Robotic Arm Plays Tic-Tac-Toe

Play tic-tac-toe against a robotic arm.

Oct 26, 2019

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Components and supplies

PCA9685 16 Canali 12 bit Modulo I2C Driver di Motore Servo PWM per Robot Arduino

RGB LCD Shield Kit, 16x2 Character Display

Jumper wires (generic)

Remote Control IR 38 Khz and receiver HX1838

MG966R Servo

Arduino Due

Robotic Arm 6dof model ROT3U

Project description

Code

Robotic arm code

arduino

This is the Arduino code

1
2
3#include <Wire.h>
4#include <Adafruit_PWMServoDriver.h>
5#include  <IRremote2.h>
6#include <LiquidCrystal.h>
7
8/* ---------- TRIS VARIABLE ----------  */
9#define INT_MIN  -2147483648
10#define INT_MAX  +2147483647
11char Tris[3][3];
12int  TrisPos[3][3][4] =   {{{-55,280,70,105},{0,280,60,90},{65,280,70,75}}, //x,y,z,x5    {0,0},{0,1},{0,2}
13                          {{-60,210,50,110},{0,215,50,90},{60,220,50,70}},  //            {1,0},{1,1},{1,2}
14                          {{-65,150,45,115},{0,155,45,90},{55,160,45,65}}  //            {2,0},{2,1},{2,2}
15                         };
16int TakePos[6][4]  = {{20,-140,40,100},{15,-205,60,95},{10,-240,90,90},{-75,-230,80,75},{-70,-175,70,70},{-65,-120,50,65}};
17int  pawn=0;
18int choice;
19
20/* ---------- IR VARIABLE ---------- */
21// RECV_PIN  = 52;
22IRrecv irrecv(52);
23decode_results results;
24
25/* ---------- LIQUIDCRYSTAL  VARIABLE ---------- */
26// pin lcd: rs = 8, en = 9, d4 = 4, d5 = 5, d6 = 6, d7  = 7;
27LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
28
29/* ---------- ROBOTIC ARM VARIABLE  ---------- */
30Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
31#define  BASE_HGT 115 //base height
32/*#define HUMERUS  105   shoulder-to-elbow "bone"
33  #define ULNA     100   elbow-to-wrist    "bone"
34  #define GRIPPER  170   wrist-to-gripper  "bone"   */
35#define SERVO1  1
36#define SERVO2  2
37#define SERVO3  3
38#define  SERVO4  4
39#define SERVO5  5
40#define SERVO6  6
41
42#define SERVOMIN1  130
43#define  SERVOMAX1  430
44#define SERVOMIN2  120
45#define SERVOMAX2  365
46#define SERVOMIN3  150
47#define SERVOMAX3  430
48#define SERVOMIN4  130
49#define SERVOMAX4  435
50#define  SERVOMIN5  100
51#define SERVOMAX5  380
52#define SERVOMIN6  200
53#define SERVOMAX6  325
54unsigned int ServoMinMax[6][2] = {{SERVOMIN1,SERVOMAX1},
55                                  {SERVOMIN2,SERVOMAX2},
56                                  {SERVOMIN3,SERVOMAX3},
57                                  {SERVOMIN4,SERVOMAX4},
58                                  {SERVOMIN5,SERVOMAX5},
59                                  {SERVOMIN6,SERVOMAX6}};
60
61float  x1,x2,x3,x4,x5,x6 = 90;                          // servo position
62float oldx1,oldx2,oldx3,oldx4,oldx5,oldx6  = x1;        // old servo position
63
64float xaxis =   0;
65float yaxis = 150;
66float  zaxis = 100;
67
68bool checkmin = true;
69bool checkmax = true;
70
71/* ----------  setup ---------- */
72void setup() {
73  Serial.begin(115200);
74  randomSeed(analogRead(A0));
75  lcd.begin(16, 2);
76  lcd.clear();
77  lcd.print(">>> T R I S <<<");
78  lcd.setCursor(0,1);
79  lcd.print("   by Danny003");
80  delay(2000);
81  pwm.begin();
82  pwm.setPWMFreq(50);
83  MyServoWrite(SERVO2,90);
84  delay(1000);
85  Set_Arm(xaxis,yaxis,zaxis);
86  irrecv.enableIRIn();
87}
88
89/* ---------- loop ---------- */
90void loop()  {
91  choice = 0;
92  for(int i=0;i<3;i++) {
93    for(int j=0;j<3;j++) { Tris[i][j]='  '; }
94  }
95  pawn = 0;  
96  lcd.clear();
97  lcd.print("Choose Who Start");
98  lcd.setCursor(0,1);
99  lcd.print("CH-=Comp CH+=You");
100  choice=Read_RC();  
101  while(choice==10 )  {
102   Computer_Move();
103    if(Check_Win('O')) {
104      Show_Win(Check_Win('O'));
105      Set_Arm( xaxis = 0.0, yaxis = 130.0 , zaxis  = 200.0 );
106      lcd.clear();
107      lcd.print("    Computer  ");
108      lcd.setCursor(0,1);
109      lcd.print("    W I N S   ");
110      delay(2000);
111      break;
112    }
113    if(End_Game()) {
114      lcd.clear();
115      lcd.print("  Nobody wins ");
116      lcd.setCursor(0,1);
117      lcd.print("    F L A P   ");
118      delay(2000);
119      break;
120    }
121    Player_Move();
122    if(Check_Win('X')) {
123      lcd.clear();
124      lcd.print("    Player  ");
125      lcd.setCursor(0,1);
126      lcd.print("    W I N S   ");
127      delay(2000);
128      break;
129    }
130    if(End_Game())  {
131      lcd.clear();
132      lcd.print("  Nobody wins ");
133      lcd.setCursor(0,1);
134      lcd.print("    F L A P   ");
135      delay(2000);
136      break;
137    }
138  }
139  while(choice==11)  {
140    Player_Move();
141    if(Check_Win('X')) {
142      lcd.clear();
143      lcd.print("    Player  ");
144      lcd.setCursor(0,1);
145      lcd.print("    W I N S   ");
146      delay(2000);
147      break;
148    }
149    if(End_Game()) {
150      lcd.clear();
151      lcd.print("  Nobody wins ");
152      lcd.setCursor(0,1);
153      lcd.print("    F L A P   ");
154      delay(2000);
155      break;
156    }
157   Computer_Move();
158    if(Check_Win('O')) {
159      Show_Win(Check_Win('O'));
160      Set_Arm( xaxis = 0.0, yaxis = 130.0 , zaxis = 200.0 );
161      lcd.clear();
162      lcd.print("    Computer  "); 
163      lcd.setCursor(0,1);
164      lcd.print("    W I N S   ");
165      delay(2000);
166      break;
167    }    
168    if(End_Game())  {
169      lcd.clear();
170      lcd.print("  Nobody wins ");
171      lcd.setCursor(0,1);
172      lcd.print("    F L A P   ");
173      delay(2000);
174      break;
175    }
176  }
177  Tidy();
178}
179
180
181/* -------------------- ROBOTIC ARM FUNCTION --------------------  */
182
183/* ---------- MyServoWrite ---------- */
184/* This funciont is used to  move a singular servo*/
185void MyServoWrite(int servo, float gradi) {
186     pwm.setPWM(  servo, 0, MapNew(gradi, 0.0, 180.0, ServoMinMax[servo-1][0], ServoMinMax[servo-1][1]  ));
187}
188
189/* ---------- MyServoWriteAll ---------- */
190/* This funciont  is used to move the first 4 servo, it has been created to avoid to repeat the funciont  MyServoWrite 4 times */
191void MyServoWriteAll(float y1,float y2,float y3,float  y4) {
192  pwm.setPWM( SERVO1, 0, MapNew(y1, 0.0, 180.0, ServoMinMax[SERVO1-1][0],  ServoMinMax[SERVO1-1][1] ));
193  pwm.setPWM( SERVO2, 0, MapNew(y2, 0.0, 180.0,  ServoMinMax[SERVO2-1][0], ServoMinMax[SERVO2-1][1] ));
194  pwm.setPWM( SERVO3,  0, MapNew(y3, 0.0, 180.0, ServoMinMax[SERVO3-1][0], ServoMinMax[SERVO3-1][1] ));
195  pwm.setPWM( SERVO4, 0, MapNew(y4, 0.0, 180.0, ServoMinMax[SERVO4-1][0], ServoMinMax[SERVO4-1][1]  ));
196}
197
198/* ---------- MyServoWriteGradual ---------- */
199/*This function  is similar to MyServoWriteAll; but to avoid too rapid movement, 
200 in particular  when the robotic arm goes from a position to another one,this function creates 
201  a smooth and simultaneous movement of the 4 servo, whose time depends on the variation  of the bigger angle*/
202void MyServoWriteGradual( float newpos1, float newpos2,  float newpos3, float newpos4 ) {
203  float oldpos1 = oldx1;
204  float oldpos2  = oldx2;
205  float oldpos3 = oldx3;
206  float oldpos4 = oldx4;
207  float differ1  = newpos1 - oldpos1;
208  float differ2 = newpos2 - oldpos2;
209  float differ3  = newpos3 - oldpos3;
210  float differ4 = newpos4 - oldpos4;
211  float largest  = max(abs(differ1),max(abs(differ2), max(abs(differ3),abs(differ4))));
212  for  ( int i = 0; i <= largest; i++ ) {
213     oldpos1 += (differ1/largest);
214     oldpos2  += (differ2/largest);
215     oldpos3 += (differ3/largest);
216     oldpos4 += (differ4/largest);
217     MyServoWriteAll(oldpos1,oldpos2,oldpos3,oldpos4);
218     delay(10);       
219  } 
220  MyServoWriteAll(newpos1,newpos2,newpos3,newpos4);
221} 
222 
223/* ----------  Set_Arm ---------- */
224/* This function is the most important for the movement  of the robotic arm, 
225   because it calculates the postions of the first 4 servo  from the three coordinates x,y,z(taken from TakePos and TrisPos).
226   The following  code is specific to the configuration of MY robotic arm, so if you want to use it,  you have to adapt it to your arm.*/
227void Set_Arm( float x, float y, float z)  {
228  oldx1 = x1;
229  oldx2 = x2;
230  oldx3 = x3;
231  oldx4 = x4;
232  z=z-BASE_HGT;
233  float dist_y_z = sqrt( sq(z) +  sq(x) + sq(y) ); 
234  if ( dist_y_z < 120.0 )  { checkmin=false; } 
235    else { checkmin=true; }
236  if ( dist_y_z > 370.0 )  { checkmax=false; } 
237    else { checkmax=true; }
238  if ( checkmin && checkmax  ) {
239    float alfa = 180.0-(degrees(acos((-27500 + sqrt( sq(27500) - 71400*(14225  - sq(dist_y_z))))/71400)));
240    float gamma = degrees(acos((27875 -sq(dist_y_z)  - (34000*cos(radians(alfa))))/(-210*dist_y_z)));
241    float omega = degrees(acos(sqrt(sq(x)+sq(y))/dist_y_z));
242    x1 = 90.0-degrees(atan2(-x,abs(y)));
243    if ( z > 0.0 ) { x2=180.0-(gamma+omega);  }
244      else { x2=180.0-(gamma-omega); }  
245    if ( y < 0.0) { x3=x4=(alfa-90.0);  }
246      else {
247        x3=x4=(270.0-alfa);
248        x2=180.0-x2;
249        x1=180.0-x1;
250      }
251    if ((abs(oldx1-x1)+abs(oldx2-x2)+abs(oldx3-x3)+abs(oldx4-x4)) > 20.0)  { MyServoWriteGradual(x1,x2,x3,x4); }
