("czarny"); return -1;}
else if(average<1920){printf("pusty"); return 0;}
else {printf("bialy"); return 1; }
}
void check_board(int board[8][8]){
go_to_board();
hMot5.rotRel(50,500);
hMot2.rotRel(50,500,1);
go_to_sensor();
int temp_x=0;
for(int d=0;d<8;d++){
for(int v=0;v<8;v++){
board[d][v]=0;
}
}
for(int d=0;d<4;d++){
if(d!=0) hMot3.rotRel(-800,700,1);
board[temp_x][7]=check();
hMot3.rotRel(-1624,700,1);
board[temp_x][5]=check();
hMot3.rotRel(-1624,700,1);
board[temp_x][3]=check();
hMot3.rotRel(-1624,700,1);
board[temp_x][1]=check();
hMot3.rotRel(-812,700,1);
hMot5.rotRel(650,500);
hMot2.rotRel(650,500,1);
temp_x=temp_x+1;
board[temp_x][0]=check();
hMot3.rotRel(1624,700,1);
board[temp_x][2]=check();
hMot3.rotRel(1624,700,1);
board[temp_x][4]=check();
hMot3.rotRel(1624,700,1);
board[temp_x][6]=check();
hMot3.rotRel(2000,700,1);
temp_x=temp_x+1;
if(d!=3){
hMot5.rotRel(650,500);
hMot2.rotRel(650,500,1);
}
}
hMot5.rotRel(-8000,500);
hMot2.rotRel(-8000,500,1);
}
void make_move(){
int indexm=0;
int indexk=0;
for(int k=0;k<12;k++){
moves[k][0]=-1;
moves[k][1]=-1;
kills[k][0]=-1;
kills[k][1]=-1;
}
moves[12][0]=-1;
moves[12][1]=-1;
moves[0][0]=tab[0][0];
moves[0][1]=tab[0][1];
indexm=indexm+1;
for(int c=1;c<26;c=c+2){
if(tab[c][0]==-1) break;
if(tab[c+1][0]!=-1){
kills[indexk][0]=tab[c][0];
kills[indexk][1]=tab[c][1];
indexk=indexk+1;
moves[indexm][0]=tab[c+1][0];
moves[indexm][1]=tab[c+1][1];
indexm=indexm+1;
}
else{
moves[indexm][0]=tab[c][0];
moves[indexm][1]=tab[c][1];
indexm=indexm+1;
}
}
printf("tab: \r\n");
for(int h=0;h<26;h++){
printf("%d\t%d\r\n",kills[h][0],kills[h][1]);
}
printf("tab: \r\n");
for(int h=0;h<26;h++){
printf("%d\t%d\r\n",moves[h][0],moves[h][1]);
}
go_to_board();
go_to(moves[0][0],moves[0][1]);
close();
for(int k=1;k<13;k++){
if(moves[k][0]==-1) break;
else{
go_to(moves[k][0],moves[k][1]);
open();
if(moves[k+1][0]!=-1) close();
if(moves[2][0]==-1) go_back();
}
}
for(int k=0;k<12;k++){
if(kills[k][0]==-1) break;
else{
go_to(kills[k][0],kills[k][1]);
throw_out();
if(kills[k+1][0]!=-1) go_to_board();
}
}
}
//-------------------------------------------------------------------------------------------------------------------------------
//-------------------------------------------------------------------------------------------------------------------------------
//-------------------------------------------------------------------------------------------------------------------------------
void set_up(int board[8][8]){
for(int i=0;i<8;i++){
for(int j=0;j<8;j++) { board[i][j]=0;}
}
/*
board[0][1]=-1;
board[0][3]=-1;
board[0][5]=-1;
board[0][7]=-1;
board[1][0]=-1;
board[1][2]=-1;
board[1][4]=-1;
board[1][6]=-1;
board[6][1]=1;
board[6][3]=1;
board[6][5]=1;
board[6][7]=1;
board[7][0]=1;
board[7][2]=1;
board[7][4]=1;
board[7][6]=1;
*/
}
void fill_with_zero(){
for(int i=0;i<6;i++){
for(int j=0;j<5;j++){
symul[i][j]=0;
}
}
}
void simulate(int,int,int[8][8]);
void check_for_attack(int i,int x, int y, int board[8][8],int level,bool test,int color){ // 1 to biale, 0 to czarne
int temp;
if (x>=2 && x<=7 && y>=2 && y<=7 && board[x-2][y-2]==0){
//jesli jest w polu w ktorym moze bic i miejsce za zbijanym pionkiem jest wolne
if(board[x][y]<0 && board[x-1][y-1]>0 || board[x][y]>0 && board[x-1][y-1]<0 ){ //jesli zbijany jest innego coloru
//czas=getchar();
temp=board[x-1][y-1]; // nie wiemy czy zbilismy damke czy pionka
board[x][y]=0;
board[x-1][y-1]=0;
board[x-2][y-2]=i; // i to color pionka
// przy update valuei bicia dodac jesli czarny bije, odjac jesli bialy bije !!!!!!!!!!
