{"id":217,"date":"2022-07-14T09:28:45","date_gmt":"2022-07-14T01:28:45","guid":{"rendered":"http:\/\/www.gexin.link\/?page_id=217"},"modified":"2022-07-14T22:17:17","modified_gmt":"2022-07-14T14:17:17","slug":"%e4%ba%94%e5%ad%90%e6%a3%8b%e6%a8%a1%e6%8b%9f%e5%99%a8%e6%9c%ba%e5%99%a8%e4%ba%ba","status":"publish","type":"page","link":"http:\/\/www.gexin.link\/index.php\/%e7%8e%a9%e7%89%a9%e5%bf%97\/%e4%ba%94%e5%ad%90%e6%a3%8b%e6%a8%a1%e6%8b%9f%e5%99%a8%e6%9c%ba%e5%99%a8%e4%ba%ba\/","title":{"rendered":"\u4e94\u5b50\u68cb\u5bf9\u5f08\u673a\u5668\u4eba"},"content":{"rendered":"

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\u56fe 3. \u5c0f\u7403\u91ca\u653e\u673a\u6784<\/center><\/p>\n
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\u529f\u80fd\uff1a\u8bc6\u522b\u68cb\u76d8\u72b6\u6001\u3002<\/p>\n

\u6700\u521d\u7684\u60f3\u6cd5\u662f\u901a\u8fc7\u7535\u8111\u8fde\u63a5\u6444\u50cf\u5934\u8bc6\u522b\u68cb\u5c40\uff0c\u4f18\u70b9\u662f\u53ef\u4ee5\u201c\u770b\u5230\u201d\u68cb\u76d8\u72b6\u6001\uff0c\u4e0d\u8fc7\u6700\u7ec8\u6ca1\u6709\u91c7\u7528\u3002\u4e00\u662f\u56e0\u4e3a\u6709\u4eba\u5df2\u7ecf\u5b9e\u73b0\u8be5\u65b9\u6848\uff0c\u518d\u91cd\u590d\u6ca1\u4ec0\u4e48\u610f\u601d\uff1b\u4e8c\u662f\u673a\u5668\u4eba\u5c06\u53d8\u5f97\u590d\u6742\uff0c\u548c\u7535\u8111\u3001\u6444\u50cf\u5934\u8026\u5408\u5728\u4e00\u8d77\uff0c\u589e\u52a0\u4e86\u7cfb\u7edf\u590d\u6742\u5ea6\uff1b\u7b2c\u4e09\uff0c\u4e5f\u662f\u66f4\u91cd\u8981\u7684\uff0c\u5229\u7528\u7535\u8111\u8fdb\u884c\u8bc6\u522b\u8fd0\u7b97\uff0cNXT\u7684\u4e3b\u63a7\u6a21\u5757\u5c31\u6210\u4e3a\u5355\u7eaf\u7684\u6267\u884c\u63a7\u5236\u673a\u6784\uff0c\u6210\u4e86\u4e00\u4e2a\u6709\u5934\u65e0\u8111\u7684\u7eaf\u673a\u68b0\u4e86\uff0cNXT\u5185\u7f6e\u7684\u5904\u7406\u5668\u548c\u5b58\u50a8\u7a7a\u95f4\u5e94\u8be5\u53ef\u4ee5\u5b8c\u6210\u66f4\u9ad8\u7ea7\u7684\u5de5\u4f5c\u3002<\/p>\n

NXT\u4e2d\u5305\u542b\u4e00\u4e2a\u989c\u8272\u4f20\u611f\u5668\uff0c\u5728\u53ea\u6709\u4e00\u4e2a\u989c\u8272\u4f20\u611f\u5668\u7684\u60c5\u51b5\u4e0b\uff0c\u53ea\u80fd\u4e00\u683c\u4e00\u683c\u5730\u626b\u63cf\u68cb\u76d8\u6765\u627e\u5230\u65b0\u7684\u843d\u5b50\u3002\u8fd9\u79cd\u65b9\u5f0f\u76f8\u6bd4\u6444\u50cf\u5934\u56fe\u50cf\u8bc6\u522b\uff0c\u80af\u5b9a\u8981\u6162\u5f97\u591a\u3002\u4e0d\u8fc7\u4e5f\u6709\u4e00\u5b9a\u7684\u4f18\u5316\u7a7a\u95f4\uff0c\u6bd4\u5982\u5728\u6b63\u5e38\u60c5\u51b5\u4e0b\uff0c\u6709\u4e9b\u683c\u5b50\u4e0d\u53ef\u80fd\u662f\u843d\u5b50\u70b9\uff0c\u4e5f\u5c31\u662f\u53ef\u4ee5\u9884\u5224\u5bf9\u624b\u7684\u843d\u5b50\u70b9\uff0c\u4f18\u5148\u626b\u63cf\u8fd9\u4e9b\u53ef\u80fd\u7684\u843d\u5b50\u70b9\uff0c\u4e00\u65e6\u53d1\u73b0\u65b0\u68cb\u5b50\u5c31\u53ef\u4ee5\u7ed3\u675f\u626b\u63cf\u8fc7\u7a0b\u3002\u5269\u4e0b\u7684\u95ee\u9898\u5c31\u662f\u5728\u7a0b\u5e8f\u4e2d\u5b58\u50a8\u68cb\u5c40\u72b6\u6001\uff0c\u5177\u4f53\u5b9e\u73b0\u53ef\u4ee5\u53c2\u770b\u4ee3\u7801\u90e8\u5206\u3002<\/p>\n

NXT\u7aef\u4ee3\u7801<\/h4>\n
