Chess Robot - Set Up

geraldinebc15 · July 14, 2022, 8:33pm

Wondering if I should play with gripper angle or open close?

Yes, that’s a good idea.

You could also try making the arm go lower or higher. You can find that part of the code here:

Robotics-Technology/Chess-Robot/blob/master/ArmControl.py#L187

    
      
                  x = params["baseradius"] + params["cbFrame"] + params["sqSize"] * sqNumber - params["sqSize"]*1/2

                  y = params["sqSize"] * sqletter - copysign(params["sqSize"]*1/2,sqletter)

          

              return(x,y)

          

          def executeMove(move, params, color, homography, cap, selectedCam):

          

              allMotors.setColorLED(lssc.LSS_LED_Cyan)

              z = params["cbHeight"] + params["pieceHeight"]

              angles_rest = (0,-1155,450,1050,0)

              gClose = -2

              gOpen = -9.5

              goDown = 0.6*params["pieceHeight"]

              gripState = gOpen

              x, y = 0, 0

              

              for i in range(0,len(move),2):

          

                  # Calculate position and FPC

                  x0, y0 = x, y

                  x, y = CBtoXY((move[i],move[i+1]), params, color)

github.com

Robotics-Technology/Chess-Robot/blob/master/ArmControl.py#L219

    
      
          # Go down

          shoulder.setFilterPositionCount(15)

          elbow.setFilterPositionCount(15)

          angles_BSEWG2 = LSS_IK([x, y, z - 1 - goDown, gripState])

          print("2) GO DOWN")

          arrived2,issue2 = LSSA_moveMotors(angles_BSEWG2)

          askPermision(angles_BSEWG2, arrived2, issue2, homography, cap, selectedCam)

          

          if (i/2)%2: # Uneven move (go lower to grab the piece)

              gripState = gOpen

              goDown = 0.6*params["pieceHeight"]

          else:       # Even move (go a little higher to drop the piece)

              gripState = gClose

              goDown = 0.5*params["pieceHeight"]

          

          # Close / Open the gripper

          gripper.moveCH(int(gripState*10), 500)

          time.sleep(1)

          print("3) CLOSE/OPEN the gripper\n")

          

          # Go up

dancrissco · July 15, 2022, 6:14pm

Thanks Geraldine. Will try.

dancrissco · July 15, 2022, 8:29pm

Video - LinkedIn

dancrissco · July 15, 2022, 8:30pm

I have posted a video of the Chess Robot in Linkdin. Opened the gripper and it is better now. Still work to be done but happy with progress so far.

cbenson · July 18, 2022, 12:18pm

Appreciate the video! I thought pawns could only move forward by one space?
Someone’s idea of adding magnets underneath seems quite good to re-center each piece.

geraldinebc15 · July 19, 2022, 4:13pm

Opened the gripper and it is better now.

Awesome! Looks great with the eyes

I thought pawns could only move forward by one space?

They can move two spaces on their first move

dialfonzo · July 19, 2022, 6:43pm

Very nice project…!!