if(level==1 && test==false){
index++;
tab_temp[index][0]=x-1;
tab_temp[index][1]=y-1;
index++;
tab_temp[index][0]=x-2;
tab_temp[index][1]=y-2;
}
x=x-2;
y=y-2;
if(test==false && (level==1 || level==3)){
symul[level][1]=symul[level][1]+5;
}
else if(test==false && (level==2 || level==4)){
symul[level][1]=symul[level][1]-5;
}
symul[level][0]=symul[level][0]+1;
if(symul[level][0]>symul[level][2]) symul[level][2]=symul[level][0];
check_for_attack(i,x,y,board,level,test,color);
if(test==false && (level==1 || level==3)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]+1;
}
}
else if(test==false && (level==2 || level==4)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]-1;
}
}
if(test==false && symul[level][0]==symul[level][2] && level<=3){
simulate((-1)*color,level+1,board); //glebszy level
//cofanie punktu z krawedzi
if(test==false && (level==1 || level==3)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]-1;
}
}
else if(test==false && (level==2 || level==4)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]+1;
}
}
}
//-----------------------
if(level==1 && test==false) {index=index-2; }
//punkty dla danego pionka dla danego ulozenia z glebszymi levelami dla niego
if(test==false && level==4 && symul[level][1]<symul[level][3]){
symul[level][3]=symul[level][1];
}
if(test==false && (level==1 || level==3) && symul[level][1]+symul[level+1][4]>symul[level][3] ){
symul[level+1][3]=100;
symul[level+1][4]=100;
}
if(test==false && level==2 && symul[level][1]+symul[level+1][4]<symul[level][3] ){
symul[level][3]=symul[level][1]+symul[level+1][4];
symul[level+1][3]=-100;
symul[level+1][4]=-100;
}
if((level==1 || level==3) && symul[level][3]>symul[level][4] ||
(level==2 || level==4) && symul[level][3]<symul[level][4]){
symul[level][4]=symul[level][3];
}
//cofanie punktow
if(test==false && (level==1 || level==3)){
symul[level][1]=symul[level][1]-5;
}
else{
symul[level][1]=symul[level][1]+5;
}
symul[level][0]=symul[level][0]-1;
board[x][y]=0; //cofniecie ruchu
board[x+2][y+2]=i;
board[x+1][y+1]=temp;
x=x+2;
y=y+2;
//wyswietl(board);
//czas=getchar();
}
}
//prawe gorne bicie
if (x>=2 && x<=7 && y>=0 && y<=5 && board[x-2][y+2]==0){
//jesli jest w polu w ktorym moze bic i miejsce za zbijanym pionkiem jest wolne
if(board[x][y]<0 && board[x-1][y+1]>0 || board[x][y]>0 && board[x-1][y+1]<0 ){ //jesli zbijany jest innego coloru
temp=board[x-1][y+1]; // nie wiemy czy zbilismy damke czy pionka
board[x][y]=0;
board[x-1][y+1]=0;
board[x-2][y+2]=i; // i to color pionka
// przy update valuei bicia dodac jesli czarny bije, odjac jesli bialy bije !!!!!!!!!!
