MoveList* MaxMove3 (Disc board [BOARD_SIZE][BOARD_SIZE],int current_player) {
Disc copy [BOARD_SIZE][BOARD_SIZE];
int temp_score =0, max_score=-50;
MoveList* best_move = NULL;
MoveList* curr_suggested_move =NULL;
MoveListList* moves_for_all_discs_this_turn = NULL, *curr =NULL;
moves_for_all_discs_this_turn = collect_all_moves_for_player(board, current_player);
curr = moves_for_all_discs_this_turn;
while (curr !=NULL)
{
copy_board2(board, copy);
curr_suggested_move = curr->data;
make_turn(copy,curr_suggested_move);
temp_score = calculate_score_for_board2(copy, 1, current_player*(-1));
if ((-1)*temp_score > max_score)
{
max_score = (-1)*temp_score;
best_move =curr_suggested_move;
}
curr = curr->next;
}
curr= NULL;
return best_move;
}
int calculate_score_for_board2(Disc board [BOARD_SIZE][BOARD_SIZE],int depth, int current_player) {
int is_max=0;
Disc copy [BOARD_SIZE][BOARD_SIZE];
int temp_score =0, max_score=-50;
MoveList* curr_suggested_move =NULL;
MoveListList* moves_for_all_discs_this_turn = NULL, *curr =NULL;
is_max = (current_player == global_current_player) ? 1 :-1;
if (depth >global_max_depth)
{
int temp =0;
temp = get_discs_board_score_for_player(board, current_player);
return is_max*temp;
}
moves_for_all_discs_this_turn = collect_all_moves_for_player(board, current_player);
if (moves_for_all_discs_this_turn==NULL)
{
return (-40)*(is_max);
}
curr = moves_for_all_discs_this_turn;
while (curr !=NULL)
{
copy_board2(board, copy);
curr_suggested_move = curr->data;
make_turn(copy,curr_suggested_move);
depth++;
temp_score = calculate_score_for_board2(copy, depth, current_player*(-1));
if ((is_max)*temp_score > max_score)
{
max_score = (is_max)*temp_score;
}
curr = curr->next;
}
return max_score;
}
int main(void)
{
//Sväng inte
turn = 0;
//Initiera spi, pwm och display
spi_init();
pwm_init();
init_display();
update();
claw_out();
_delay_ms(500);
claw_in();
//Aktivera global interrupts
sei();
//Initiera regulator
clear_pid();
init_pid(80, -80);
//update_k_values(40, 12, 22);
update_k_values(40, 170, 20);
// Pekare till aktuell position i bufferten
tmp_sensor_buffer_p = 0x00;
// Flagga som avgör huruvida vi är i början av meddelande
sensor_start = 1;
// Anger aktuell längd av meddelandet
tmp_sensor_buffer_len = 0x00;
//Initiera standardsträng på display
init_default_printf_string();
clear_screen();
update();
while(1)
{
uint8_t has_comm_data, has_sensor_data, comm_data, sensor_data;
do_spi(&has_comm_data, &has_sensor_data, &comm_data, &sensor_data);
//Undersök och hantera meddelanden från slavarna
if(has_comm_data) decode_comm(comm_data);
if(has_sensor_data) decode_sensor(sensor_data);
//Vid manuell sväng eller 180 grader måste make_turn anropas
if(!autonomous || turning_180)
{
if(turn_dir)
{
make_turn_flag = 1;
make_turn(turn_dir);
if(!make_turn_flag)
{
turn_dir = 0;
stop_motors();
}
}
}
//Kör regulatorn
if (regulator_enable)
{
regulator(sensor_buffer[IR_RIGHT_FRONT] - sensor_buffer[IR_RIGHT_BACK],
sensor_buffer[IR_LEFT_FRONT] - sensor_buffer[IR_LEFT_BACK],
sensor_buffer[IR_RIGHT_FRONT] - sensor_buffer[IR_LEFT_FRONT],
sensor_buffer[IR_RIGHT_BACK] - sensor_buffer[IR_LEFT_BACK]);
regulator_enable = 0;
}
}
}