#pragma config(Sensor, S1,     humanPort,               sensorTouch)\n#pragma config(Sensor, S2,     colorPort,           sensorCOLORFULL)\n#pragma config(Sensor, S3,     touchPortX,          sensorTouch)\n#pragma config(Sensor, S4,     touchPortY,          sensorTouch)\n#pragma platform(NXT)\n\n\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\n\/\/---------------------------------------------------------\n\/\/ system configuration\n\/\/\n\/\/---------------------------------------------------------\nconst byte motorX=motorA; \/\/ control move in X Axle\nconst byte motorY=motorB;\nconst byte motorChess=motorC; \/\/ control drop chessman\n\nconst byte positiveDirection=1;\nconst byte negativeDirection=-1;\n\n\/\/-----------------------------------\n\/\/ system function\nvoid initSystem();\n\nvoid waitMotorMoveFinish();\nvoid waitDropChessFinish();\n\n\/\/---------------------------------------------------------\n\/\/ chess configuration and fuction\n\/\/\n\/\/---------------------------------------------------------\n\nconst byte noChessman=0;\nconst byte PlayerRobot=REDCOLOR;\nconst byte playerHuman=GREENCOLOR;\n\nconst byte chessBoardDimension=10;\n\nconst byte withdrawGrids=3;\n\ntypedef struct\n{\n  byte X;\n  byte Y;\n} Point;\n\nPoint latestHumanChessPoint;\nPoint latestRobotChessPoint;\nPoint robotBestDropPoint;\nPoint humanBestDropPoint;\n\nbyte motorXPower=-90;\nbyte motorXCalibrationPower=-30;\nbyte motorYPower=90;\nbyte motorYCalibrationPower=30;\nbyte lastXDireciton=1;\nbyte lastYDireciton=1;\n\n\/\/ the lengh of chess board in X Axle\n\/\/int chessBoardYDimension=10;  \n\/\/ the lengh of chess board in Y Axle\n\nbyte colorSensorRelativeX=1;\nbyte colorSensorRelativeY=0;\n\nbyte currentX;\nbyte currentY;\nbyte targetX;\nbyte targetY;\n\nint dropOneChessmanEncoder=350;\nbyte dropChessmanMotorPower=40;\n\n\/\/---------------------------------\n\nvoid initChess();\nbool confirmChessmanReady();\n\nvoid dropOneChessman();\nvoid lockChessman();\nvoid dropOneChessmanAt(byte X, byte Y);\n\nbyte checkChessmanColor(byte X , byte Y); \/\/ check the color of chessman in certain position\n\/\/bool findHumanChessmanInRange(byte XStart , byte YStart , byte XEnd, byte YEnd);\nbool findChessman(byte x,byte y); \/\/ find human's chessman\nbool searchHumanChessman();\n\nvoid moveTo(byte x , byte y);\nbool moveOneXGrid(byte direction);\nvoid calibrateXMove(byte direction);\nbool moveOneYGrid(byte direction);\nvoid calibrateYMove(byte direction);\nvoid withdraw();\n\nvoid waitHumanDrop();\n\n\/\/---------------------------------------------------------\n\/\/ chess algorithm\n\/\/---------------------------------------------------------\n\/*\nchessBoard, 0 no chessman, 1 Red color robot, 2 others color human\nthe index  [0][0]  of this array means out of chessboard.\n*\/\n\nbyte chessBoard[chessBoardDimension+1][chessBoardDimension+1];\n\nbyte data1[chessBoardDimension+1][chessBoardDimension+1];\nbyte data2[chessBoardDimension+1][chessBoardDimension+1];\nbyte data3[chessBoardDimension+1][chessBoardDimension+1];\nbyte data4[chessBoardDimension+1][chessBoardDimension+1];\nbyte data5[chessBoardDimension+1][chessBoardDimension+1];\nbyte data6[chessBoardDimension+1][chessBoardDimension+1];\nbyte data7[chessBoardDimension+1][chessBoardDimension+1];\nbyte data8[chessBoardDimension+1][chessBoardDimension+1];\n\nbyte topBorder=1;\nbyte bottomBorder=chessBoardDimension;\nbyte leftBorder=chessBoardDimension;\nbyte rightBorder=1;\n\nbyte getChessAtBoard(byte x,byte y);\n\nbool checkChessResult(byte player) ;\n\nvoid CalGameSatus(byte player);\nvoid GetBestDropPoint();\nvoid getChessmanBorder();\n\nvoid test();\n\n\/\/-----------------------------------------------------------\n\/\/sub task for robot move\n\/\/-----------------------------------------------------------\n\n\/*\nmove robot in X axle.\n*\/\ntask moveX( ){\n\n  byte dist;\n\n  while(true){\n    NXTDisplayTextLine(3,"cur x: %d", currentX);\/\/debug\n    dist=targetX-currentX;\n\n    if(dist!