if(level==1 && test==false){
index++;
tab_temp[index][0]=x-1;
tab_temp[index][1]=y+1;
index++;
tab_temp[index][0]=x-2;
tab_temp[index][1]=y+2;
}
x=x-2;
y=y+2;
if(test==false && (level==1 || level==3)){
symul[level][1]=symul[level][1]+5;
}
else if(test==false && (level==2 || level==4)){
symul[level][1]=symul[level][1]-5;
}
symul[level][0]=symul[level][0]+1;
if(symul[level][0]>symul[level][2]) symul[level][2]=symul[level][0];
check_for_attack(i,x,y,board,level,test,color);
if(test==false && (level==1 || level==3)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]+1;
}
}
else if(test==false && (level==2 || level==4)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]-1;
}
}
//symulacja dalszych ruchow dla tego ukladu(max ilosc bicia)
if(test==false && symul[level][0]==symul[level][2] && level<=3){
simulate((-1)*color,level+1,board);
//cofanie punktu z krawedzi
if(test==false && (level==1 || level==3)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]-1;
}
}
else if(test==false && (level==2 || level==4)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]+1;
}
}
}
//-----------------------
if(level==1 && test==false) {index=index-2;}
//punkty dla danego pionka dla danego ulozenia z glebszymi levelami dla niego
if(test==false && level==4 && symul[level][1]<symul[level][3]){
symul[level][3]=symul[level][1];
}
if(test==false && (level==1 || level==3) && symul[level][1]+symul[level+1][4]>symul[level][3] ){
symul[level][3]=symul[level][1]+symul[level+1][4];
symul[level+1][3]=100;
symul[level+1][4]=100;
}
if(test==false && level==2 && symul[level][1]+symul[level+1][4]<symul[level][3] ){
symul[level][3]=symul[level][1]+symul[level+1][4];
symul[level+1][3]=-100;
symul[level+1][4]=-100;
}
if((level==1 || level==3) && symul[level][3]>symul[level][4] ||
(level==2 || level==4) && symul[level][3]<symul[level][4]){
symul[level][4]=symul[level][3];
}
//cofanie punktow
if(test==false && (level==1 || level==3)){
symul[level][1]=symul[level][1]-5;
}
else{
symul[level][1]=symul[level][1]+5;
}
symul[level][0]=symul[level][0]-1;
board[x][y]=0; //cofniecie ruchu
board[x+2][y-2]=i;
board[x+1][y-1]=temp;
x=x+2;
y=y-2;
//wyswietl(board);
//czas=getchar();
}
}
// lewe dolna bicie
if (x>=0 && x<=5 && y>=2 && y<=7 && board[x+2][y-2]==0){
//jesli jest w polu w ktorym moze bic i miejsce za zbijanym pionkiem jest wolne
if(board[x][y]<0 && board[x+1][y-1]>0 || board[x][y]>0 && board[x+1][y-1]<0 ){ //jesli zbijany jest innego coloru
temp=board[x+1][y-1]; // nie wiemy czy zbilismy damke czy pionka
board[x][y]=0;
board[x+1][y-1]=0;
board[x+2][y-2]=i; // i to color pionka
// przy update valuei bicia dodac jesli czarny bije, odjac jesli bialy bije !!!!!!!!!!
