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Chess playing robot based on LSS 4DoF Robotic Arm & Raspberry Pi

License: GNU General Public License v3.0

Python 100.00%

chess opencv python raspberry-pi robot robotics

chess-robot's Introduction

LSS Chess Robot

The LSS Chess Robot is a robotic arm that can play chess against you. This is a free and open source project that integrates aspects of robotics, computer vision, and of course chess.

Requirements
Modules list
Getting Started
Install
Run
Authors
License
Resources

Requirements

Hardware

Lynxmotion Smart Servo (LSS) 4 DoF Robotic Arm
Raspberry Pi or Windows PC
Display
Keyboard
Mouse
Camera (USB or Raspberry Pi Camera Module)
Lighting
Chess board and pieces
Speaker or Headphones (Optional)

Software

Modules list

Getting Started

To start using this project, proceed to the standard clone procedure:

cd <some_directory>
git clone https://github.com/Robotics-Technology/Chess-Robot.git

Install

On Windows PC

pip install -r requirements.txt

On Raspberry Pi

pip3 install -r requirements.txt

If you are using the Raspberry Camera Module

pip3 install "picamera[array]"

Note: To avoid incompatibilities use the versions established in the "requirements", for this it is recommended to use a virtual environment.

If you have issues with OpenCV on the Raspberry Pi try the following commands:

sudo apt-get install libatlas-base-dev
sudo apt-get install libjasper-dev
sudo apt-get install libqtgui4
sudo apt-get install libqt4-test
sudo apt-get install libhdf5-dev 
sudo apt-get install libhdf5-serial-dev
sudo apt-get install python3-pyqt5
sudo apt-get install stockfish
sudo pip3 install opencv-python==3.4.6.27
sudo pip3 install opencv-contrib-python==3.4.6.27

Run

cd <project_directory>
python Interface.py

Chess Robot Interface

Gameplay Video

Authors

License

LSS Chess Robot is available under the GNU General Public License v3.0

Contributing

Anyone is very welcome to contribute. Below is a list of identified improvements.

To do

Change the gripper aperture acording to the chess piecce type
Allow re-taking pictures in the case of board obstruction

Limitations

The chessboard is limited by the reach of the arm and the squares need to be big enough so the arm gripper doesn’t stumble upon adjacent pieces.
This project was specifically made to be used with LSS smart servo motors using the LSS serial communication protocol so if you want to use it for a different robotic arm you will need to change how the servos are controlled and change the inverse kinematics parameters to match your specific arm.

Resources

Every module of the project is explained in the tutorial series available here.

Read more about the LSS Robotic Arm in the wiki.

Purchase the LSS arm on RobotShop.

Official Lynxmotion Smart Servo (LSS) libraries for Python available here.

If you want more details about the LSS protocol, go here.

Have any questions? Ask them on the Robotshop Community.

chess-robot's People

Contributors

Stargazers

Watchers

Forkers

bluetronics-india jayk56 dhled kimjvogel pearconpany matjury gshiva yanhuhuhahei mouradadel1919

chess-robot's Issues

Thanks, everything works now

the robot starts moving behind the figures, but is immediately interrupted by an error with the words "O, wait":

MOVE UP

Unknown status
Unknown status
Unknown status
Unknown status
Unknown status
Issue detected
Retrying
...

Experimentally found out that in the code of the file "ArmControl" :

Check if they reached the requested position

while arrived == False and issue == 0:
bStat= base.GetStatus()
sStat = shoulder.GetStatus()
estate = elbow.GetStatus()
wStat = wrist.GetStatus()
gStat =gripper.GetStatus()

the "bStat" parameter takes the value "None". Maybe something is wrong with the database. What the error might be and how to fix it?

ValueError: math domain error acos()

Hello!
I use your guide to set up and play chess with the LSS 4 Of Robotic Arm robot.
After setting up the chessboard parameters:
Base Radius 9.00
Chess Board Frame 8.00
Square Size 1.00
ChessBoard Height 0.75
Tallest Piece Height 2.25

and calibrating the camera and launching the game - I get an error:

"...
Exception in thread Thread-2 (pcTurn):
Traceback (most recent call last):
File "C:\Users\chepu\AppData\Local\Programs\Python\Python310\lib\threading.py", line 1016, in _bootstrap_inner
self.run()
File "C:\Users\chepu\AppData\Local\Programs\Python\Python310\lib\threading.py", line 953, in run
self._target(*self._args, self._kwargs)
File "C:\LSS_Chess_Robot\Chess-Robot\Interface.py", line 137, in pcTurn
ac.executeMove(sequence["seq"], physicalParams, playerColor, homography, cap, selectedCam)
File "C:\LSS_Chess_Robot\Chess-Robot\ArmControl.py", line 213, in executeMove
angles_BSEWG1 = LSS_IK([x, y, z + 1, gripState])
File "C:\LSS_Chess_Robot\Chess-Robot\ArmControl.py", line 76, in LSS_IK
a2 = acos((d22 - d32 + h2)/(2 * d2 * h))
ValueError: math domain error

Incorrect mathematical calculations - the system tries to calculate acos(1.58) and therefore gets an error

Tell me what this could mean and what am I doing wrong?

[Bug] AttributeError: 'LSS' object has no attribute 'setFilterPositionCount'

PS D:\Dev\GitRepo\ChessBotReproduceBug> python .\Interface.py
pygame 2.0.1 (SDL 2.0.14, Python 3.8.3)
Hello from the pygame community. https://www.pygame.org/contribute.html
<_io.TextIOWrapper name='params.txt' mode='r' encoding='cp936'>
Exception in thread Thread-2:
Traceback (most recent call last):
File "D:\ProgramData\Anaconda3\lib\threading.py", line 932, in _bootstrap_inner
self.run()
File "D:\ProgramData\Anaconda3\lib\threading.py", line 870, in run
self._target(*self._args, **self._kwargs)
File ".\Interface.py", line 137, in pcTurn
ac.executeMove(sequence["seq"], physicalParams, playerColor, homography, cap, selectedCam)
File "D:\Dev\GitRepo\ChessBotReproduceBug\ArmControl.py", line 200, in executeMove
shoulder.setFilterPositionCount(fpc)
AttributeError: 'LSS' object has no attribute 'setFilterPositionCount'

Reproduce procedure:

Start the robot arm
run "python .Interface.py"
Set "params.txt"
Press "New Game", play as white
Adjust the camera, place pieces, select "white zone"
Human player moves one white piece and ends his turn
The error message comes out

It seems that there is no definition of "setFilterPositionCount" inside "lss.py"