task main(){
while(true) {
moveR();
moveL();
moveS();
moveB();
}
}
inline void pawn_move(struct position *pos, struct move_array *m, unsigned char pawns)
{
uint64_t pawn_pos = pos->pieces[pawns];
uint64_t moves;
unsigned char index_to;
switch (pawns & COLOR) {
case WHITE:
// nonpromotion forward moves
moves = moveN(pawn_pos) & ~pos->allpieces & ~rank[7];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_move(m, index_to + S, index_to, pawns, nopiece_n);
moves &= notlinboard[index_to];
} else {
break;
}
}
// forward 2 moves
pawn_pos = pos->pieces[pawns];
moves = moveN(moveN(pawn_pos) & ~pos->allpieces) & ~pos->allpieces & rank[3];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_move_forward2(m, index_to + S + S, index_to, pawns, nopiece_n);
moves &= notlinboard[index_to];
} else {
break;
}
}
// nonpromotion attack west moves
pawn_pos = pos->pieces[pawns];
moves = moveNW(pawn_pos) & (pos->bpieces | ep_squares[1][pos->ep]) & ~file[7] & ~rank[7];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_move(m, index_to + SE, index_to, pawns, find_piece_ep(pos, index_to));
moves &= notlinboard[index_to];
} else {
break;
}
}
// nonpromotion attack east moves
pawn_pos = pos->pieces[pawns];
moves = moveNE(pawn_pos) & (pos->bpieces | ep_squares[1][pos->ep]) & ~file[0] & ~rank[7];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_move(m, index_to + SW, index_to, pawns, find_piece_ep(pos, index_to));
moves &= notlinboard[index_to];
} else {
break;
}
}
pawn_pos = pos->pieces[pawns];
if ((pawn_pos & rank[6]) == 0) { // no promotion possibilities
return;
} else {
// promotion forward moves
moves = moveN(pawn_pos) & ~pos->allpieces & rank[7];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_promotion_move(m, index_to + S, index_to, pawns, nopiece_n);
moves &= notlinboard[index_to];
} else {
break;
}
}
// promotion attack west moves
pawn_pos = pos->pieces[pawns];
moves = moveNW(pawn_pos) & pos->bpieces & ~file[7] & rank[7];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_promotion_move(m, index_to + SE, index_to, pawns, find_piece(pos, index_to));
moves &= notlinboard[index_to];
} else {
break;
}
}
// promotion attack east moves
pawn_pos = pos->pieces[pawns];
moves = moveNE(pawn_pos) & pos->bpieces & ~file[0] & rank[7];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_promotion_move(m, index_to + SW, index_to, pawns, find_piece(pos, index_to));
moves &= notlinboard[index_to];
} else {
break;
}
}
}
break;
default: // black
// nonpromotion forward moves
moves = moveS(pawn_pos) & ~pos->allpieces & ~rank[0];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_move(m, index_to + N, index_to, pawns, nopiece_n);
moves &= notlinboard[index_to];
} else {
break;
}
}
// forward 2 moves
pawn_pos = pos->pieces[pawns];
moves = moveS(moveS(pawn_pos) & ~pos->allpieces) & ~pos->allpieces & rank[4];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_move_forward2(m, index_to + N + N, index_to, pawns, nopiece_n);
moves &= notlinboard[index_to];
} else {
break;
}
}
// nonpromotion attack west moves
pawn_pos = pos->pieces[pawns];
moves = moveSW(pawn_pos) & (pos->wpieces | ep_squares[0][pos->ep]) & ~file[7] & ~rank[0];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_move(m, index_to + NE, index_to, pawns, find_piece_ep(pos, index_to));
moves &= notlinboard[index_to];
} else {
break;
}
}
// nonpromotion attack east moves
pawn_pos = pos->pieces[pawns];
moves = moveSE(pawn_pos) & (pos->wpieces | ep_squares[0][pos->ep]) & ~file[0] & ~rank[0];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_move(m, index_to + NW, index_to, pawns, find_piece_ep(pos, index_to));
moves &= notlinboard[index_to];
} else {
break;
}
}
pawn_pos = pos->pieces[pawns];
if ((pawn_pos & rank[1]) == 0) { // no promotion possibilities
return;
} else {
// promotion forward moves
moves = moveS(pawn_pos) & ~pos->allpieces & rank[0];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_promotion_move(m, index_to + N, index_to, pawns, nopiece_n);
moves &= notlinboard[index_to];
} else {
break;
}
}
// promotion attack west moves
pawn_pos = pos->pieces[pawns];
moves = moveSW(pawn_pos) & pos->wpieces & ~file[7] & rank[0];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_promotion_move(m, index_to + NE, index_to, pawns, find_piece(pos, index_to));
moves &= notlinboard[index_to];
} else {
break;
}
}
// promotion attack east moves
pawn_pos = pos->pieces[pawns];
moves = moveSE(pawn_pos) & pos->wpieces & ~file[0] & rank[0];
for (int i = 0; i < 8; i++) {
if ((index_to = ffsll(moves)) != 0) {
index_to--;
add_promotion_move(m, index_to + NW, index_to, pawns, find_piece(pos, index_to));
moves &= notlinboard[index_to];
} else {
break;
}
}
}
break;
}
}
void speedRun(void)
{
resetSpeedProfile();
useIRSensors = 1;
useSpeedProfile = 1;
int nextDir[100] = {0};
int length = 0;
xPos = 0;
yPos = 0;
orientation = 'N';
// Close off untraced routes
closeUntracedCells();
updateDistance();
visualizeGrid();
// Simulate path
for (int i = 0; !atCenter(); i++) {
if (orientation == 'N') {
while (!hasNorth(block[yPos][xPos]) && (distance[yPos + 1][xPos] == distance[yPos][xPos] - 1)) {
length++;
yPos++;
}
}
else if (orientation == 'E') {
while (!hasEast(block[yPos][xPos]) && (distance[yPos][xPos + 1] == distance[yPos][xPos] - 1)) {
length++;
xPos++;
}
}
else if (orientation == 'S') {
while (!hasSouth(block[yPos][xPos]) && (distance[yPos - 1][xPos] == distance[yPos][xPos] - 1)) {
length++;
yPos--;
}
}
else if (orientation == 'W') {
while (!hasWest(block[yPos][xPos]) && (distance[yPos][xPos - 1] == distance[yPos][xPos] - 1)) {
length++;
xPos--;
}
}
distances[i] = length;
nextDir[i] = getNextDirection();
length = 0;
}
/* Print values
for (int i = 0; distances[i]; i++)
printf("distances[%d] = %d | nextDir[%d] = %d\n\r", i, distances[i], i, nextDir[i]);
*/
orientation = 'N';
// Run path
for (int i = 0; distances[i] != 0; i++) {
moveForward(distances[i]);
if (nextDir[i] == MOVEN) {
moveN();
}
else if (nextDir[i] == MOVEE) {
moveE();
}
else if (nextDir[i] == MOVES) {
moveS();
}
else if (nextDir[i] == MOVEW) {
moveW();
}
}
useSpeedProfile = 0;
turnMotorOff;
}
