This is an implementation of Minimax algorithm and OpenCV's Hough Circle Transform to create an autonomously tictactoe playing robotic arm.

• Minimax Algorithm http://cwoebker.com/posts/tic-tac-toe
• Hough Circle Transform http://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_imgproc/py_houghcircles/py_houghcircles.html

CAMERA

• Run

python robo_tictactoe/calibration/camera/calibrate.py

• Place a circle on the top-left corner of your Tictactoe box and get the coordinates printed on the command line.

• Edit

sudo nano robo_tictactoe/main/main.py

edit line 182

regions = regions.Regions(x,width,height,y,3,3)

where:
x = x coordinate from calibration
y = y coordinate from calibration
width = width of Tictactoe box in pixels
height = width of Tictactoe box in pixels

ROBOTIC ARM

• Install node modules

cd robo_tictactoe/calibration/arm/
sudo npm install

• Run the server

node server.js

• Move the sliders

• Define all servo positions

sudo nano robo_tictactoe/main/arm.py

Run

python /robo_tictactoe/main/main.py