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Table Of Contents

1.1 Motivations
1.2 Background
1.3 Preliminaries
1.4 Aims
1.5 Module Description
1.5.1 Lego Robot Design
2.2 Essential Goals
2.3 Quantifiable Factors
2.4 Additional Goals
2.5 Risk Factors
2.6 Timeline
3.1 Design Rationale
3.2 Design Options
3.2.1 Magnetic Robot
3.2.2 Robotic Arm
3.2.3 Girder Robot
3.2.4 Comparison Criteria
3.2.5 Final Decision
3.3 Design Considerations
3.4 Grabber Prototypes
3.4.1 Tripod Grabber Model
3.4.2 Final Grabber Model
3.4.3 Lifting Mechanisms for Grabber
3.4.3.1 Two Track Model
3.4.3.2 Final Lifting Model
3.4.4 Motor Matching
3.4.5 Platform for Grabber
3.4.6 Movement of Grabber
3.4.6.1 Horizontal Movement
3.6 Final Design
3.7 Future Improvements
Board Design and Construction
4.1 Introduction
4.2 Board Requirements
4.3 Lego Vs Phidgets
4.4 Detection Methods
4.4.1 Visual Detection
4.4.2 Light Sensors
4.4.3 Magnets
4.4.4 Switches
4.5 Analogue Vs Digital
4.5.1 Digital
4.5.2 Analogue
4.6 Investigating the Phidgets Analogue Inputs
4.7 Switch “Sensor” Prototyping
4.8 Bouncing
4.9 3x3 Prototype
4.10 Interference
4.10.1 The Cause
4.10.2 The Solution
4.10.3 Problems in the Future
4.11 LEDs
4.11.1 Row and Column LEDs
4.11.2 The Decoder
4.11.3 Prototype Circuit
4.11.4 Power Supply Changes
4.12 Circuit Layout and Construction
4.13 Board Construction
4.14 Testing Outcomes
5.1 Introduction
5.2 Requirements
5.3 The Phidgets Software Components
5.3.1 The PhidgetInterfaceKit class
5.3.2 The IphidgetInterfaceKitEventsAdapter class
5.4 Early Programs
5.5 Simple GUI
5.6 LED Control
5.6.1 LedOutput2
5.6.2 LedOutput3
5.7 Software Debouncing
5.8 GuardedLCD
5.9 MoveGen
5.9.1 Normal Moves
5.9.2 Special Moves
5.9.3 Cancel
5.10 Extra Output from MoveGen
5.10.1 ThinkingOutput
5.10.2 LEDhighlightMove
5.11 User Buttons
5.11.1 The Yes/Begin Button
5.11.2 The No/Cancel Button
5.12 RobotMove
5.13 Extras
5.13.1 WelcomeLEDs
5.13.2 Sounds
5.14 Known Problems
5.14.1 Checkmate Kills
5.14.2 Normal Kill Moves
5.14.3 Pawn Promote
5.15 Possible Improvements to the Software
6.1 Requirements
6.2 Choosing the Chess Engine
6.2.1 Engine List
6.2.2 Winboard/Xboard
6.2.3 FEN
6.2.3.1 Description
6.2.3.2 Data Fields
6.2.4 Chess technicalities explained
6.2.5 Evaluation Process
6.2.6 Comparing Chess Engines
6.2.6.1 GNU Chess
6.2.6.2 Green Light Chess
6.2.6.3 Nero
6.2.6.4 Horizon
6.2.7 Engines playing against each other
6.2.7.4 GNUChess 0 - 1 Horizon in 73 moves
6.2.7.5 GNUChess 1 - 0 Nero in 33 moves
6.2.7.6 Results
6.3 Checking For Check
6.3.1 Problem Description
6.3.2 Possible Solutions
6.3.3 Editing the Nero Engine
6.3.4 Creating the Java “isColourInCheck” Method
6.4 Engine Interface Design
6.4.1 Using Data Streams
6.4.2 Method and Algorithm Descriptions
6.4.2.1 function glcsetup()
6.4.2.2 function callengine()
6.4.2.3 function updateboard()
6.4.2.4 function printBoard()
6.4.2.5 function fenUpdateBoard()
6.4.2.6 function isColourInCheck()
6.4.2.7 function getMovetype()
6.4.2.8 function readMove()
6.4.2.9 function sendMove()
6.5 Pawn Promotion
6.5.1 Problem Description
6.5.2 Solution
6.6 Testing
6.6.1 Results
6.7 Future Improvements
6.7.1 Undo
6.7.2 Difficulty Setting
6.7.3 Piece Promote leading to Check
6.7.4 The 50 move and the 3 repetitive move draw
6.7.5 Portability
6.8 Conclusion
Programming RCXs
7.1 Available Programming Languages
7.1.1 Ada/Mindstorms 2.0
7.1.2 pbForth
7.1.3 BrickOS
7.1.4 leJOS
7.1.5 tinyVM
7.1.6 Lego RIS graphical environment
7.1.7 Gordon’s Brick Programmer
7.1.8 RoboLab
7.1.9 Spirit.ocx
7.1.10 NotQuiteC (NQC)
7.1.11 Conclusion
7.2 Sensors
7.3 The Code
7.4 Communications
7.5 Testing the system
7.6 Improvements / Extensions
Conclusion
8.1 Project Status
8.1.0.1 Vehicle Design
8.1.1 Positioning
8.1.2 Chess Interface
8.2 Conclusions
8.2.1 Achievements
8.3 Further Improvements
Summary of Project Logs
A.1 Stewart Gracie
A.2 Jonathan Matthey
A.3 David Rankin
A.4 Konstantinos Topoglidis
B.1 Installation
B.1.1 The Chess engine
B.2 Starting a Game
B.3 Making a Move
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Lego Chess Robot

Lego Chess Robot

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Published by OBStaff

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Published by: OBStaff on Dec 13, 2011
Copyright:Attribution Non-commercial

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09/11/2012

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