252      else { MyServoWriteAll(x1,x2,x3,x4);  }
253  } 
254}
255
256/* ---------- Reach_Position ---------- */
257/*Through this  function, the Robotic Arm grabs a pawn  from a position and it leaves the pawn in  another position  */
258void Reach_Position ( float fromx, float fromy, float fromz,  float fromangle, float tox, float toy, float toz, float toangle ) {
259  Set_Arm(  fromx, fromy, fromz+50 );
260  delay(300);
261  MyServoWrite( SERVO6, 0 );
262  MyServoWrite(  SERVO5, fromangle );
263  delay(1000);
264  Set_Arm( fromx, fromy, fromz );
265  delay(300);
266  MyServoWrite( SERVO6, 130 );
267  delay(500);
268  Set_Arm( fromx,  fromy, fromz + 100 );
269  delay(500);
270  Set_Arm( tox, toy, toz+150);
271  delay(1000);
272  MyServoWrite( SERVO5, toangle );
273  delay(300);
274  Set_Arm( tox, toy, toz  );
275  delay(300);
276  MyServoWrite( SERVO6, 0 );
277  delay(1000);
278  Set_Arm(  xaxis = 0.0, yaxis = 130.0 , zaxis = 200.0 );
279  MyServoWrite( SERVO5, 90 );
280  }
281
282/* ---------- MapNew ---------- */
283/*This function has been created  because the Arduino map() has not the funciont  constrain() and it does not return  a int value */
284int MapNew( float x, float in_min, float in_max, float out_min,  float out_max ) {
285   return round((constrain(x,in_min,in_max) - in_min) * (out_max  - out_min) / (in_max - in_min) + out_min);
286}
287 
288/* ---------- Show_Win ----------  */
289/*Through this function, if computer wins, the Robotic Arm moves over the  tris to show to the player that it have just won */ 
290void Show_Win(int triscase)  {
291  MyServoWrite(SERVO6,150);
292  switch(triscase){
293    case 1:
294      Set_Arm(  TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);
295      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
296      break ;
297    case 2:
298      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);
299      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
300      break  ;
301    case 3:
302      Set_Arm( TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);
303      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
304      break  ;
305    case 4:
306      Set_Arm( TrisPos[1][0][0],TrisPos[1][0][1],TrisPos[1][0][2]+100);
307      Set_Arm( TrisPos[1][2][0],TrisPos[1][2][1],TrisPos[1][2][2]+100);
308      break  ;
309    case 5:
310      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);
311      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
312      break  ;
313    case 6:
314      Set_Arm( TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);
315      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);
316      break  ;
317    case 7:
318      Set_Arm( TrisPos[0][1][0],TrisPos[0][1][1],TrisPos[0][1][2]+100);
319      Set_Arm( TrisPos[2][1][0],TrisPos[2][1][1],TrisPos[2][1][2]+100);
320      break  ;
321    case 8:
322      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
323      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
324      break  ;
325      
326  }
327  MyServoWrite(SERVO6,0);
328}
329
330
331/* --------------------  TIC TAC TOE FUNCTION -------------------- */
332//The following functions are taken  from : http://www.pierotofy.it/pages/sorgenti/browse/17648/3447/ 
333
334/* ----------  Possible ---------- */
335/*This function check if position i,j is free. */
336bool  Possible(int i, int j) { return Tris[i][j]==' '; }
337
338/* ---------- End_Game  ---------- */
339/*This function check if all position are occupied by a pawn. */
340bool  End_Game(){
341  for(int i=0;i<3;i++) {
342    for(int j=0;j<3;j++) {
343      if(Possible(i,j)){return  false;}
344    }
345  }
346  return true;
347} 
348
349/* ---------- Check_Win ----------  */
350/*This function check all the 8 possible combinations to win at tris. */
351int  Check_Win(char wnr) {
352  int returnvalue=0;
353  if(Tris[0][0]==wnr&&Tris[1][1]==wnr&&Tris[2][2]==wnr)  {returnvalue = 1;}
354  if(Tris[2][0]==wnr&&Tris[1][1]==wnr&&Tris[0][2]==wnr) {returnvalue  = 2;}
355  if(Tris[0][0]==wnr&&Tris[0][1]==wnr&&Tris[0][2]==wnr) {returnvalue =  3;}
356  if(Tris[1][0]==wnr&&Tris[1][1]==wnr&&Tris[1][2]==wnr) {returnvalue = 4;}
357  if(Tris[2][0]==wnr&&Tris[2][1]==wnr&&Tris[2][2]==wnr) {returnvalue = 5;}
358  if(Tris[0][0]==wnr&&Tris[1][0]==wnr&&Tris[2][0]==wnr)  {returnvalue = 6;}
359  if(Tris[0][1]==wnr&&Tris[1][1]==wnr&&Tris[2][1]==wnr) {returnvalue  = 7;}
360  if(Tris[0][2]==wnr&&Tris[1][2]==wnr&&Tris[2][2]==wnr) {returnvalue =  8;}
361  return returnvalue;
362}
363
364/* ---------- Computer_Move ----------  */
365/* This function consider which position is better and move the robotic arm  */
366void Computer_Move() {
367  long maxvalue=INT_MIN,mi=1,mj=1,t;
368  lcd.clear();
369  lcd.print(" I Am Thinking");
370  lcd.setCursor(0,1);
371  lcd.print("    Wait");
372  if( choice == 10 && pawn == 0 ) {
373    mi = int(random(0,3));
374    mj = int(random(0,3));
375  }
376  else {  
377    for(int i=0;i<3;i++) {
378      for(int j=0;j<3;j++) {
379        if(Possible(i,j)) {
380          Tris[i][j]='O';
381          t=Consider_Move('X',  20);
382          if(t>maxvalue) {
383            maxvalue=t;
384            mi=i;
385            mj=j;
386          }
387          Tris[i][j]=' ';
388        }
389      }
390    } 
391  }      
392  Tris[mi][mj]='O';
393  Reach_Position(TakePos[pawn][0],TakePos[pawn][1],TakePos[pawn][2],TakePos[pawn][3],TrisPos[mi][mj][0],TrisPos[mi][mj][1],TrisPos[mi][mj][2],TrisPos[mi][mj][3]);
394  pawn++;
395}
396
397/* ---------- Consider_Move ---------- */
398/* This function  uses minimax algoritm */
399long Consider_Move(char wnr, int deep) {
400  int i,  j, res, tmp;
401  if(Check_Win('O')) { return INT_MAX; }
402  if(End_Game())     {  return 0; }
403  if(wnr=='X') {
404    res=1;
405    for(i=0;i<3;i++) {
406      for(j=0;j<3;j++)  {
407        if(Possible(i,j)) {
408          Tris[i][j]='X';
409          if(Check_Win('X'))  {
410            if(deep==20) {
411              Tris[i][j]=' ';
412              return  INT_MIN;
413            }
414            else {res-=2;}
415          }
416          else  if((tmp=Consider_Move('O', deep - 1))<res) { res=tmp; }
417          Tris[i][j]='  ';
418        } 
419      }
420    }  
421  }
422  else {
423    res=-1;
424    for(i=0;i<3;i++)  {
425      for(j=0;j<3;j++) {
426        if(Possible(i,j)) {
427          Tris[i][j]='O';
428          if(Check_Win('O')) {res+=2;}
429          else if((tmp=Consider_Move('X',  deep - 1))>res) {res=tmp;}
430          Tris[i][j]=' ';
431        }
432      }
433    }
434  }
435  return res;
436}
437
438/* ---------- Player_Move ---------- */
439/*  This function, depending on which button you pressed, update the position of your  pawns */
440void Player_Move() {
441  int i=0;
442  lcd.clear();
443  lcd.print("  Insert your   ");
444  lcd.setCursor(0,1);
445  lcd.print("    M O V E     ");
446  do {
447    i=Read_RC();
448    if      ((i==9)&&Possible(0,0)) { Tris[0][0]='X';  } 
449    else if ((i==8)&&Possible(0,1)) { Tris[0][1]='X'; }   
450    else if  ((i==7)&&Possible(0,2)) { Tris[0][2]='X'; }  
451    else if ((i==6)&&Possible(1,0))  { Tris[1][0]='X'; }  
452    else if ((i==5)&&Possible(1,1)) { Tris[1][1]='X'; }  
453    else if ((i==4)&&Possible(1,2)) { Tris[1][2]='X'; }  
454    else if ((i==3)&&Possible(2,0))  { Tris[2][0]='X'; }  
455    else if ((i==2)&&Possible(2,1)) { Tris[2][1]='X'; }  
456    else if ((i==1)&&Possible(2,2)) { Tris[2][2]='X'; }   
457    else {
458      i=0;
459      lcd.clear();
460      lcd.print(" I N V A L I D  ");
461      lcd.setCursor(0,1);
462      lcd.print("    M O V E     ");}
463  }while(i<1||i>9); 
464}
465
466/* ----------  Read_RC ---------- */
467/* This function read the button you pressed  */
468int  Read_RC(){
469  int returnvalue=99;
470  while (returnvalue==99){
471    while (!irrecv.decode(&results))  {};
472    switch(results.value){
473      case 0xFFA25D: // CH-
474      returnvalue=10;
475      break;
476      case 0xFFE21D: //CH+
477      returnvalue=11;
478      break;
479      case 0xFF30CF: // 1
480      returnvalue=1;
481      break ;
482      case  0xFF18E7: // 2
483      returnvalue=2;
484      break ;
485      case 0xFF7A85:  // 3
486      returnvalue=3;
487      break ;
488      case 0xFF10EF: // 4
489      returnvalue=4;
490      break ;
491      case 0xFF38C7: // 5
492      returnvalue=5;
493      break  ;
494      case 0xFF5AA5: // 6
495      returnvalue=6;
496      break ;
497      case  0xFF42BD: // 7
498      returnvalue=7;
499      break ;
500      case 0xFF4AB5:  // 8
501      returnvalue=8;
502      break ;
503      case 0xFF52AD: // 9
504      returnvalue=9;
505      break ;      
506    }
507    irrecv.resume();      
508  }
509  return returnvalue;
510}
511
512/*  ---------- Tidy ---------- */
513/*Through this function, the Robotic Arm tidies  the pawns so they are in position for the next game */
514void Tidy() {
515  for(int  i=0;i<3;i++) {
516    for(int j=0;j<3;j++) { 
517      if(Tris[i][j]=='O') { pawn--;
518        Reach_Position(TrisPos[i][j][0],TrisPos[i][j][1],TrisPos[i][j][2],TrisPos[i][j][3],TakePos[pawn][0],TakePos[pawn][1],TakePos[pawn][2]+10,TakePos[pawn][3]);  } 
519    }
520  }
521}
522


