Automated Chess Piece Mover

1const int stepsBetweenSquares = 500;
2const int stepPinX = 8; 
3const  int dirPinX = 9; 
4const int stepPinY = 7;
5const int dirPinY = 6;
6const  int limitSwitchX = 5;
7const int limitSwitchY = 4;
8const int magnetPin = 2;
9
10
11
12int  x1 = 0; int x2 = 1;
13int y1 = 0; int y2 = 1;
14int xsteps;
15int ysteps;
16int  x = 0;
17int y = 0;
18
19void setup() {
20  Serial.begin(9600);
21  pinMode(stepPinX,OUTPUT);  
22  pinMode(dirPinX,OUTPUT);
23  pinMode(stepPinY,OUTPUT); 
24  pinMode(dirPinY,OUTPUT);
25  pinMode(limitSwitchX, INPUT);
26  pinMode(limitSwitchY, INPUT);
27  pinMode(magnet,  OUTPUT);
28  
29  
30  zeroDiagonal();
31  digitalWrite(magnetPin, LOW);
32
33
34
35}
36
37
38void  loop() {
39
40  x1 = 0; x2 = 1;
41 y1 = 0;y2 = 1;
42
43
44  Serial.print("Piece  to be moved letter adress:  ");
45  while (!Serial.available());
46    x1 = readSerialNumber();  
47      
48  Serial.print("Piece to be moved number adress:  ");
49  while  (!Serial.available());
50    y1 = readSerialNumber();      
51
52
53
54
55  xsteps = stepsBetweenSquares*(x1-x2);
56  ysteps = stepsBetweenSquares*(y1-y2);
57  
58  movePieceDiagonal(xsteps, ysteps);
59 
60  digitalWrite(magnetPin, HIGH);
61
62//_______________________________________________________________________________________________
63//  Recieve position adress of piece new location from Serial Monitor (Letter, Number)
64//-----------------------------------------------------------------------------------------------
65  Serial.print("New location letter adress:  ");
66  while (!Serial.available());
67    x2 = readSerialNumber(); 
68
69  Serial.print("New location number adress:  ");
70  while (!Serial.available());
71    y2 = readSerialNumber();
72  Serial.println();
73
74  
75
76
77  
78
79  xsteps = stepsBetweenSquares*(x2-x1);
80  ysteps = stepsBetweenSquares*(y2-y1);
81  
82  digitalWrite(dirPinX, HIGH); digitalWrite(dirPinY, LOW);
83  offsetPiece();
84  delay(50);
85  movePiece(xsteps, dirPinX, stepPinX);
86  movePiece(-ysteps,  dirPinY, stepPinY);
87  delay(50);
88  digitalWrite(dirPinX, LOW); digitalWrite(dirPinY,  HIGH);
89  offsetPiece();
90  digitalWrite(magnetPin, LOW);
91
92while(true){}
93
94}
95
96
97
98
99
100
101//////////////////////////////////////////////////////////////////////////////////////////////////////
102
103int  readSerialNumber(){
104  int i;
105  while (i < 1 || i > 8){
106     i = Serial.parseInt();
107    }
108  Serial.println(i);
109  Serial.parseInt();
110  return i;
111  }
112
113
114
115void  zeroDiagonal(){
116  digitalWrite(dirPinX, LOW);
117  digitalWrite(dirPinY, HIGH);
118  while (digitalRead(limitSwitchX) == HIGH && digitalRead(limitSwitchY) == HIGH){
119    moveDiagonal(1.5);
120  }
121  while (digitalRead(limitSwitchX) == HIGH){
122    moveLinear(stepPinX, 1.5);
123  }
124  while (digitalRead(limitSwitchY) == HIGH){
125    moveLinear(stepPinY, 1.5);
126  }
127  while (digitalRead(limitSwitchX) == LOW){         
128   for (int i = 0; i<130; i++){
129     digitalWrite(dirPinX, HIGH);
130     digitalWrite(stepPinX, HIGH);
131  delay(2);
132  digitalWrite(stepPinX, LOW);
133  delay(2);
134  }
135  
136  }
137
138  
139  while (digitalRead(limitSwitchY)  == LOW){         
140    digitalWrite(dirPinY, LOW);
141    for (int i = 0; i<90;  i++){
142     digitalWrite(stepPinY, HIGH);
143  delay(2);
144  digitalWrite(stepPinY,  LOW);
145  delay(2);
146  }
147}
148}
149///////////////////////////////////////////////////////////////////////////////////////////////////
150
151void  movePiece(int steps, int dirPin, int stepPin){
152  if (steps > 0){
153    digitalWrite(dirPin,HIGH);
154  }
155  else{
156    steps = abs(steps);
157    digitalWrite(dirPin, LOW);
158  }
159  for(int i = 0; i < steps; i++) {
160    moveLinear(stepPin, 2);
161  }
162  }
163
164////////////////////////////////////////////////////////////////////////////////////////////////////////
165
166void  movePieceDiagonal(int xsteps, int ysteps){
167  if (ysteps >= 0){
168    digitalWrite(dirPinY,  LOW);
169  }
170  else{
171    ysteps = abs(ysteps);
172    digitalWrite(dirPinY,  HIGH);
173  }
174  if (xsteps >= 0){
175    digitalWrite(dirPinX, HIGH);
176  }  
177  else{
178    xsteps = abs(xsteps);
179    digitalWrite(dirPinX, LOW);
180  }
181  x = 0; y = 0; 
182  while (x < xsteps && y < ysteps){
183    moveDiagonal(2);
184    x++; y++;
185  }
186  for(x; x < xsteps; x++){
187    moveLinear(stepPinX, 2);
188  }
189  for(y; y < ysteps; y++){
190    moveLinear(stepPinY, 2);
191  }
192}
193
194/////////////////////////////////////////////////////////////////////////////////////////////////////////
195
196void  offsetPiece(){
197  for (int i=0; i < stepsBetweenSquares/2; i++){
198    moveDiagonal(2);
199  }
200}
201
202///////////////////////////////////////////////////////////////////////////////////////////////////////////
203
204void  moveDiagonal(int delayTime){
205    digitalWrite(stepPinX, HIGH);
206    digitalWrite(stepPinY,  HIGH);
207    delay(delayTime);
208    digitalWrite(stepPinX, LOW);
209    digitalWrite(stepPinY,  LOW);
210    delay(delayTime);
211}
212
213////////////////////////////////////////////////////////////////////////////////////////////////////////////////
214
215void  moveLinear(int stepPin, int delayTime){
216  digitalWrite(stepPin, HIGH);
217  delay(delayTime);
218  digitalWrite(stepPin, LOW);
219  delay(delayTime);
220}
221