=0){\/\/ should move\n        byte d=dist\/abs(dist); \/\/direction\n\n      for(byte i=0;i<abs(dist);){\n\n        if( moveOneXGrid(positiveDirection*d) ){\n\n          if( SensorValue(touchPortX)==0 ){\n            PlaySound(soundBeepBeep);\/\/debug\n            \/\/calibrateXMove(positiveDirection*d);\n          }\n\n          currentX=currentX+d;\n          i++;\n\n          PlaySound(soundBlip); \/\/debug\n          }else{\n        }\n\n      }\n    }\n\n    \/\/wait1Msec(50);\n  }\n\n}\n\n\/*\nmove robot in Y axle.\n*\/\ntask moveY(){\n\n  while(true){\n\n    byte dist=targetY-currentY;\n\n    if(dist!=0){\n      byte d=dist\/abs(dist); \/\/direction\n\n      for(byte i=0;i<abs(dist);){\n\n        if ( moveOneYGrid(positiveDirection*d) ){\n\n          if( SensorValue(touchPortY)==0 ){\n            PlaySound(soundBeepBeep);\n            \/\/calibrateYMove(positiveDirection*d);\n          }\n\n          currentY=currentY+d;\n          i++;\n          PlaySound(soundBlip); \/\/debug\n          }else{\n\n        }\n\n      }\n    }\n    \/\/wait1Msec(50);\n\n  }\/\/while\n}\n\n\/\/---------------------------------------------------------\n\/\/ main task\n\/\/---------------------------------------------------------\n\ntask\nmain ()\n{\n  initSystem();\n\n  initChess();\n\n  StartTask(moveX);\n  StartTask(moveY);\n\n  \/\/test();\n  int k=1;\n  while(false){\n\n    for(;k<6;k++){\n      moveTo(k,0);\n      wait1Msec(200);\n    }\n    wait1Msec(100);\n    if(k==6) k=1;\n    wait1Msec(100);\n  }\n\n  dropOneChessmanAt(5,5);\n  withdraw();\n\n  while(true){\n\n    NXTDisplayTextLine(3,"x: %d", currentX);\n    NXTDisplayTextLine(4,"Y: %d", currentY);\n\n    wait1Msec(500);\n\n    PlaySound(soundShortBlip);\n\n    waitHumanDrop();\n    if( searchHumanChessman()){\n    }else{\n\n    };\n\n    if( checkChessResult(playerHuman)==true ){ \/\/ human win?\n        PlaySound(soundDownwardTones);\n      moveTo(1,0);\n      StopAllTasks();\n    }\n\n    GetBestDropPoint(); \/\/ compute drop point for robot\n    dropOneChessmanAt(robotBestDropPoint.X,robotBestDropPoint.Y);\n    if( checkChessResult(playerRobot)==true ){ \/\/ robot win?\n        PlaySound(soundDownwardTones);\n      moveTo(1,0);\n      StopAllTasks();\n\n   }\n\n      withdraw();\n\n    }\n\n  }\n\n  void test(){\n\n    chessBoard[5][3]=PlayerRobot;\n    chessBoard[5][2]=playerHuman;\n\n    searchHumanChessman();\n  }\n\n  \/\/---------------------------------------------------------\n  \/\/ system function\n  \/\/---------------------------------------------------------\n\n  void initSystem(){\n\n    nNXTButtonTask  = -2;  \/\/ Grab control of the buttons.\n    nNXTExitClicks  = 3; \/\/ Triple clicking EXIT button will terminate program\n\n    nMotorPIDSpeedCtrl[motorA] = mtrSpeedReg;\n    nMotorPIDSpeedCtrl[motorB] = mtrSpeedReg;\n    \/\/ nMotorPIDSpeedCtrl[motorC] = mtrSpeedReg;\n\n    bFloatDuringInactiveMotorPWM = false;  \/\/ brake when no power\n  }\n\n  void waitDropChessFinish( ){\n\n    while( nMotorRunState[motorChess] == runStateRunning ){\n      \/\/wait1Msec(50);\n      \/\/playsound(soundBlip); \/\/ debug\n    }\n    return;\n  }\n\n  \/\/---------------------------------------------------------\n  \/\/ chess function\n  \/\/---------------------------------------------------------\n\n  void initChess(){\n    \/\/ init chess board, no chessman on chessboard.