#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
#include  <IRremote2.h>
#include <LiquidCrystal.h>

/* ---------- TRIS VARIABLE ----------  */
#define INT_MIN  -2147483648
#define INT_MAX  +2147483647
char Tris[3][3];
int  TrisPos[3][3][4] =   {{{-55,280,70,105},{0,280,60,90},{65,280,70,75}}, //x,y,z,x5    {0,0},{0,1},{0,2}
                          {{-60,210,50,110},{0,215,50,90},{60,220,50,70}},  //            {1,0},{1,1},{1,2}
                          {{-65,150,45,115},{0,155,45,90},{55,160,45,65}}  //            {2,0},{2,1},{2,2}
                         };
int TakePos[6][4]  = {{20,-140,40,100},{15,-205,60,95},{10,-240,90,90},{-75,-230,80,75},{-70,-175,70,70},{-65,-120,50,65}};
int  pawn=0;
int choice;

/* ---------- IR VARIABLE ---------- */
// RECV_PIN  = 52;
IRrecv irrecv(52);
decode_results results;

/* ---------- LIQUIDCRYSTAL  VARIABLE ---------- */
// pin lcd: rs = 8, en = 9, d4 = 4, d5 = 5, d6 = 6, d7  = 7;
LiquidCrystal lcd(8, 9, 4, 5, 6, 7);

/* ---------- ROBOTIC ARM VARIABLE  ---------- */
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
#define  BASE_HGT 115 //base height
/*#define HUMERUS  105   shoulder-to-elbow "bone"
  #define ULNA     100   elbow-to-wrist    "bone"
  #define GRIPPER  170   wrist-to-gripper  "bone"   */
#define SERVO1  1
#define SERVO2  2
#define SERVO3  3
#define  SERVO4  4
#define SERVO5  5
#define SERVO6  6

#define SERVOMIN1  130
#define  SERVOMAX1  430
#define SERVOMIN2  120
#define SERVOMAX2  365
#define SERVOMIN3  150
#define SERVOMAX3  430
#define SERVOMIN4  130
#define SERVOMAX4  435
#define  SERVOMIN5  100
#define SERVOMAX5  380
#define SERVOMIN6  200
#define SERVOMAX6  325
unsigned int ServoMinMax[6][2] = {{SERVOMIN1,SERVOMAX1},
                                  {SERVOMIN2,SERVOMAX2},
                                  {SERVOMIN3,SERVOMAX3},
                                  {SERVOMIN4,SERVOMAX4},
                                  {SERVOMIN5,SERVOMAX5},
                                  {SERVOMIN6,SERVOMAX6}};

float  x1,x2,x3,x4,x5,x6 = 90;                          // servo position
float oldx1,oldx2,oldx3,oldx4,oldx5,oldx6  = x1;        // old servo position

float xaxis =   0;
float yaxis = 150;
float  zaxis = 100;

bool checkmin = true;
bool checkmax = true;

/* ----------  setup ---------- */
void setup() {
  Serial.begin(115200);
  randomSeed(analogRead(A0));
  lcd.begin(16, 2);
  lcd.clear();
  lcd.print(">>> T R I S <<<");
  lcd.setCursor(0,1);
  lcd.print("   by Danny003");
  delay(2000);
  pwm.begin();
  pwm.setPWMFreq(50);
  MyServoWrite(SERVO2,90);
  delay(1000);
  Set_Arm(xaxis,yaxis,zaxis);
  irrecv.enableIRIn();
}

/* ---------- loop ---------- */
void loop()  {
  choice = 0;
  for(int i=0;i<3;i++) {
    for(int j=0;j<3;j++) { Tris[i][j]='  '; }
  }
  pawn = 0;  
  lcd.clear();
  lcd.print("Choose Who Start");
  lcd.setCursor(0,1);
  lcd.print("CH-=Comp CH+=You");
  choice=Read_RC();  
  while(choice==10 )  {
   Computer_Move();
    if(Check_Win('O')) {
      Show_Win(Check_Win('O'));
      Set_Arm( xaxis = 0.0, yaxis = 130.0 , zaxis  = 200.0 );
      lcd.clear();
      lcd.print("    Computer  ");
      lcd.setCursor(0,1);
      lcd.print("    W I N S   ");
      delay(2000);
      break;
    }
    if(End_Game()) {
      lcd.clear();
      lcd.print("  Nobody wins ");
      lcd.setCursor(0,1);
      lcd.print("    F L A P   ");
      delay(2000);
      break;
    }
    Player_Move();
    if(Check_Win('X')) {
      lcd.clear();
      lcd.print("    Player  ");
      lcd.setCursor(0,1);
      lcd.print("    W I N S   ");
      delay(2000);
      break;
    }
    if(End_Game())  {
      lcd.clear();
      lcd.print("  Nobody wins ");
      lcd.setCursor(0,1);
      lcd.print("    F L A P   ");
      delay(2000);
      break;
    }
  }
  while(choice==11)  {
    Player_Move();
    if(Check_Win('X')) {
      lcd.clear();
      lcd.print("    Player  ");
      lcd.setCursor(0,1);
      lcd.print("    W I N S   ");
      delay(2000);
      break;
    }
    if(End_Game()) {
      lcd.clear();
      lcd.print("  Nobody wins ");
      lcd.setCursor(0,1);
      lcd.print("    F L A P   ");
      delay(2000);
      break;
    }
   Computer_Move();
    if(Check_Win('O')) {
      Show_Win(Check_Win('O'));
      Set_Arm( xaxis = 0.0, yaxis = 130.0 , zaxis = 200.0 );
      lcd.clear();
      lcd.print("    Computer  "); 
      lcd.setCursor(0,1);
      lcd.print("    W I N S   ");
      delay(2000);
      break;
    }    
    if(End_Game())  {
      lcd.clear();
      lcd.print("  Nobody wins ");
      lcd.setCursor(0,1);
      lcd.print("    F L A P   ");
      delay(2000);
      break;
    }
  }
  Tidy();
}


/* -------------------- ROBOTIC ARM FUNCTION --------------------  */

/* ---------- MyServoWrite ---------- */
/* This funciont is used to  move a singular servo*/
void MyServoWrite(int servo, float gradi) {
     pwm.setPWM(  servo, 0, MapNew(gradi, 0.0, 180.0, ServoMinMax[servo-1][0], ServoMinMax[servo-1][1]  ));
}

/* ---------- MyServoWriteAll ---------- */
/* This funciont  is used to move the first 4 servo, it has been created to avoid to repeat the funciont  MyServoWrite 4 times */
void MyServoWriteAll(float y1,float y2,float y3,float  y4) {
  pwm.setPWM( SERVO1, 0, MapNew(y1, 0.0, 180.0, ServoMinMax[SERVO1-1][0],  ServoMinMax[SERVO1-1][1] ));
  pwm.setPWM( SERVO2, 0, MapNew(y2, 0.0, 180.0,  ServoMinMax[SERVO2-1][0], ServoMinMax[SERVO2-1][1] ));
  pwm.setPWM( SERVO3,  0, MapNew(y3, 0.0, 180.0, ServoMinMax[SERVO3-1][0], ServoMinMax[SERVO3-1][1] ));
  pwm.setPWM( SERVO4, 0, MapNew(y4, 0.0, 180.0, ServoMinMax[SERVO4-1][0], ServoMinMax[SERVO4-1][1]  ));
}

/* ---------- MyServoWriteGradual ---------- */
/*This function  is similar to MyServoWriteAll; but to avoid too rapid movement, 
 in particular  when the robotic arm goes from a position to another one,this function creates 
  a smooth and simultaneous movement of the 4 servo, whose time depends on the variation  of the bigger angle*/
void MyServoWriteGradual( float newpos1, float newpos2,  float newpos3, float newpos4 ) {
  float oldpos1 = oldx1;
  float oldpos2  = oldx2;
  float oldpos3 = oldx3;
  float oldpos4 = oldx4;
  float differ1  = newpos1 - oldpos1;
  float differ2 = newpos2 - oldpos2;
  float differ3  = newpos3 - oldpos3;
  float differ4 = newpos4 - oldpos4;
  float largest  = max(abs(differ1),max(abs(differ2), max(abs(differ3),abs(differ4))));
  for  ( int i = 0; i <= largest; i++ ) {
     oldpos1 += (differ1/largest);
     oldpos2  += (differ2/largest);
     oldpos3 += (differ3/largest);
     oldpos4 += (differ4/largest);
     MyServoWriteAll(oldpos1,oldpos2,oldpos3,oldpos4);
     delay(10);       
  } 
  MyServoWriteAll(newpos1,newpos2,newpos3,newpos4);
} 
 
/* ----------  Set_Arm ---------- */
/* This function is the most important for the movement  of the robotic arm, 
   because it calculates the postions of the first 4 servo  from the three coordinates x,y,z(taken from TakePos and TrisPos).
   The following  code is specific to the configuration of MY robotic arm, so if you want to use it,  you have to adapt it to your arm.*/
void Set_Arm( float x, float y, float z)  {
  oldx1 = x1;
  oldx2 = x2;
  oldx3 = x3;
  oldx4 = x4;
  z=z-BASE_HGT;
  float dist_y_z = sqrt( sq(z) +  sq(x) + sq(y) ); 
  if ( dist_y_z < 120.0 )  { checkmin=false; } 
    else { checkmin=true; }
  if ( dist_y_z > 370.0 )  { checkmax=false; } 
    else { checkmax=true; }
  if ( checkmin && checkmax  ) {
    float alfa = 180.0-(degrees(acos((-27500 + sqrt( sq(27500) - 71400*(14225  - sq(dist_y_z))))/71400)));
    float gamma = degrees(acos((27875 -sq(dist_y_z)  - (34000*cos(radians(alfa))))/(-210*dist_y_z)));
    float omega = degrees(acos(sqrt(sq(x)+sq(y))/dist_y_z));
    x1 = 90.0-degrees(atan2(-x,abs(y)));
    if ( z > 0.0 ) { x2=180.0-(gamma+omega);  }
      else { x2=180.0-(gamma-omega); }  
    if ( y < 0.0) { x3=x4=(alfa-90.0);  }
      else {
        x3=x4=(270.0-alfa);
        x2=180.0-x2;
        x1=180.0-x1;
      }
    if ((abs(oldx1-x1)+abs(oldx2-x2)+abs(oldx3-x3)+abs(oldx4-x4)) > 20.0)  { MyServoWriteGradual(x1,x2,x3,x4); }
      else { MyServoWriteAll(x1,x2,x3,x4);  }
  } 
}

