def MovePiece(self,moveTuple):
#Square variables
fromSquare_r = moveTuple[0][0]
fromSquare_c = moveTuple[0][1]
toSquare_r = moveTuple[1][0]
toSquare_c = moveTuple[1][1]
#Gripper and arm initializations
grip_right = baxter_interface.Gripper('right')
right = baxter_interface.Limb('right')
right.move_to_neutral()
grip_right.calibrate()
grip_right.open()
#Give initial Cartesian coordinates to Baxter using fromSquare row and columns
moveArmLoc('right', self.GetCartesian_col(fromSquare_c), self.GetCartesian_row(fromSquare_r), -0.20)
time.sleep(1)
#Pick up piece
findPiece()
moveArmLoc('right', self.GetCartesian_col(fromSquare_c), self.GetCartesian_row(fromSquare_r), -0.32)
time.sleep(1)
grip_right.close()
time.sleep(1)
#Give final Cartesian coordinates to Baxter using toSquare row and columns
moveArmLoc('right', self.GetCartesian_col(toSquare_c), self.GetCartesian_row(toSquare_r), -0.20)
#Drop piece
moveArmLoc('right', self.GetCartesian_col(toSquare_c), self.GetCartesian_row(toSquare_r), -0.32)
time.sleep(1)
grip_right.open()
#Return to home position
moveArmLoc('right', self.GetCartesian_col(toSquare_c), self.GetCartesian_row(toSquare_r), -0.20)
right.move_to_neutral()
#Assign square positions for from and to pieces
fromPiece = self.squares[fromSquare_r][fromSquare_c]
toPiece = self.squares[toSquare_r][toSquare_c]
#Move piece by changing square locations
self.squares[toSquare_r][toSquare_c] = fromPiece
self.squares[fromSquare_r][fromSquare_c] = 'e'
fromPiece_fullString = self.GetFullString(fromPiece)
toPiece_fullString = self.GetFullString(toPiece)
if toPiece == 'e':
messageString = fromPiece_fullString+ " moves from "+self.ConvertToAlgebraicNotation(moveTuple[0])+\
" to "+self.ConvertToAlgebraicNotation(moveTuple[1])
else:
messageString = fromPiece_fullString+ " from "+self.ConvertToAlgebraicNotation(moveTuple[0])+\
" captures "+toPiece_fullString+" at "+self.ConvertToAlgebraicNotation(moveTuple[1])+"!"
#capitalize first character of messageString
messageString = string.upper(messageString[0])+messageString[1:len(messageString)]
return messageString
def __init__(self,options): if options.debug: self.Board = ChessBoard(2) self.debugMode = True else: self.Board = ChessBoard(0) #0 for normal board setup; see ChessBoard class for other options (for testing purposes) self.debugMode = False self.Rules = ChessRules() findPiece()