\n    for(int m=1;m<chessBoardDimension;m++){\n      for(int n=1;n<chessBoardDimension;n++){\n        chessBoard[m][n]=noChessman;\n      }\n    }\n\n    \/\/start\n    currentX=1;\n    targetX=1;\n    currentY=0;\n    targetY=0;\n\n    \/\/check x y touch in border.\n    while(sensorValue(touchPortX)!=1 ){\n      PlaySound(soundException);\n      wait1Msec(3000);\n    }\n    \/\/wait1Msec(1000);\n    while(sensorValue(touchPortY)!=1){\n      PlaySound(soundLowBuzz);\n      wait1Msec(3000);\n    }\n\n    lockChessman(); \/\/ set in lock status.\n    \/\/ confirmChessmanReady(); \/\/ put chessman in loader.\n\n  }\n\n  void moveTo(byte x , byte y){\n\n    targetX=x;\n    targetY=y;\n\n    while(currentX!=targetX || currentY!=targetY){\n      wait1Msec(600);\n      \/\/wait\n    }\n    return;\n    \/\/waitMotorMoveFinish();\n  }\n\n  \/*\n  move motor in X Axle. direction is based on the chessboard.\n  the direction can be reserve via setting motorX and motorY power.\n  Note!!!!, this function is blocked. it should be called in a task() in unblocked circumstance.\n  *\/\n  bool moveOneXGrid(byte direction){\n\n    bool inGrid=false;\n\n    if(SensorValue(touchPortX) == 1 ){ \/\/ on grid border flag.\n\n      while(true){\n\n        motor[motorX]=motorXPower*direction;\n\n        if(!inGrid && SensorValue(touchPortX)==0){ \/\/ in grid\n            inGrid=true;\n        }\n\n        if(inGrid && SensorValue(touchPortX) == 1 ){ \/\/ reach the next border flag.\n            motor[motorX]=0;\n          inGrid=false;\n          lastXDireciton=direction;\n          break;\n        }\n\n      }\/\/\/\/while();\n\n      return true;\n\n      \/\/ wait1Msec(50);\n\n      \/\/ check whether on border flag, if not, calibration, avoiding move too fast to pass border\n\n      }else{\n\n      calibrateXMove(lastXDireciton);\n\n      return false;\n    }\n\n  }\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\n  \/*\n  refer moveOneXGrid(int direction)\n  *\/\n  bool moveOneYGrid(byte direction){\n\n    bool inGrid=false;\n\n    if(SensorValue(touchPortY) == 1 ){ \/\/ on grid border flag.\n\n      while(true){\n\n        motor[motorY]=motorYPower*direction;\n\n        if(!inGrid && SensorValue(touchPortY)==0){ \/\/ in grid\n            inGrid=true;\n        }\n\n        if(inGrid && SensorValue(touchPortY) == 1 ){ \/\/ reach the next border flag.\n            inGrid=false;\n          lastYDireciton=direction;\n          motor[motorY]=0; \/\/ stop\n          break;\n        }\n        \/\/wait1Msec(100);\n      }\/\/\/\/while();\n\n      return true;\n\n      }else{\n\n      calibrateYMove(lastYDireciton);\n      return false;\n    }\n\n  }\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\n  void calibrateXMove(byte direction){\n\n    PlaySound(soundException); \/\/ debug\n\n    motor[motorX]=-motorXCalibrationPower*direction;   \/\/ go back\n\n    while(SensorValue(touchPortX) == 0){ \/\/ until go back to grid flag\n\n    }\n\n    motor[motorX]=0;\n  }\n\n  void calibrateYMove(byte direction){\n\n    PlaySound(soundException); \/\/ debug\n\n    motor[motorY]=-motorYCalibrationPower*direction;   \/\/ go back\n\n    while(SensorValue(touchPortY) == 0){ \/\/ until go back to grid flag\n\n    }\n\n    motor[motorY]=0;\n  }\n\n  \/*\n  After dropping chess, robot goes back. it is not definitely necessay to go to start point,\n  just leaveing enough space for human's dropping.