/* ---------- Reach_Position ---------- */
/*Through this  function, the Robotic Arm grabs a pawn  from a position and it leaves the pawn in  another position  */
void Reach_Position ( float fromx, float fromy, float fromz,  float fromangle, float tox, float toy, float toz, float toangle ) {
  Set_Arm(  fromx, fromy, fromz+50 );
  delay(300);
  MyServoWrite( SERVO6, 0 );
  MyServoWrite(  SERVO5, fromangle );
  delay(1000);
  Set_Arm( fromx, fromy, fromz );
  delay(300);
  MyServoWrite( SERVO6, 130 );
  delay(500);
  Set_Arm( fromx,  fromy, fromz + 100 );
  delay(500);
  Set_Arm( tox, toy, toz+150);
  delay(1000);
  MyServoWrite( SERVO5, toangle );
  delay(300);
  Set_Arm( tox, toy, toz  );
  delay(300);
  MyServoWrite( SERVO6, 0 );
  delay(1000);
  Set_Arm(  xaxis = 0.0, yaxis = 130.0 , zaxis = 200.0 );
  MyServoWrite( SERVO5, 90 );
  }

/* ---------- MapNew ---------- */
/*This function has been created  because the Arduino map() has not the funciont  constrain() and it does not return  a int value */
int MapNew( float x, float in_min, float in_max, float out_min,  float out_max ) {
   return round((constrain(x,in_min,in_max) - in_min) * (out_max  - out_min) / (in_max - in_min) + out_min);
}
 
/* ---------- Show_Win ----------  */
/*Through this function, if computer wins, the Robotic Arm moves over the  tris to show to the player that it have just won */ 
void Show_Win(int triscase)  {
  MyServoWrite(SERVO6,150);
  switch(triscase){
    case 1:
      Set_Arm(  TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);
      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
      break ;
    case 2:
      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);
      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
      break  ;
    case 3:
      Set_Arm( TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);
      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
      break  ;
    case 4:
      Set_Arm( TrisPos[1][0][0],TrisPos[1][0][1],TrisPos[1][0][2]+100);
      Set_Arm( TrisPos[1][2][0],TrisPos[1][2][1],TrisPos[1][2][2]+100);
      break  ;
    case 5:
      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);
      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
      break  ;
    case 6:
      Set_Arm( TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);
      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);
      break  ;
    case 7:
      Set_Arm( TrisPos[0][1][0],TrisPos[0][1][1],TrisPos[0][1][2]+100);
      Set_Arm( TrisPos[2][1][0],TrisPos[2][1][1],TrisPos[2][1][2]+100);
      break  ;
    case 8:
      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
      break  ;
      
  }
  MyServoWrite(SERVO6,0);
}


/* --------------------  TIC TAC TOE FUNCTION -------------------- */
//The following functions are taken  from : http://www.pierotofy.it/pages/sorgenti/browse/17648/3447/ 

/* ----------  Possible ---------- */
/*This function check if position i,j is free. */
bool  Possible(int i, int j) { return Tris[i][j]==' '; }

/* ---------- End_Game  ---------- */
/*This function check if all position are occupied by a pawn. */
bool  End_Game(){
  for(int i=0;i<3;i++) {
    for(int j=0;j<3;j++) {
      if(Possible(i,j)){return  false;}
    }
  }
  return true;
} 

/* ---------- Check_Win ----------  */
/*This function check all the 8 possible combinations to win at tris. */
int  Check_Win(char wnr) {
  int returnvalue=0;
  if(Tris[0][0]==wnr&&Tris[1][1]==wnr&&Tris[2][2]==wnr)  {returnvalue = 1;}
  if(Tris[2][0]==wnr&&Tris[1][1]==wnr&&Tris[0][2]==wnr) {returnvalue  = 2;}
  if(Tris[0][0]==wnr&&Tris[0][1]==wnr&&Tris[0][2]==wnr) {returnvalue =  3;}
  if(Tris[1][0]==wnr&&Tris[1][1]==wnr&&Tris[1][2]==wnr) {returnvalue = 4;}
  if(Tris[2][0]==wnr&&Tris[2][1]==wnr&&Tris[2][2]==wnr) {returnvalue = 5;}
  if(Tris[0][0]==wnr&&Tris[1][0]==wnr&&Tris[2][0]==wnr)  {returnvalue = 6;}
  if(Tris[0][1]==wnr&&Tris[1][1]==wnr&&Tris[2][1]==wnr) {returnvalue  = 7;}
  if(Tris[0][2]==wnr&&Tris[1][2]==wnr&&Tris[2][2]==wnr) {returnvalue =  8;}
  return returnvalue;
}

/* ---------- Computer_Move ----------  */
/* This function consider which position is better and move the robotic arm  */
void Computer_Move() {
  long maxvalue=INT_MIN,mi=1,mj=1,t;
  lcd.clear();
  lcd.print(" I Am Thinking");
  lcd.setCursor(0,1);
  lcd.print("    Wait");
  if( choice == 10 && pawn == 0 ) {
    mi = int(random(0,3));
    mj = int(random(0,3));
  }
  else {  
    for(int i=0;i<3;i++) {
      for(int j=0;j<3;j++) {
        if(Possible(i,j)) {
          Tris[i][j]='O';
          t=Consider_Move('X',  20);
          if(t>maxvalue) {
            maxvalue=t;
            mi=i;
            mj=j;
          }
          Tris[i][j]=' ';
        }
      }
    } 
  }      
  Tris[mi][mj]='O';
  Reach_Position(TakePos[pawn][0],TakePos[pawn][1],TakePos[pawn][2],TakePos[pawn][3],TrisPos[mi][mj][0],TrisPos[mi][mj][1],TrisPos[mi][mj][2],TrisPos[mi][mj][3]);
  pawn++;
}

/* ---------- Consider_Move ---------- */
/* This function  uses minimax algoritm */
long Consider_Move(char wnr, int deep) {
  int i,  j, res, tmp;
  if(Check_Win('O')) { return INT_MAX; }
  if(End_Game())     {  return 0; }
  if(wnr=='X') {
    res=1;
    for(i=0;i<3;i++) {
      for(j=0;j<3;j++)  {
        if(Possible(i,j)) {
          Tris[i][j]='X';
          if(Check_Win('X'))  {
            if(deep==20) {
              Tris[i][j]=' ';
              return  INT_MIN;
            }
            else {res-=2;}
          }
          else  if((tmp=Consider_Move('O', deep - 1))<res) { res=tmp; }
          Tris[i][j]='  ';
        } 
      }
    }  
  }
  else {
    res=-1;
    for(i=0;i<3;i++)  {
      for(j=0;j<3;j++) {
        if(Possible(i,j)) {
          Tris[i][j]='O';
          if(Check_Win('O')) {res+=2;}
          else if((tmp=Consider_Move('X',  deep - 1))>res) {res=tmp;}
          Tris[i][j]=' ';
        }
      }
    }
  }
  return res;
}

/* ---------- Player_Move ---------- */
/*  This function, depending on which button you pressed, update the position of your  pawns */
void Player_Move() {
  int i=0;
  lcd.clear();
  lcd.print("  Insert your   ");
  lcd.setCursor(0,1);
  lcd.print("    M O V E     ");
  do {
    i=Read_RC();
    if      ((i==9)&&Possible(0,0)) { Tris[0][0]='X';  } 
    else if ((i==8)&&Possible(0,1)) { Tris[0][1]='X'; }   
    else if  ((i==7)&&Possible(0,2)) { Tris[0][2]='X'; }  
    else if ((i==6)&&Possible(1,0))  { Tris[1][0]='X'; }  
    else if ((i==5)&&Possible(1,1)) { Tris[1][1]='X'; }  
    else if ((i==4)&&Possible(1,2)) { Tris[1][2]='X'; }  
    else if ((i==3)&&Possible(2,0))  { Tris[2][0]='X'; }  
    else if ((i==2)&&Possible(2,1)) { Tris[2][1]='X'; }  
    else if ((i==1)&&Possible(2,2)) { Tris[2][2]='X'; }   
    else {
      i=0;
      lcd.clear();
      lcd.print(" I N V A L I D  ");
      lcd.setCursor(0,1);
      lcd.print("    M O V E     ");}
  }while(i<1||i>9); 
}

/* ----------  Read_RC ---------- */
/* This function read the button you pressed  */
int  Read_RC(){
  int returnvalue=99;
  while (returnvalue==99){
    while (!irrecv.decode(&results))  {};
    switch(results.value){
      case 0xFFA25D: // CH-
      returnvalue=10;
      break;
      case 0xFFE21D: //CH+
      returnvalue=11;
      break;
      case 0xFF30CF: // 1
      returnvalue=1;
      break ;
      case  0xFF18E7: // 2
      returnvalue=2;
      break ;
      case 0xFF7A85:  // 3
      returnvalue=3;
      break ;
      case 0xFF10EF: // 4
      returnvalue=4;
      break ;
      case 0xFF38C7: // 5
      returnvalue=5;
      break  ;
      case 0xFF5AA5: // 6
      returnvalue=6;
      break ;
      case  0xFF42BD: // 7
      returnvalue=7;
      break ;
      case 0xFF4AB5:  // 8
      returnvalue=8;
      break ;
      case 0xFF52AD: // 9
      returnvalue=9;
      break ;      
    }
    irrecv.resume();      
  }
  return returnvalue;
}

/*  ---------- Tidy ---------- */
/*Through this function, the Robotic Arm tidies  the pawns so they are in position for the next game */
void Tidy() {
  for(int  i=0;i<3;i++) {
    for(int j=0;j<3;j++) { 
      if(Tris[i][j]=='O') { pawn--;
        Reach_Position(TrisPos[i][j][0],TrisPos[i][j][1],TrisPos[i][j][2],TrisPos[i][j][3],TakePos[pawn][0],TakePos[pawn][1],TakePos[pawn][2]+10,TakePos[pawn][3]);  } 
    }
  }
}