if(level==1 && test==false){
index++;
tab_temp[index][0]=x+1;
tab_temp[index][1]=y-1;
index++;
tab_temp[index][0]=x+2;
tab_temp[index][1]=y-2;
}
x=x+2;
y=y-2;
if(test==false && (level==1 || level==3)){
symul[level][1]=symul[level][1]+5;
}
else if(test==false && (level==2 || level==4)){
symul[level][1]=symul[level][1]-5;
}
symul[level][0]=symul[level][0]+1;
if(symul[level][0]>symul[level][2]) symul[level][2]=symul[level][0];
check_for_attack(i,x,y,board,level,test,color);
if(test==false && (level==1 || level==3)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]+1;
}
}
else if(test==false && (level==2 || level==4)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]-1;
}
}
//symulacja dalszych ruchow dla tego ukladu(max ilosc bicia)
if(test==false && symul[level][0]==symul[level][2] && level<=3){
simulate((-1)*color,level+1,board);
//cofanie punktu z krawedzi
if(test==false && (level==1 || level==3)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]-1;
}
}
else if(test==false && (level==2 || level==4)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]+1;
}
}
}
//-----------------------
if(level==1 && test==false) {index=index-2;}
//punkty dla danego pionka dla danego ulozenia z glebszymi levelami dla niego
if(test==false && level==4 && symul[level][1]<symul[level][3]){
symul[level][3]=symul[level][1];
}
if(test==false && (level==1 || level==3) && symul[level][1]+symul[level+1][4]>symul[level][3] ){
symul[level][3]=symul[level][1]+symul[level+1][4];
symul[level+1][3]=100;
symul[level+1][4]=100;
}
if(test==false && level==2 && symul[level][1]+symul[level+1][4]<symul[level][3] ){
symul[level][3]=symul[level][1]+symul[level+1][4];
symul[level+1][3]=-100;
symul[level+1][4]=-100;
}
if((level==1 || level==3) && symul[level][3]>symul[level][4] ||
(level==2 || level==4) && symul[level][3]<symul[level][4]){
symul[level][4]=symul[level][3];
}
//cofanie punktow
if(test==false && (level==1 || level==3)){
symul[level][1]=symul[level][1]-5;
}
else{
symul[level][1]=symul[level][1]+5;
}
symul[level][0]=symul[level][0]-1;
board[x][y]=0; //cofniecie ruchu
board[x-2][y+2]=i;
board[x-1][y+1]=temp;
x=x-2;
y=y+2;
}
}
//prawe dolne bicie
if (x>=0 && x<=5 && y>=0 && y<=5 && board[x+2][y+2]==0){
//jesli jest w polu w ktorym moze bic i miejsce za zbijanym pionkiem jest wolne
if(board[x][y]<0 && board[x+1][y+1]>0 || board[x][y]>0 && board[x+1][y+1]<0 ){ //jesli zbijany jest innego coloru
temp=board[x+1][y+1]; // nie wiemy czy zbilismy damke czy pionka
board[x][y]=0;
board[x+1][y+1]=0;
board[x+2][y+2]=i; // i to color pionka
// przy update valuei bicia dodac jesli czarny bije, odjac jesli bialy bije !!!!!!!!!!
if(level==1 && test==false){
index++;
tab_temp[index][0]=x+1;
tab_temp[index][1]=y+1;
index++;
tab_temp[index][0]=x+2;
tab_temp[index][1]=y+2;
}
x=x+2;
y=y+2;
if(test==false && (level==1 || level==3)){
symul[level][1]=symul[level][1]+5;
}
else if(test==false && (level==2 || level==4)){
symul[level][1]=symul[level][1]-5;
}
symul[level][0]=symul[level][0]+1;
if(symul[level][0]>symul[level][2]) symul[level][2]=symul[level][0];
check_for_attack(i,x,y,board,level,test,color);
if(test==false && (level==1 || level==3)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]+1;
}
}
else if(test==false && (level==2 || level==4)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]-1;
}
}
//symulacja dalszych ruchow dla tego ukladu(max ilosc bicia)
if(test==false && symul[level][0]==symul[level][2] && level<=3){
simulate((-1)*color,level+1,board);
//cofanie punktu z krawedzi
if(test==false && (level==1 || level==3)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]-1;
}
}
else if(test==false && (level==2 || level==4)){
if(x==0||x==7||y==0||y==7){
symul[level][1]=symul[level][1]+1;
}
}
}
//-----------------------
if(level==1 && test==false) {index=index-2; }
//punkty dla danego pionka dla danego ulozenia z glebszymi levelami dla niego
if(test==false && level==4 && symul[level][1]<symul[level][3]){
symul[level][3]=symul[level][1];
}
if(test==false && (level==1 || level==3) && symul[level][1]+symul[level+1][4]>symul[level][3] ){
symul[level][3]=symul[level][1]+symul[level+1][4];
symul[level+1][3]=100;
symul[level+1][4]=100;
}
if(test==false && level==2 && symul[level][1]+symul[level+1][4]<symul[level][3] ){
symul[level][3]=symul[level][1]+symul[level+1][4];
symul[level+1][3]=-100;
symul[level+1][4]=-100;
}
if((level==1 || level==3) && symul[level][3]>symul[level][4] ||
(level==2 || level==4) && symul[level][3]<symul[level][4]){
symul[level][4]=symul[level][3];
}
//cofanie punktow
if(test==