\n  *\/\n  void withdraw()\n  {\n    int withdrawX=0;\n    byte withdrawY=0;\n\n    byte findX;\n    byte findY;\n\n    getChessmanBorder();\n\n    if( bottomBorder- withdrawGrids<0){\n      withdrawY=0;\n      }else{\n      withdrawY=bottomBorder-withdrawGrids;\n    }\n\n    if( bottomBorder- 2<1){\n      findY=1;\n      }else{\n      findY=bottomBorder-2;\n    }\n\n    if( findY%2==1){\n      if(leftBorder-2<1){\n        withdrawX=1;\n        }else{\n        withdrawX=leftBorder-2;\n      }\n      }else{\n\n      if(rightBorder+2>chessBoardDimension){\n        withdrawX=chessBoardDimension;\n        }else{\n        withdrawX=rightBorder+2;\n      }\n\n    }\n\n    moveTo(withdrawX+colorSensorRelativeX,withdrawY+colorSensorRelativeY);\n\n  }\/\/function end\n\n  \/*\n  alarm user put chessman in loader.\n  *\/\n  bool confirmChessmanReady(){\n\n    bool status=false;\n\n    while(nNXTButtonPressed!=kEnterButton){\n      NXTDisplayCenteredTextLine(1, "press Enter if ");\n      NXTDisplayCenteredTextLine(3, "chessman loaded");\n\n      PlaySound(soundBeepBeep);\n      wait1Msec(1000);\n    }\n\n    status=true;\n    return status;\n  }\n\n  \/*\n  Drop one chessman. the chessman position depends on current position.\n  *\/\n  void dropOneChessman(){\n\n    nMotorEncoderTarget(motorChess)=dropOneChessmanEncoder;\n    motor[motorChess]=dropChessmanMotorPower; \/\/drop one chessman\n\n    wait1Msec(300);\n    waitDropChessFinish( );\n\n    lockChessman();\n\n    wait1Msec(300);\n\n    waitDropChessFinish( );\n\n    \/\/update board status\n    chessBoard[currentX][currentY]=PlayerRobot;\n    latestRobotChessPoint.X=currentX;\n    latestRobotChessPoint.Y=currentY;\n\n  }\n\n  void dropOneChessmanAt(byte X, byte Y){\n    moveTo(X,Y);\n    dropOneChessman();\n  }\n\n  \/*\n  close loader,avoiding chessman unexpected dropping\n  *\/\n  void lockChessman(){\n\n    nMotorEncoderTarget(motorChess)=-dropOneChessmanEncoder; \/\/ lock loader\n    motor[motorChess]=-dropChessmanMotorPower;\n\n    waitDropChessFinish( );\n\n  }\n\n  \/*\n  check chessman color at (x,y)position.\n  Beucase color sensor is aside dropped chessman, the axel has to be revised.\n  In other words, snesor positive is relative to drop position.\n  *\/\n  byte checkChessmanColor(byte X , byte Y){\n\n    moveTo(X+colorsensorRelativeX,Y+colorsensorRelativeY);\n    return (byte)SensorValue[colorPort]  ;\n\n  }\n\n  \/*\n  scan color in certain range.\n  *\/\n  bool findHumanChessmanInRange(byte XStart , byte YStart , byte XEnd, byte YEnd){\n\n    for(byte m=YStart;m<=YEnd;m++){\n\n      if(m%2==1){ \/\/ in odd row\n\n        for(byte n=XStart;n<=XEnd;n++){\n          byte color = checkChessmanColor(n,m);\n          if ( color==playerHuman && chessBoard[n][m]==noChessman){ \/\/ find new human chessman\n              PlaySound(soundBeepBeep);\/\/debug\n            chessBoard[n][m]=playerHuman; \/\/update chessboard status\n            latestHumanChessPoint.X=n;\n            latestHumanChessPoint.Y=m;\n            return true;\n          }\n        }\n      }\n\n      if(m%2==0){ \/\/ in even row\n          for(byte n=XEnd;n>=XStart;n--){\n          byte color = checkChessmanColor(n,m);\n          if ( color==playerHuman  && chessBoard[n][m]==noChessman ){ \/\/ find new human chessman\n              PlaySound(soundBeepBeep);\/\/debug\n            chessBoard[n][m]=playerHuman; \/\/update chessboard status\n            latestHumanChessPoint.X=n;\n            latestHumanChessPoint.Y=m;\n            return true;\n          }\n        }\n      }\n\n    }\/\/ each row\n    return false;\n  }\n\n  void getChessmanBorder(){\n\n    for(int y=1;y<=chessBoardDimension;y++){\n      for(int x=1;x<=chessBoardDimension;x++){\n        if(chessBoard[x][y]!