Robotic arm code

arduino

This is the Arduino code

1
2
3#include <Wire.h>
4#include <Adafruit_PWMServoDriver.h>
5#include
6  <IRremote2.h>
7#include <LiquidCrystal.h>
8
9/* ---------- TRIS VARIABLE ----------
10  */
11#define INT_MIN  -2147483648
12#define INT_MAX  +2147483647
13char Tris[3][3];
14int
15  TrisPos[3][3][4] =   {{{-55,280,70,105},{0,280,60,90},{65,280,70,75}}, //x,y,z,x5
16    {0,0},{0,1},{0,2}
17                          {{-60,210,50,110},{0,215,50,90},{60,220,50,70}},
18  //            {1,0},{1,1},{1,2}
19                          {{-65,150,45,115},{0,155,45,90},{55,160,45,65}}
20  //            {2,0},{2,1},{2,2}
21                         };
22int TakePos[6][4]
23  = {{20,-140,40,100},{15,-205,60,95},{10,-240,90,90},{-75,-230,80,75},{-70,-175,70,70},{-65,-120,50,65}};
24int
25  pawn=0;
26int choice;
27
28/* ---------- IR VARIABLE ---------- */
29// RECV_PIN
30  = 52;
31IRrecv irrecv(52);
32decode_results results;
33
34/* ---------- LIQUIDCRYSTAL
35  VARIABLE ---------- */
36// pin lcd: rs = 8, en = 9, d4 = 4, d5 = 5, d6 = 6, d7
37  = 7;
38LiquidCrystal lcd(8, 9, 4, 5, 6, 7);
39
40/* ---------- ROBOTIC ARM VARIABLE
41  ---------- */
42Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
43#define
44  BASE_HGT 115 //base height
45/*#define HUMERUS  105   shoulder-to-elbow "bone"
46
47  #define ULNA     100   elbow-to-wrist    "bone"
48  #define GRIPPER  170   wrist-to-gripper
49  "bone"   */
50#define SERVO1  1
51#define SERVO2  2
52#define SERVO3  3
53#define
54  SERVO4  4
55#define SERVO5  5
56#define SERVO6  6
57
58#define SERVOMIN1  130
59#define
60  SERVOMAX1  430
61#define SERVOMIN2  120
62#define SERVOMAX2  365
63#define SERVOMIN3
64  150
65#define SERVOMAX3  430
66#define SERVOMIN4  130
67#define SERVOMAX4  435
68#define
69  SERVOMIN5  100
70#define SERVOMAX5  380
71#define SERVOMIN6  200
72#define SERVOMAX6
73  325
74unsigned int ServoMinMax[6][2] = {{SERVOMIN1,SERVOMAX1},
75                                  {SERVOMIN2,SERVOMAX2},
76
77                                  {SERVOMIN3,SERVOMAX3},
78                                  {SERVOMIN4,SERVOMAX4},
79
80                                  {SERVOMIN5,SERVOMAX5},
81                                  {SERVOMIN6,SERVOMAX6}};
82
83float
84  x1,x2,x3,x4,x5,x6 = 90;                          // servo position
85float oldx1,oldx2,oldx3,oldx4,oldx5,oldx6
86  = x1;        // old servo position
87
88float xaxis =   0;
89float yaxis = 150;
90float
91  zaxis = 100;
92
93bool checkmin = true;
94bool checkmax = true;
95
96/* ----------
97  setup ---------- */
98void setup() {
99  Serial.begin(115200);
100  randomSeed(analogRead(A0));
101
102  lcd.begin(16, 2);
103  lcd.clear();
104  lcd.print(">>> T R I S <<<");
105  lcd.setCursor(0,1);
106
107  lcd.print("   by Danny003");
108  delay(2000);
109  pwm.begin();
110  pwm.setPWMFreq(50);
111
112  MyServoWrite(SERVO2,90);
113  delay(1000);
114  Set_Arm(xaxis,yaxis,zaxis);
115
116  irrecv.enableIRIn();
117}
118
119/* ---------- loop ---------- */
120void loop()
121  {
122  choice = 0;
123  for(int i=0;i<3;i++) {
124    for(int j=0;j<3;j++) { Tris[i][j]='
125  '; }
126  }
127  pawn = 0;  
128  lcd.clear();
129  lcd.print("Choose Who Start");
130
131  lcd.setCursor(0,1);
132  lcd.print("CH-=Comp CH+=You");
133  choice=Read_RC();
134  
135  while(choice==10 )  {
136   Computer_Move();
137    if(Check_Win('O')) {
138
139      Show_Win(Check_Win('O'));
140      Set_Arm( xaxis = 0.0, yaxis = 130.0 , zaxis
141  = 200.0 );
142      lcd.clear();
143      lcd.print("    Computer  ");
144      lcd.setCursor(0,1);
145
146      lcd.print("    W I N S   ");
147      delay(2000);
148      break;
149    }
150
151    if(End_Game()) {
152      lcd.clear();
153      lcd.print("  Nobody wins ");
154
155      lcd.setCursor(0,1);
156      lcd.print("    F L A P   ");
157      delay(2000);
158
159      break;
160    }
161    Player_Move();
162    if(Check_Win('X')) {
163      lcd.clear();
164
165      lcd.print("    Player  ");
166      lcd.setCursor(0,1);
167      lcd.print("
168    W I N S   ");
169      delay(2000);
170      break;
171    }
172    if(End_Game())
173  {
174      lcd.clear();
175      lcd.print("  Nobody wins ");
176      lcd.setCursor(0,1);
177
178      lcd.print("    F L A P   ");
179      delay(2000);
180      break;
181    }
182
183  }
184  while(choice==11)  {
185    Player_Move();
186    if(Check_Win('X')) {
187
188      lcd.clear();
189      lcd.print("    Player  ");
190      lcd.setCursor(0,1);
191
192      lcd.print("    W I N S   ");
193      delay(2000);
194      break;
195    }
196
197    if(End_Game()) {
198      lcd.clear();
199      lcd.print("  Nobody wins ");
200
201      lcd.setCursor(0,1);
202      lcd.print("    F L A P   ");
203      delay(2000);
204
205      break;
206    }
207   Computer_Move();
208    if(Check_Win('O')) {
209      Show_Win(Check_Win('O'));
210
211      Set_Arm( xaxis = 0.0, yaxis = 130.0 , zaxis = 200.0 );
212      lcd.clear();
213
214      lcd.print("    Computer  "); 
215      lcd.setCursor(0,1);
216      lcd.print("
217    W I N S   ");
218      delay(2000);
219      break;
220    }    
221    if(End_Game())
222  {
223      lcd.clear();
224      lcd.print("  Nobody wins ");
225      lcd.setCursor(0,1);
226
227      lcd.print("    F L A P   ");
228      delay(2000);
229      break;
230    }
231
232  }
233  Tidy();
234}
235
236
237/* -------------------- ROBOTIC ARM FUNCTION --------------------
238  */
239
240/* ---------- MyServoWrite ---------- */
241/* This funciont is used to
242  move a singular servo*/
243void MyServoWrite(int servo, float gradi) {
244     pwm.setPWM(
245  servo, 0, MapNew(gradi, 0.0, 180.0, ServoMinMax[servo-1][0], ServoMinMax[servo-1][1]
246  ));
247}
248
249/* ---------- MyServoWriteAll ---------- */
250/* This funciont
251  is used to move the first 4 servo, it has been created to avoid to repeat the funciont
252  MyServoWrite 4 times */
253void MyServoWriteAll(float y1,float y2,float y3,float
254  y4) {
255  pwm.setPWM( SERVO1, 0, MapNew(y1, 0.0, 180.0, ServoMinMax[SERVO1-1][0],
256  ServoMinMax[SERVO1-1][1] ));
257  pwm.setPWM( SERVO2, 0, MapNew(y2, 0.0, 180.0,
258  ServoMinMax[SERVO2-1][0], ServoMinMax[SERVO2-1][1] ));
259  pwm.setPWM( SERVO3,
260  0, MapNew(y3, 0.0, 180.0, ServoMinMax[SERVO3-1][0], ServoMinMax[SERVO3-1][1] ));
261
262  pwm.setPWM( SERVO4, 0, MapNew(y4, 0.0, 180.0, ServoMinMax[SERVO4-1][0], ServoMinMax[SERVO4-1][1]
263  ));
264}
265
266/* ---------- MyServoWriteGradual ---------- */
267/*This function
268  is similar to MyServoWriteAll; but to avoid too rapid movement, 
269 in particular
270  when the robotic arm goes from a position to another one,this function creates 
271
272  a smooth and simultaneous movement of the 4 servo, whose time depends on the variation
273  of the bigger angle*/
274void MyServoWriteGradual( float newpos1, float newpos2,
275  float newpos3, float newpos4 ) {
276  float oldpos1 = oldx1;
277  float oldpos2
278  = oldx2;
279  float oldpos3 = oldx3;
280  float oldpos4 = oldx4;
281  float differ1
282  = newpos1 - oldpos1;
283  float differ2 = newpos2 - oldpos2;
284  float differ3
285  = newpos3 - oldpos3;
286  float differ4 = newpos4 - oldpos4;
287  float largest
288  = max(abs(differ1),max(abs(differ2), max(abs(differ3),abs(differ4))));
289  for
290  ( int i = 0; i <= largest; i++ ) {
291     oldpos1 += (differ1/largest);
292     oldpos2
293  += (differ2/largest);
294     oldpos3 += (differ3/largest);
295     oldpos4 += (differ4/largest);
296
297     MyServoWriteAll(oldpos1,oldpos2,oldpos3,oldpos4);
298     delay(10);       
299
300  } 
301  MyServoWriteAll(newpos1,newpos2,newpos3,newpos4);
302} 
303 
304/* ----------
305  Set_Arm ---------- */
306/* This function is the most important for the movement
307  of the robotic arm, 
308   because it calculates the postions of the first 4 servo
309  from the three coordinates x,y,z(taken from TakePos and TrisPos).
310   The following
311  code is specific to the configuration of MY robotic arm, so if you want to use it,
312  you have to adapt it to your arm.*/
313void Set_Arm( float x, float y, float z)
314  {
315  oldx1 = x1;
316  oldx2 = x2;
317  oldx3 = x3;
318  oldx4 = x4;
319  z=z-BASE_HGT;
320
321  float dist_y_z = sqrt( sq(z) +  sq(x) + sq(y) ); 
322  if ( dist_y_z < 120.0 )
323  { checkmin=false; } 
324    else { checkmin=true; }
325  if ( dist_y_z > 370.0 )
326  { checkmax=false; } 
327    else { checkmax=true; }
328  if ( checkmin && checkmax
329  ) {
330    float alfa = 180.0-(degrees(acos((-27500 + sqrt( sq(27500) - 71400*(14225
331  - sq(dist_y_z))))/71400)));
332    float gamma = degrees(acos((27875 -sq(dist_y_z)
333  - (34000*cos(radians(alfa))))/(-210*dist_y_z)));
334    float omega = degrees(acos(sqrt(sq(x)+sq(y))/dist_y_z));
335
336    x1 = 90.0-degrees(atan2(-x,abs(y)));
337    if ( z > 0.0 ) { x2=180.0-(gamma+omega);
338  }
339      else { x2=180.0-(gamma-omega); }  
340    if ( y < 0.0) { x3=x4=(alfa-90.0);
341  }
342      else {
343        x3=x4=(270.0-alfa);
344        x2=180.0-x2;
345        x1=180.0-x1;
346
347      }
348    if ((abs(oldx1-x1)+abs(oldx2-x2)+abs(oldx3-x3)+abs(oldx4-x4)) > 20.0)
349  { MyServoWriteGradual(x1,x2,x3,x4); }
350      else { MyServoWriteAll(x1,x2,x3,x4);
351  }
352  } 
353}
354
355/* ---------- Reach_Position ---------- */
356/*Through this
357  function, the Robotic Arm grabs a pawn  from a position and it leaves the pawn in
