// Go home and retrieve disk then move to center
void load_disk(void)
{
if (digitalRead(ACTUATOR_LIMIT) == HIGH) // Check if a disk is already on the actuator
{
delay(50); // debounce
if (digitalRead(ACTUATOR_LIMIT) == HIGH)
{
get_disk(); // No disk detected so we load one
}
}
findCenter();
delay(500);
place_disk();
}
void loop()
{
while (Serial.available()) // If serial data is available on the port
{
inByte = (char)Serial.read(); // Read a byte
if (echo) Serial.print(inByte); // If the scho is on then print it back to the host
if (inByte == '\r') // Once a /r is recvd check to see if it's a good command
{
if (echo) Serial.println(); // Dummy empty line
if (inData == "up") lift_arm();
else if (inData == "downs") down_seek(50, 0); // Lower arm until it finds bottom
else if (inData == "down") down(50, ARM_DN_POSITION); // Blindly lower arm
else if (inData == "pump on") pump(ON); // Start pump
else if (inData == "pump off") pump(OFF); // Stop pump
else if (inData == "vent") pump_release(); // Stop pump and vent the vacuum
else if (inData == "left") baseLeft(16); // Move base to the left
else if (inData == "center") findCenter(); // Move base to the right
else if (inData == "right") baseRight(BASE_CENTER_POSITION);// Move base to the right
else if (inData == "stop") baseStop(); // Stop base
else if (inData == "home") left_home(); // Mode base left until it finds home
else if (inData == "status") stats(); // Show current status
else if (inData == "stats") stats(); // Show current stats
else if (inData == "get disk") get_disk(); // Macro to get disk and lift to top
else if (inData == "load disk") load_disk(); // Macro to get disk and move to center
else if (inData == "unload disk") unload_disk(); // Macro to get disk and move to center
else if (inData == "place disk") place_disk(); // Macro to lower disk into tray
else if (inData == "debug on") debug_mode = true; // turn on debug mode, prints encoder values
else if (inData == "debug off") debug_mode = false; // Turn off debug mode
else if (inData == "echo on") echo = true; // Turn on echo mode
else if (inData == "echo off") echo = false; // Turn off echo mode
else // The string wasn't recognized so it was a bad command
{
Serial.print("Error, Unknown Command: "); // Show the error
Serial.println(inData); // Echo the command
}
inData = ""; // Clear the buffer (string)
if (echo) prompt(); // reprint the prompt
}
else inData += inByte; // If it's not a /r then keep adding to the string (buffer)
}
}
// min
int min_node(int depth, int side, XY *move)
{
int best = INFINITY, value;
int nmoves;
XY moves[MOVENUM], opp[MOVENUM];
int pre_board[8][8];
int i;
if (depth == DEPTH)
return eval_func();
// 手を生成
nmoves = generate_moves(side, moves);
// 手がないとき
if (nmoves == 0)
{
if (generate_moves(-side, opp) == 0) // 相手もおけないときは終了
return get_terminal_value();
else // 違うときはパス
moves[nmoves++] = PASSMOVE;
}
// たどっていく
for (i = 0; i < nmoves; i++)
{
memcpy(pre_board, board, sizeof(board)); // 盤面の保存
place_disk(side, moves[i]); // 一手進める
// 再帰(recursive)
value = max_node(depth + 1, -side, move);
memcpy(board, pre_board, sizeof(board)); // 戻す
// 値の更新
if (value <= best)
{
best = value;
if (depth == 0)
*move = moves[i];
}
}
return best;
}
int main(int argc, char **argv)
{
const int human_side = (argc >= 2) ? atoi(argv[1]) : 0; // 先攻と後攻の選択
XY moves[MOVENUM];
init_board(); // 盤面の初期化
print_board(); // 盤面の表示
srand((unsigned)time(NULL)); // 乱数列の初期化
int turn;
for (turn = 1;; turn *= -1) // ターンを交代
{
XY nextmove;
// どちらも置けなくなったときは終了
if (generate_moves(turn, moves) == 0
&& generate_moves(-turn, moves) == 0)
break;
if (turn == human_side)
man_player(turn, &nextmove);
else
com_player(turn, &nextmove);
// パスかどうかの判定
if (nextmove.x != PASSMOVE.x && nextmove.y != PASSMOVE.y)
{
printf("%s -> %c%c\n\n",
(turn == BLACK ? "BLACK" : "WHITE"),
'a' + nextmove.x, '1' + nextmove.y);
place_disk(turn, nextmove); // ディスクの設置
print_board(); // 盤面の表示
}
}
show_result(); // 結果の表示
return 0;
}
int main(int argc, char **argv)
{
srand((unsigned) time(NULL));
int board[8][8];//グローバル変数ではなく、いちいち渡すことに
const int random_side = (argc >= 2) ? atoi(argv[1]) : 0;//MANの先攻後攻の決定
init_board(board);
int turn;
int pass=0;
for (turn = 1;; turn *= -1) {//先手の時はturn=1,後手の時はturn=-1
print_board(board);
Pair legal_moves[60];//合法手を全て収納するための配列
const int nmoves = generate_all_legal_moves(turn, legal_moves,board);//空きマス0能時にnamoves=-1を返す ←一回目のここで既に何かミスってる
if (nmoves == -1) break; // no empty square→ゲーム終了
if (nmoves == 0) {
pass++;
printf("turn = %d, move = Pass\n", turn);//パスの処理
if(pass>=2){
break;
}
continue;
}else{//passの初期化
pass=0;
}
Pair move;
if (turn == random_side) {//人間側の操作のとき。com同士ならこれはおこらない
move = legal_moves[rand()%nmoves]; //ランダム選択
assert(is_legal_move(turn,move,board));
} else {//COM側の操作
move = goodmove(turn,board);//turnは少なくとも必要
assert(is_legal_move(turn,move,board));//念のため。最適解がちゃんとlegalmoveか確認
}
place_disk(turn, move,board);//moveをそもそも受け取れていなかった
printf("turn = %d, move = %c%c\n", turn, 'a' + move.x, '1' + move.y);
}//breakするまでfor文は繰り返す
judge(random,board);//先攻か後攻かを返す
return 0;
}