=noChessman){\n\n          if(leftBorder>x){\n            leftBorder=x;\n          }\n          if(rightBorder<x){\n            rightBorder=x;\n          }\n\n          if(topBorder<y){\n            topBorder=y;\n          }\n          if(bottomBorder>y){\n            bottomBorder=y;\n          }\n\n        }\n      }\n    }\n\n  }\n\n  bool findChessman(byte x, byte y){\n    byte color = checkChessmanColor(x,y);\n    if ( color==playerHuman && chessBoard[x][y]==noChessman){ \/\/ find new human chessman\n        PlaySound(soundBeepBeep);\/\/debug\n      chessBoard[x][y]=playerHuman; \/\/update chessboard status\n      latestHumanChessPoint.X=x;\n      latestHumanChessPoint.Y=y;\n      return true;\n    }\n\n    return false;\n  }\n\n  \/*\n  Find the latest chessman dropped by human. Just search the possible position where human maybe\n  drop.\n  *\/\n  bool searchHumanChessman( ){\n\n    for(int y=1;y<=chessBoardDimension;y++){\n\n      if(y%2==1){\n\n        for(int x=1;x<=chessBoardDimension;x++){\n          if(chessBoard[x][y]==noChessman){\n\n            for(byte d=-2;d<=2;d++){\n\n              if(x+d>chessBoardDimension || x+d<1){\n\n                }else{\n\n              }\n\n              if(y+d>chessBoardDimension || y+d<1){\n\n                }else{\n\n              }\n\n              if(getChessAtBoard(x+d,y)!=noChessman ||\n                getChessAtBoard(x,y+d)!=noChessman ||\n              getChessAtBoard(x+d,y+d)!=noChessman ||\n              getChessAtBoard(x-d,y+d)!=noChessman){\n                if(findChessman(x,y)){\n                  return true;\n                }\n\n              }\n\n            }\/\/\/d\n          }\/\/ no chessman\n        }\/\/ each x\n      }\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n      if(y%2==0){\n        for(int x=chessBoardDimension;x>=1;x--){\n\n          if(chessBoard[x][y]==noChessman){\n\n            for(byte d=-2;d<=2;d++){\n\n              if(x+d>chessBoardDimension || x+d<1){\n\n                }else{\n\n              }\n\n              if(y+d>chessBoardDimension || y+d<1){\n\n                }else{\n\n              }\n\n              if(getChessAtBoard(x+d,y)!=noChessman ||\n                getChessAtBoard(x,y+d)!=noChessman ||\n              getChessAtBoard(x+d,y+d)!=noChessman ||\n              getChessAtBoard(x-d,y+d)!=noChessman){\n                if(findChessman(x,y)){\n                  return true;\n                }\n\n              }\n\n            }\/\/\/d\n\n          }\/\/ no chessman\n\n        }\n\n      }\n\n    }\n\n    return false;\n  }\n\n  bool findHumanChessman2( ){\n\n    byte top=0;\n    byte bottom=0;\n    byte right=0;\n    byte left=0;\n\n    getChessmanBorder();\n\n    if(topBorder+2>chessBoardDimension){\n      top=chessBoardDimension;\n      }else{\n      top=topBorder+2;\n    }\n\n    if(rightBorder+2>chessBoardDimension){\n      right=chessBoardDimension;\n      }else{\n      right=rightBorder+2;\n    }\n\n    if(leftBorder-2<1){\n      left=1;\n      }else{\n      left=leftBorder-2;\n    }\n\n    if(bottomBorder-2<1){\n      bottom=1 ;\n      }else{\n      bottom=bottomBorder-2;\n    }\n\n    return findHumanChessmanInRange(left,bottom,right,top);\n\n  }\n\n  \/\/---------------------------------------------------------\n  \/\/ chess algorithm\n  \/\/---------------------------------------------------------\n  \/*\n  retrieve chessman at chessboard, avoid index out at array.