358  another position  */
359void Reach_Position ( float fromx, float fromy, float fromz,
360  float fromangle, float tox, float toy, float toz, float toangle ) {
361  Set_Arm(
362  fromx, fromy, fromz+50 );
363  delay(300);
364  MyServoWrite( SERVO6, 0 );
365  MyServoWrite(
366  SERVO5, fromangle );
367  delay(1000);
368  Set_Arm( fromx, fromy, fromz );
369
370  delay(300);
371  MyServoWrite( SERVO6, 130 );
372  delay(500);
373  Set_Arm( fromx,
374  fromy, fromz + 100 );
375  delay(500);
376  Set_Arm( tox, toy, toz+150);
377  delay(1000);
378
379  MyServoWrite( SERVO5, toangle );
380  delay(300);
381  Set_Arm( tox, toy, toz
382  );
383  delay(300);
384  MyServoWrite( SERVO6, 0 );
385  delay(1000);
386  Set_Arm(
387  xaxis = 0.0, yaxis = 130.0 , zaxis = 200.0 );
388  MyServoWrite( SERVO5, 90 );
389
390  }
391
392/* ---------- MapNew ---------- */
393/*This function has been created
394  because the Arduino map() has not the funciont  constrain() and it does not return
395  a int value */
396int MapNew( float x, float in_min, float in_max, float out_min,
397  float out_max ) {
398   return round((constrain(x,in_min,in_max) - in_min) * (out_max
399  - out_min) / (in_max - in_min) + out_min);
400}
401 
402/* ---------- Show_Win ----------
403  */
404/*Through this function, if computer wins, the Robotic Arm moves over the
405  tris to show to the player that it have just won */ 
406void Show_Win(int triscase)
407  {
408  MyServoWrite(SERVO6,150);
409  switch(triscase){
410    case 1:
411      Set_Arm(
412  TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);
413      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
414
415      break ;
416    case 2:
417      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);
418
419      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
420      break
421  ;
422    case 3:
423      Set_Arm( TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);
424
425      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
426      break
427  ;
428    case 4:
429      Set_Arm( TrisPos[1][0][0],TrisPos[1][0][1],TrisPos[1][0][2]+100);
430
431      Set_Arm( TrisPos[1][2][0],TrisPos[1][2][1],TrisPos[1][2][2]+100);
432      break
433  ;
434    case 5:
435      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);
436
437      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
438      break
439  ;
440    case 6:
441      Set_Arm( TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);
442
443      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);
444      break
445  ;
446    case 7:
447      Set_Arm( TrisPos[0][1][0],TrisPos[0][1][1],TrisPos[0][1][2]+100);
448
449      Set_Arm( TrisPos[2][1][0],TrisPos[2][1][1],TrisPos[2][1][2]+100);
450      break
451  ;
452    case 8:
453      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
454
455      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
456      break
457  ;
458      
459  }
460  MyServoWrite(SERVO6,0);
461}
462
463
464/* --------------------
465  TIC TAC TOE FUNCTION -------------------- */
466//The following functions are taken
467  from : http://www.pierotofy.it/pages/sorgenti/browse/17648/3447/ 
468
469/* ----------
470  Possible ---------- */
471/*This function check if position i,j is free. */
472bool
473  Possible(int i, int j) { return Tris[i][j]==' '; }
474
475/* ---------- End_Game
476  ---------- */
477/*This function check if all position are occupied by a pawn. */
478bool
479  End_Game(){
480  for(int i=0;i<3;i++) {
481    for(int j=0;j<3;j++) {
482      if(Possible(i,j)){return
483  false;}
484    }
485  }
486  return true;
487} 
488
489/* ---------- Check_Win ----------
490  */
491/*This function check all the 8 possible combinations to win at tris. */
492int
493  Check_Win(char wnr) {
494  int returnvalue=0;
495  if(Tris[0][0]==wnr&&Tris[1][1]==wnr&&Tris[2][2]==wnr)
496  {returnvalue = 1;}
497  if(Tris[2][0]==wnr&&Tris[1][1]==wnr&&Tris[0][2]==wnr) {returnvalue
498  = 2;}
499  if(Tris[0][0]==wnr&&Tris[0][1]==wnr&&Tris[0][2]==wnr) {returnvalue =
500  3;}
501  if(Tris[1][0]==wnr&&Tris[1][1]==wnr&&Tris[1][2]==wnr) {returnvalue = 4;}
502
503  if(Tris[2][0]==wnr&&Tris[2][1]==wnr&&Tris[2][2]==wnr) {returnvalue = 5;}
504  if(Tris[0][0]==wnr&&Tris[1][0]==wnr&&Tris[2][0]==wnr)
505  {returnvalue = 6;}
506  if(Tris[0][1]==wnr&&Tris[1][1]==wnr&&Tris[2][1]==wnr) {returnvalue
507  = 7;}
508  if(Tris[0][2]==wnr&&Tris[1][2]==wnr&&Tris[2][2]==wnr) {returnvalue =
509  8;}
510  return returnvalue;
511}
512
513/* ---------- Computer_Move ----------
514  */
515/* This function consider which position is better and move the robotic arm
516  */
517void Computer_Move() {
518  long maxvalue=INT_MIN,mi=1,mj=1,t;
519  lcd.clear();
520
521  lcd.print(" I Am Thinking");
522  lcd.setCursor(0,1);
523  lcd.print("    Wait");
524
525  if( choice == 10 && pawn == 0 ) {
526    mi = int(random(0,3));
527    mj = int(random(0,3));
528
529  }
530  else {  
531    for(int i=0;i<3;i++) {
532      for(int j=0;j<3;j++) {
533
534        if(Possible(i,j)) {
535          Tris[i][j]='O';
536          t=Consider_Move('X',
537  20);
538          if(t>maxvalue) {
539            maxvalue=t;
540            mi=i;
541
542            mj=j;
543          }
544          Tris[i][j]=' ';
545        }
546      }
547
548    } 
549  }      
550  Tris[mi][mj]='O';
551  Reach_Position(TakePos[pawn][0],TakePos[pawn][1],TakePos[pawn][2],TakePos[pawn][3],TrisPos[mi][mj][0],TrisPos[mi][mj][1],TrisPos[mi][mj][2],TrisPos[mi][mj][3]);
552
553  pawn++;
554}
555
556/* ---------- Consider_Move ---------- */
557/* This function
558  uses minimax algoritm */
559long Consider_Move(char wnr, int deep) {
560  int i,
561  j, res, tmp;
562  if(Check_Win('O')) { return INT_MAX; }
563  if(End_Game())     {
564  return 0; }
565  if(wnr=='X') {
566    res=1;
567    for(i=0;i<3;i++) {
568      for(j=0;j<3;j++)
569  {
570        if(Possible(i,j)) {
571          Tris[i][j]='X';
572          if(Check_Win('X'))
573  {
574            if(deep==20) {
575              Tris[i][j]=' ';
576              return
577  INT_MIN;
578            }
579            else {res-=2;}
580          }
581          else
582  if((tmp=Consider_Move('O', deep - 1))<res) { res=tmp; }
583          Tris[i][j]='
584  ';
585        } 
586      }
587    }  
588  }
589  else {
590    res=-1;
591    for(i=0;i<3;i++)
592  {
593      for(j=0;j<3;j++) {
594        if(Possible(i,j)) {
595          Tris[i][j]='O';
596
597          if(Check_Win('O')) {res+=2;}
598          else if((tmp=Consider_Move('X',
599  deep - 1))>res) {res=tmp;}
600          Tris[i][j]=' ';
601        }
602      }
603
604    }
605  }
606  return res;
607}
608
609/* ---------- Player_Move ---------- */
610/*
611  This function, depending on which button you pressed, update the position of your
612  pawns */
613void Player_Move() {
614  int i=0;
615  lcd.clear();
616  lcd.print("
617  Insert your   ");
618  lcd.setCursor(0,1);
619  lcd.print("    M O V E     ");
620
621  do {
622    i=Read_RC();
623    if      ((i==9)&&Possible(0,0)) { Tris[0][0]='X';
624  } 
625    else if ((i==8)&&Possible(0,1)) { Tris[0][1]='X'; }   
626    else if
627  ((i==7)&&Possible(0,2)) { Tris[0][2]='X'; }  
628    else if ((i==6)&&Possible(1,0))
629  { Tris[1][0]='X'; }  
630    else if ((i==5)&&Possible(1,1)) { Tris[1][1]='X'; }
631  
632    else if ((i==4)&&Possible(1,2)) { Tris[1][2]='X'; }  
633    else if ((i==3)&&Possible(2,0))
634  { Tris[2][0]='X'; }  
635    else if ((i==2)&&Possible(2,1)) { Tris[2][1]='X'; }
636  
637    else if ((i==1)&&Possible(2,2)) { Tris[2][2]='X'; }   
638    else {
639
640      i=0;
641      lcd.clear();
642      lcd.print(" I N V A L I D  ");
643      lcd.setCursor(0,1);
644
645      lcd.print("    M O V E     ");}
646  }while(i<1||i>9); 
647}
648
649/* ----------
650  Read_RC ---------- */
651/* This function read the button you pressed  */
652int
653  Read_RC(){
654  int returnvalue=99;
655  while (returnvalue==99){
656    while (!irrecv.decode(&results))
657  {};
658    switch(results.value){
659      case 0xFFA25D: // CH-
660      returnvalue=10;
661
662      break;
663      case 0xFFE21D: //CH+
664      returnvalue=11;
665      break;
666
667      case 0xFF30CF: // 1
668      returnvalue=1;
669      break ;
670      case
671  0xFF18E7: // 2
672      returnvalue=2;
673      break ;
674      case 0xFF7A85:
675  // 3
676      returnvalue=3;
677      break ;
678      case 0xFF10EF: // 4
679      returnvalue=4;
680
681      break ;
682      case 0xFF38C7: // 5
683      returnvalue=5;
684      break
685  ;
686      case 0xFF5AA5: // 6
687      returnvalue=6;
688      break ;
689      case
690  0xFF42BD: // 7
691      returnvalue=7;
692      break ;
693      case 0xFF4AB5:
694  // 8
695      returnvalue=8;
696      break ;
697      case 0xFF52AD: // 9
698      returnvalue=9;
699
700      break ;      
701    }
702    irrecv.resume();      
703  }
704  return returnvalue;
705}
706
707/*
708  ---------- Tidy ---------- */
709/*Through this function, the Robotic Arm tidies
710  the pawns so they are in position for the next game */
711void Tidy() {
712  for(int
713  i=0;i<3;i++) {
714    for(int j=0;j<3;j++) { 
715      if(Tris[i][j]=='O') { pawn--;
716
717        Reach_Position(TrisPos[i][j][0],TrisPos[i][j][1],TrisPos[i][j][2],TrisPos[i][j][3],TakePos[pawn][0],TakePos[pawn][1],TakePos[pawn][2]+10,TakePos[pawn][3]);
718  } 
719    }
720  }
721}
722


#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
#include
  <IRremote2.h>
#include <LiquidCrystal.h>

/* ---------- TRIS VARIABLE ----------
  */
#define INT_MIN  -2147483648
#define INT_MAX  +2147483647
char Tris[3][3];
int
  TrisPos[3][3][4] =   {{{-55,280,70,105},{0,280,60,90},{65,280,70,75}}, //x,y,z,x5
    {0,0},{0,1},{0,2}
                          {{-60,210,50,110},{0,215,50,90},{60,220,50,70}},
  //            {1,0},{1,1},{1,2}
                          {{-65,150,45,115},{0,155,45,90},{55,160,45,65}}
  //            {2,0},{2,1},{2,2}
                         };
int TakePos[6][4]
  = {{20,-140,40,100},{15,-205,60,95},{10,-240,90,90},{-75,-230,80,75},{-70,-175,70,70},{-65,-120,50,65}};
int
  pawn=0;
int choice;

/* ---------- IR VARIABLE ---------- */
// RECV_PIN
  = 52;
IRrecv irrecv(52);
decode_results results;

/* ---------- LIQUIDCRYSTAL
  VARIABLE ---------- */
// pin lcd: rs = 8, en = 9, d4 = 4, d5 = 5, d6 = 6, d7
  = 7;
LiquidCrystal lcd(8, 9, 4, 5, 6, 7);

/* ---------- ROBOTIC ARM VARIABLE
  ---------- */
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
#define
  BASE_HGT 115 //base height
/*#define HUMERUS  105   shoulder-to-elbow "bone"

  #define ULNA     100   elbow-to-wrist    "bone"
  #define GRIPPER  170   wrist-to-gripper
  "bone"   */
#define SERVO1  1
#define SERVO2  2
#define SERVO3  3
#define
  SERVO4  4
#define SERVO5  5
#define SERVO6  6

#define SERVOMIN1  130
#define
  SERVOMAX1  430
#define SERVOMIN2  120
#define SERVOMAX2  365
#define SERVOMIN3
  150
#define SERVOMAX3  430
#define SERVOMIN4  130
#define SERVOMAX4  435
#define
  SERVOMIN5  100
#define SERVOMAX5  380
#define SERVOMIN6  200
#define SERVOMAX6
  325
unsigned int ServoMinMax[6][2] = {{SERVOMIN1,SERVOMAX1},
                                  {SERVOMIN2,SERVOMAX2},

                                  {SERVOMIN3,SERVOMAX3},
                                  {SERVOMIN4,SERVOMAX4},

                                  {SERVOMIN5,SERVOMAX5},
                                  {SERVOMIN6,SERVOMAX6}};

float
  x1,x2,x3,x4,x5,x6 = 90;                          // servo position
float oldx1,oldx2,oldx3,oldx4,oldx5,oldx6
  = x1;        // old servo position

float xaxis =   0;
float yaxis = 150;
float
  zaxis = 100;

bool checkmin = true;
bool checkmax = true;

/* ----------
  setup ---------- */
void setup() {
  Serial.begin(115200);
  randomSeed(analogRead(A0));

  lcd.begin(16, 2);
  lcd.clear();
  lcd.print(">>> T R I S <<<");
  lcd.setCursor(0,1);

  lcd.print("   by Danny003");
  delay(2000);
  pwm.begin();
  pwm.setPWMFreq(50);

  MyServoWrite(SERVO2,90);
  delay(1000);
  Set_Arm(xaxis,yaxis,zaxis);

  irrecv.enableIRIn();
}

/* ---------- loop ---------- */
void loop()
  {
  choice = 0;
  for(int i=0;i<3;i++) {
    for(int j=0;j<3;j++) { Tris[i][j]='
  '; }
  }
  pawn = 0;  
  lcd.clear();
  lcd.print("Choose Who Start");

  lcd.setCursor(0,1);
  lcd.print("CH-=Comp CH+=You");
  choice=Read_RC();
  
  while(choice==10 )  {
   Computer_Move();
    if(Check_Win('O')) {

      Show_Win(Check_Win('O'));
      Set_Arm( xaxis = 0.0, yaxis = 130.0 , zaxis
  = 200.0 );
      lcd.clear();
      lcd.print("    Computer  ");
      lcd.setCursor(0,1);

      lcd.print("    W I N S   ");
      delay(2000);
      break;
    }

    if(End_Game()) {
      lcd.clear();
      lcd.print("  Nobody wins ");

      lcd.setCursor(0,1);
      lcd.print("    F L A P   ");
      delay(2000);

      break;
    }
    Player_Move();
    if(Check_Win('X')) {
      lcd.clear();

      lcd.print("    Player  ");
      lcd.setCursor(0,1);
      lcd.print("
    W I N S   ");
      delay(2000);
      break;
    }
    if(End_Game())
  {
      lcd.clear();
      lcd.print("  Nobody wins ");
      lcd.setCursor(0,1);

      lcd.print("    F L A P   ");
      delay(2000);
      break;
    }

  }
  while(choice==11)  {
    Player_Move();
    if(Check_Win('X')) {

      lcd.clear();
      lcd.print("    Player  ");
      lcd.setCursor(0,1);

      lcd.print("    W I N S   ");
      delay(2000);
      break;
    }

    if(End_Game()) {
      lcd.clear();
      lcd.print("  Nobody wins ");

      lcd.setCursor(0,1);
      lcd.print("    F L A P   ");
      delay(2000);

      break;
    }
   Computer_Move();
    if(Check_Win('O')) {
      Show_Win(Check_Win('O'));

      Set_Arm( xaxis = 0.0, yaxis = 130.0 , zaxis = 200.0 );
      lcd.clear();

      lcd.print("    Computer  "); 
      lcd.setCursor(0,1);
      lcd.print("
    W I N S   ");
      delay(2000);
      break;
    }    
    if(End_Game())
  {
      lcd.clear();
      lcd.print("  Nobody wins ");
      lcd.setCursor(0,1);

      lcd.print("    F L A P   ");
      delay(2000);
      break;
    }

  }
  Tidy();
}


/* -------------------- ROBOTIC ARM FUNCTION --------------------
  */

/* ---------- MyServoWrite ---------- */
/* This funciont is used to
  move a singular servo*/
void MyServoWrite(int servo, float gradi) {
     pwm.setPWM(
  servo, 0, MapNew(gradi, 0.0, 180.0, ServoMinMax[servo-1][0], ServoMinMax[servo-1][1]
  ));
}

/* ---------- MyServoWriteAll ---------- */
/* This funciont
  is used to move the first 4 servo, it has been created to avoid to repeat the funciont
  MyServoWrite 4 times */
void MyServoWriteAll(float y1,float y2,float y3,float
  y4) {
  pwm.setPWM( SERVO1, 0, MapNew(y1, 0.0, 180.0, ServoMinMax[SERVO1-1][0],
  ServoMinMax[SERVO1-1][1] ));
  pwm.setPWM( SERVO2, 0, MapNew(y2, 0.0, 180.0,
  ServoMinMax[SERVO2-1][0], ServoMinMax[SERVO2-1][1] ));
  pwm.setPWM( SERVO3,
  0, MapNew(y3, 0.0, 180.0, ServoMinMax[SERVO3-1][0], ServoMinMax[SERVO3-1][1] ));

  pwm.setPWM( SERVO4, 0, MapNew(y4, 0.0, 180.0, ServoMinMax[SERVO4-1][0], ServoMinMax[SERVO4-1][1]
  ));
}

/* ---------- MyServoWriteGradual ---------- */
/*This function
  is similar to MyServoWriteAll; but to avoid too rapid movement, 
 in particular
  when the robotic arm goes from a position to another one,this function creates 

  a smooth and simultaneous movement of the 4 servo, whose time depends on the variation
  of the bigger angle*/
void MyServoWriteGradual( float newpos1, float newpos2,
  float newpos3, float newpos4 ) {
  float oldpos1 = oldx1;
  float oldpos2
  = oldx2;
  float oldpos3 = oldx3;
  float oldpos4 = oldx4;
  float differ1
  = newpos1 - oldpos1;
  float differ2 = newpos2 - oldpos2;
  float differ3
  = newpos3 - oldpos3;
  float differ4 = newpos4 - oldpos4;
  float largest
  = max(abs(differ1),max(abs(differ2), max(abs(differ3),abs(differ4))));
  for
  ( int i = 0; i <= largest; i++ ) {
     oldpos1 += (differ1/largest);
     oldpos2
  += (differ2/largest);
     oldpos3 += (differ3/largest);
     oldpos4 += (differ4/largest);

     MyServoWriteAll(oldpos1,oldpos2,oldpos3,oldpos4);
     delay(10);       

  } 
  MyServoWriteAll(newpos1,newpos2,newpos3,newpos4);
} 
 
/* ----------
  Set_Arm ---------- */
/* This function is the most important for the movement
  of the robotic arm, 
   because it calculates the postions of the first 4 servo
  from the three coordinates x,y,z(taken from TakePos and TrisPos).
   The following
  code is specific to the configuration of MY robotic arm, so if you want to use it,
  you have to adapt it to your arm.*/
void Set_Arm( float x, float y, float z)
  {
  oldx1 = x1;
  oldx2 = x2;
  oldx3 = x3;
  oldx4 = x4;
  z=z-BASE_HGT;

  float dist_y_z = sqrt( sq(z) +  sq(x) + sq(y) ); 
  if ( dist_y_z < 120.0 )
  { checkmin=false; } 
    else { checkmin=true; }
  if ( dist_y_z > 370.0 )
  { checkmax=false; } 
    else { checkmax=true; }
  if ( checkmin && checkmax
  ) {
    float alfa = 180.0-(degrees(acos((-27500 + sqrt( sq(27500) - 71400*(14225
  - sq(dist_y_z))))/71400)));
    float gamma = degrees(acos((27875 -sq(dist_y_z)
  - (34000*cos(radians(alfa))))/(-210*dist_y_z)));
    float omega = degrees(acos(sqrt(sq(x)+sq(y))/dist_y_z));

    x1 = 90.0-degrees(atan2(-x,abs(y)));
    if ( z > 0.0 ) { x2=180.0-(gamma+omega);
  }
      else { x2=180.0-(gamma-omega); }  
    if ( y < 0.0) { x3=x4=(alfa-90.0);
  }
      else {
        x3=x4=(270.0-alfa);
        x2=180.0-x2;
        x1=180.0-x1;

      }
    if ((abs(oldx1-x1)+abs(oldx2-x2)+abs(oldx3-x3)+abs(oldx4-x4)) > 20.0)
  { MyServoWriteGradual(x1,x2,x3,x4); }
      else { MyServoWriteAll(x1,x2,x3,x4);
  }
  } 
}

/* ---------- Reach_Position ---------- */
/*Through this
  function, the Robotic Arm grabs a pawn  from a position and it leaves the pawn in
  another position  */
void Reach_Position ( float fromx, float fromy, float fromz,
  float fromangle, float tox, float toy, float toz, float toangle ) {
  Set_Arm(
  fromx, fromy, fromz+50 );
  delay(300);
  MyServoWrite( SERVO6, 0 );
  MyServoWrite(
  SERVO5, fromangle );
  delay(1000);
  Set_Arm( fromx, fromy, fromz );

  delay(300);
  MyServoWrite( SERVO6, 130 );
  delay(500);
  Set_Arm( fromx,
  fromy, fromz + 100 );
  delay(500);
  Set_Arm( tox, toy, toz+150);
  delay(1000);