\n  *\/\n  byte getChessAtBoard(byte x,byte y){\n    byte iX=x,iY=y;\n    if(x>chessBoardDimension){\n      iX=chessBoardDimension;\n    }\n    if(y>chessBoardDimension){\n      iY=chessBoardDimension;\n    }\n    if(x<1){\n      iX=1;\n    }\n    if(y<1){\n      iY=1;\n    }\n    return chessBoard[iX][iY];\n  }\n\n  \/*\n  check whether the player is winner.\n  *\/\n  bool checkChessResult(byte player)\n  {\n    int x, y;\n    \/\/ hori\n    for ( y = 1; y <=chessBoardDimension; y++ )\n    {\n      for ( x = 1; x <= chessBoardDimension-4; x++ )\n      {\n        if ( player ==chessBoard[x][y]  &&\n          player ==chessBoard[x+1][y] &&\n        player ==chessBoard[x+2][y]  &&\n        player ==chessBoard[x+3][y]  &&\n        player ==chessBoard[x+4][y]  )\n\n        return true;\n      }\n    }\n\n    \/\/ vertical direction\n    for ( y = 1; y <= chessBoardDimension-4; y++ )\n    {\n      for ( x = 1; x <= chessBoardDimension; x++ )\n      {\n        if ( player ==chessBoard[x][y] &&\n          player ==chessBoard[x][y+1] &&\n        player ==chessBoard[x][y+2] &&\n        player ==chessBoard[x][y+3] &&\n        player ==chessBoard[x][y+4] )\n\n        return true;\n      }\n    }\n    \/\/  "\\" direction\n    for ( y = 1; y <= chessBoardDimension-4; y++ )\n    {\n      for ( x = 1; x <= chessBoardDimension-4; x++ )\n      {\n        if ( player ==chessBoard[x][y]&&\n          player ==chessBoard[x+1][y+1] &&\n        player ==chessBoard[x+2][y+2]&&\n        player ==chessBoard[x+3][y+4]&&\n        player ==chessBoard[x+4][y+4] )\n\n        return true;\n\n      }\n    }\n    \/\/ "\/" direction\n    for ( y = 1; y <= chessBoardDimension-4; y++ )\n    {\n      for ( x = 4; x <= chessBoardDimension; x++ )\n      {\n        if ( player ==chessBoard[x][y] &&\n          player ==chessBoard[x-1][y+1] &&\n        player ==chessBoard[x-2][y+2] &&\n        player ==chessBoard[x-3][y+3] &&\n        player ==chessBoard[x-4][y+4] )\n\n        return true;\n      }\n    }\n\n    return false;\n  }\n\n  \/*\n  calculate status for one player according to dropped chessman.\n  *\/\n\n  void CalGameSatus(byte player)\n  {\n    byte a,b,c,d;\n\n    for(a=1;a<=chessBoardDimension;a++)\n    {\n      for(b=1;b<=chessBoardDimension;b++)\n      {\n        if(chessBoard[a][b]==noChessman)\n        {\n          d=0;\n          for(c=1;c<5;c++)\n          {\n            if(a-c<=0) \/\/ left border\n              break;\n            if(chessBoard[a-c][b]!=player)\/\/left\n              break;\n            else\n              d++;\n          }\n\n          for(c=1;c<5;c++)\n          {\n            if( a+c>chessBoardDimension)\n              break;\n            if(chessBoard[a+c][b]!=player)  \/\/right\n              break;\n            else\n              d++;\n          }\n\n          data1[a][b]=d%4;   \/\/ save in horizon data\n          data2[a][b]=d\/4;\n\n          d=0;\n          for(c=1;c<5;c++)\n          {\n            if(b-c<=0)\n              break;\n            if(chessBoard[a][b-c]!=player)  \/\/top\n              break;\n            else\n              d++;\n          }\n          for(c=1;c<5;c++)\n          {\n            if(b+c>chessBoardDimension)\n              break;\n            if(chessBoard[a][b+c]!=player)\n              break;\n            else\n              d++;\n          }\n\n          data3[a][b]=d%4;   \/\/ vertical\n          data4[a][b]=d\/4;\n\n          d=0;\n          for(c=1;c<5;c++)\n          {\n            if( b-c==0||a-c==0)\n              break;\n          if(chessBoard[a-c][b-c] !=player)  \/\/left top\n            break;\n          else\n            d++;\n        }\n        for(c=1;c<5;c++)\n        {\n          if(b+c>chessBoardDimension||a+c>chessBoardDimension)\n            break;\n          if( chessBoard [a+c][b+c]!=player )\n            break;\n          else\n            d++;\n        }\n\n        data5[a][b]=d%4;   \/\/  "\\"\n        data6[a][b]=d\/4;\n        d=0;\n        for(c=1;c<5;c++)\n        {\n          if( a-c<=0 || b+c>chessBoardDimension)\n            break;\n          if(chessBoard[a-c][b+c]!=player )  \/\/left bottom\n            break;\n          else\n            d++;\n        }\n        for(c=1;c<5;c++)\n        {\n          if( a+c>chessBoardDimension || b-c<=0)\n            break;\n          if(chessBoard[a+c][b-c]!=player)  \/\/right bottom\n            break;\n          else\n            d++;\n        }\n\n        data7[a][b]=d%4; \/\/ "\/"\n        data8[a][b]=d\/4;\n\n      }\n    }\n  }\n}\n\n\/*\nget the best drop point\n*\/\nvoid  GetBestDropPoint( )\n{\n  long totalMark,maxMark=0;\n\n  long markTransform[5]={0,100,400,2000,10000};\n\n  byte m,n,p;\n  int mark;\n\n  long humanMaxMark=0;\n  long robotMaxMark=0;\n\n  CalGameSatus(PlayerRobot);\n\n  for(m=1;m<=chessBoardDimension;m++)\n  {\n    for(n=1;n<=chessBoardDimension;n++)\n    {\n      totalMark=0;\n\n      mark = data1[m][n]+4*data2[m][n];\n      totalMark+=  markTransform[mark];\n\n      mark = data3[m][n]+4*data4[m][n];\n      totalMark+=  markTransform[mark];\n\n      mark = data5[m][n]+4*data6[m][n];\n      totalMark+=  markTransform[mark];\n\n      mark = data7[m][n]+4*data8[m][n];\n      totalMark+=  markTransform[mark];\n\n      if(totalMark>maxMark)\n      {\n        robotBestDropPoint.X=m;\n        robotBestDropPoint.Y=n;\n        maxMark=totalMark;\n        robotMaxMark=maxMark;\n      }\n    }\n  }\/\/ robot player\n\n  \/\/ for humnan player\n  CalGameSatus(playerHuman);\n\n  for(m=1;m<=chessBoardDimension;m++)\n  {\n    for(n=1;n<=chessBoardDimension;n++)\n    {\n      totalMark=0;\n\n      mark = data1[m][n]+4*data2[m][n];\n      totalMark+=  markTransform[mark];\n\n      mark = data3[m][n]+4*data4[m][n];\n      totalMark+=  markTransform[mark];\n\n      mark = data5[m][n]+4*data6[m][n];\n      totalMark+=  markTransform[mark];\n\n      mark = data7[m][n]+4*data8[m][n];\n      totalMark+=  markTransform[mark];\n\n      if(totalMark>maxMark)\n      {\n        humanBestDropPoint.X=m;\n        humanBestDropPoint.Y=n;\n        maxMark=totalMark;\n        humanMaxMark=maxMark;\n      }\n    }\n  }\/\/ human player\n\n  if(humanMaxMark>robotMaxMark){ \/\/ defense or attack according to each maxMark\n      robotBestDropPoint.X=humanBestDropPoint.X;\n    robotBestDropPoint.Y=humanBestDropPoint.Y;\n\n  }\n\n}\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\n\n\/*\nwait human drop, when has dropped, human should press touch to tell robot.\n*\/\nvoid waitHumanDrop(){\n\n  while( SensorValue(humanPort) == 0 ){\n    wait1Msec(200);\n  }\n\n  PlaySound(soundBeepBeep);\n  return ;\n\n}\n<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"
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