  MyServoWrite( SERVO5, toangle );
  delay(300);
  Set_Arm( tox, toy, toz
  );
  delay(300);
  MyServoWrite( SERVO6, 0 );
  delay(1000);
  Set_Arm(
  xaxis = 0.0, yaxis = 130.0 , zaxis = 200.0 );
  MyServoWrite( SERVO5, 90 );

  }

/* ---------- MapNew ---------- */
/*This function has been created
  because the Arduino map() has not the funciont  constrain() and it does not return
  a int value */
int MapNew( float x, float in_min, float in_max, float out_min,
  float out_max ) {
   return round((constrain(x,in_min,in_max) - in_min) * (out_max
  - out_min) / (in_max - in_min) + out_min);
}
 
/* ---------- Show_Win ----------
  */
/*Through this function, if computer wins, the Robotic Arm moves over the
  tris to show to the player that it have just won */ 
void Show_Win(int triscase)
  {
  MyServoWrite(SERVO6,150);
  switch(triscase){
    case 1:
      Set_Arm(
  TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);
      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);

      break ;
    case 2:
      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);

      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
      break
  ;
    case 3:
      Set_Arm( TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);

      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);
      break
  ;
    case 4:
      Set_Arm( TrisPos[1][0][0],TrisPos[1][0][1],TrisPos[1][0][2]+100);

      Set_Arm( TrisPos[1][2][0],TrisPos[1][2][1],TrisPos[1][2][2]+100);
      break
  ;
    case 5:
      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);

      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
      break
  ;
    case 6:
      Set_Arm( TrisPos[0][0][0],TrisPos[0][0][1],TrisPos[0][0][2]+100);

      Set_Arm( TrisPos[2][0][0],TrisPos[2][0][1],TrisPos[2][0][2]+100);
      break
  ;
    case 7:
      Set_Arm( TrisPos[0][1][0],TrisPos[0][1][1],TrisPos[0][1][2]+100);

      Set_Arm( TrisPos[2][1][0],TrisPos[2][1][1],TrisPos[2][1][2]+100);
      break
  ;
    case 8:
      Set_Arm( TrisPos[0][2][0],TrisPos[0][2][1],TrisPos[0][2][2]+100);

      Set_Arm( TrisPos[2][2][0],TrisPos[2][2][1],TrisPos[2][2][2]+100);
      break
  ;
      
  }
  MyServoWrite(SERVO6,0);
}


/* --------------------
  TIC TAC TOE FUNCTION -------------------- */
//The following functions are taken
  from : http://www.pierotofy.it/pages/sorgenti/browse/17648/3447/ 

/* ----------
  Possible ---------- */
/*This function check if position i,j is free. */
bool
  Possible(int i, int j) { return Tris[i][j]==' '; }

/* ---------- End_Game
  ---------- */
/*This function check if all position are occupied by a pawn. */
bool
  End_Game(){
  for(int i=0;i<3;i++) {
    for(int j=0;j<3;j++) {
      if(Possible(i,j)){return
  false;}
    }
  }
  return true;
} 

/* ---------- Check_Win ----------
  */
/*This function check all the 8 possible combinations to win at tris. */
int
  Check_Win(char wnr) {
  int returnvalue=0;
  if(Tris[0][0]==wnr&&Tris[1][1]==wnr&&Tris[2][2]==wnr)
  {returnvalue = 1;}
  if(Tris[2][0]==wnr&&Tris[1][1]==wnr&&Tris[0][2]==wnr) {returnvalue
  = 2;}
  if(Tris[0][0]==wnr&&Tris[0][1]==wnr&&Tris[0][2]==wnr) {returnvalue =
  3;}
  if(Tris[1][0]==wnr&&Tris[1][1]==wnr&&Tris[1][2]==wnr) {returnvalue = 4;}

  if(Tris[2][0]==wnr&&Tris[2][1]==wnr&&Tris[2][2]==wnr) {returnvalue = 5;}
  if(Tris[0][0]==wnr&&Tris[1][0]==wnr&&Tris[2][0]==wnr)
  {returnvalue = 6;}
  if(Tris[0][1]==wnr&&Tris[1][1]==wnr&&Tris[2][1]==wnr) {returnvalue
  = 7;}
  if(Tris[0][2]==wnr&&Tris[1][2]==wnr&&Tris[2][2]==wnr) {returnvalue =
  8;}
  return returnvalue;
}

/* ---------- Computer_Move ----------
  */
/* This function consider which position is better and move the robotic arm
  */
void Computer_Move() {
  long maxvalue=INT_MIN,mi=1,mj=1,t;
  lcd.clear();

  lcd.print(" I Am Thinking");
  lcd.setCursor(0,1);
  lcd.print("    Wait");

  if( choice == 10 && pawn == 0 ) {
    mi = int(random(0,3));
    mj = int(random(0,3));

  }
  else {  
    for(int i=0;i<3;i++) {
      for(int j=0;j<3;j++) {

        if(Possible(i,j)) {
          Tris[i][j]='O';
          t=Consider_Move('X',
  20);
          if(t>maxvalue) {
            maxvalue=t;
            mi=i;

            mj=j;
          }
          Tris[i][j]=' ';
        }
      }

    } 
  }      
  Tris[mi][mj]='O';
  Reach_Position(TakePos[pawn][0],TakePos[pawn][1],TakePos[pawn][2],TakePos[pawn][3],TrisPos[mi][mj][0],TrisPos[mi][mj][1],TrisPos[mi][mj][2],TrisPos[mi][mj][3]);

  pawn++;
}

/* ---------- Consider_Move ---------- */
/* This function
  uses minimax algoritm */
long Consider_Move(char wnr, int deep) {
  int i,
  j, res, tmp;
  if(Check_Win('O')) { return INT_MAX; }
  if(End_Game())     {
  return 0; }
  if(wnr=='X') {
    res=1;
    for(i=0;i<3;i++) {
      for(j=0;j<3;j++)
  {
        if(Possible(i,j)) {
          Tris[i][j]='X';
          if(Check_Win('X'))
  {
            if(deep==20) {
              Tris[i][j]=' ';
              return
  INT_MIN;
            }
            else {res-=2;}
          }
          else
  if((tmp=Consider_Move('O', deep - 1))<res) { res=tmp; }
          Tris[i][j]='
  ';
        } 
      }
    }  
  }
  else {
    res=-1;
    for(i=0;i<3;i++)
  {
      for(j=0;j<3;j++) {
        if(Possible(i,j)) {
          Tris[i][j]='O';

          if(Check_Win('O')) {res+=2;}
          else if((tmp=Consider_Move('X',
  deep - 1))>res) {res=tmp;}
          Tris[i][j]=' ';
        }
      }

    }
  }
  return res;
}

/* ---------- Player_Move ---------- */
/*
  This function, depending on which button you pressed, update the position of your
  pawns */
void Player_Move() {
  int i=0;
  lcd.clear();
  lcd.print("
  Insert your   ");
  lcd.setCursor(0,1);
  lcd.print("    M O V E     ");

  do {
    i=Read_RC();
    if      ((i==9)&&Possible(0,0)) { Tris[0][0]='X';
  } 
    else if ((i==8)&&Possible(0,1)) { Tris[0][1]='X'; }   
    else if
  ((i==7)&&Possible(0,2)) { Tris[0][2]='X'; }  
    else if ((i==6)&&Possible(1,0))
  { Tris[1][0]='X'; }  
    else if ((i==5)&&Possible(1,1)) { Tris[1][1]='X'; }
  
    else if ((i==4)&&Possible(1,2)) { Tris[1][2]='X'; }  
    else if ((i==3)&&Possible(2,0))
  { Tris[2][0]='X'; }  
    else if ((i==2)&&Possible(2,1)) { Tris[2][1]='X'; }
  
    else if ((i==1)&&Possible(2,2)) { Tris[2][2]='X'; }   
    else {

      i=0;
      lcd.clear();
      lcd.print(" I N V A L I D  ");
      lcd.setCursor(0,1);

      lcd.print("    M O V E     ");}
  }while(i<1||i>9); 
}

/* ----------
  Read_RC ---------- */
/* This function read the button you pressed  */
int
  Read_RC(){
  int returnvalue=99;
  while (returnvalue==99){
    while (!irrecv.decode(&results))
  {};
    switch(results.value){
      case 0xFFA25D: // CH-
      returnvalue=10;

      break;
      case 0xFFE21D: //CH+
      returnvalue=11;
      break;

      case 0xFF30CF: // 1
      returnvalue=1;
      break ;
      case
  0xFF18E7: // 2
      returnvalue=2;
      break ;
      case 0xFF7A85:
  // 3
      returnvalue=3;
      break ;
      case 0xFF10EF: // 4
      returnvalue=4;

      break ;
      case 0xFF38C7: // 5
      returnvalue=5;
      break
  ;
      case 0xFF5AA5: // 6
      returnvalue=6;
      break ;
      case
  0xFF42BD: // 7
      returnvalue=7;
      break ;
      case 0xFF4AB5:
  // 8
      returnvalue=8;
      break ;
      case 0xFF52AD: // 9
      returnvalue=9;

      break ;      
    }
    irrecv.resume();      
  }
  return returnvalue;
}

/*
  ---------- Tidy ---------- */
/*Through this function, the Robotic Arm tidies
  the pawns so they are in position for the next game */
void Tidy() {
  for(int
  i=0;i<3;i++) {
    for(int j=0;j<3;j++) { 
      if(Tris[i][j]=='O') { pawn--;

        Reach_Position(TrisPos[i][j][0],TrisPos[i][j][1],TrisPos[i][j][2],TrisPos[i][j][3],TakePos[pawn][0],TakePos[pawn][1],TakePos[pawn][2]+10,TakePos[pawn][3]);
  } 
    }
  }
}

GeoGebra Simulation

javascript

this is the 3D simulation of the arm

1inary file (no preview

inary file (no preview

Downloadable files

Basic wired

Follow the following wiring diagram to connect Arduino.

Basic wired

Follow the following wiring diagram to connect Arduino.

Basic wired

Comments

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Anonymous user

2 years ago

Hello I am Deiver Fab Good night, Please could you pass the geogebra to deivermurcia@gmail.com I find the cinematics very interesting, you are a genius. Geogebra Simulation of a robotic arm

Anonymous user

2 years ago

Hello You can download directly in the code section file Geogebra Simulation

Anonymous user

3 years ago

Congrats! This is an awesome project. I have a question. I dont quite understand the last line in the geometry calculations which states δ=CD/CH. can you please elaborate that.

Anonymous user

4 years ago

Hello I am Deiver Fab Good night, Please could you pass the geogebra to deivermurcia@gmail.com I find the cinematics very interesting, you are a genius. Geogebra Simulation of a robotic arm

Anonymous user

2 years ago

Hello You can download directly in the code section file Geogebra Simulation

dfilannino03

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3 Projects

Intro

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Downloadable files