Interactive Automated Chess Set Interactive Automated Chess Set

Interactive Automated Chess Set - PowerPoint Presentation

giovanna-bartolotta . @giovanna-bartolotta
Uploaded On 2016-03-01

Interactive Automated Chess Set - PPT Presentation

Group 4 Brett Rankin Paul Conboy Samantha Lickteig Stephen Bryant Goals To create a portable interactive chess board where gameplay will be fully automated Each piece will be moved by a claw suspended above the board ID: 237821

grid chess hall effect chess grid effect hall board module sensor gripper motor interface player led test squares piece design sensors stepper




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Interactive Automated Chess Set

Group 4: Brett Rankin Paul Conboy Samantha Lickteig Stephen BryantSlide2


To create a portable interactive chess board where gameplay will be fully automated.Each piece will be moved by a claw suspended above the boardPerson vs. ComputerSlide3


90% chess piece movement accuracyTotal weight <100 lbs12”x12” playing gridSlide4

Features and FunctionsLED lights will be used to light up the squares on the boardRGB, individual squares, communication with the user(s)Slide5

Features and FunctionsPlayer modes:1.) Player vs. Computer2.) Player vs. Player3.) Computer vs. ComputerSlide6

Block DiagramSlide7

Physical Chess TableSlide8

MechanicalThree Motion AxisOne Gripper Sliding A Frame StructureOverhead GantryStability and Consistent Repeatable Motion Control NeededSlide9

Gripper ClawGripper with Servo GoalsPurchase gripper and servo this was not a design itemOne Micro Controller I/O output to command gripper open and closed Pulse width command signal with a 20 ms period. The pulse on time will very to open and close the gripper.Slide10

Stepper Motors

Two Motor Types both 12 Volt Bi-polar Stepper Motors.Torque Value for X & Y Axes rated at 2.4Kg*cmPlan to Measure Force, Coefficient of Static and Dynamic Friction of our system Slide11

Motor ControlDesign Goals Single Modular Design for all Three Axes

Easy to bread board Avoid surface mount technologyMust be practical to install heat sinkMinimize micro controller I/O countBased on proven reference designSlide12

Motor Control Schematic


Stepper ResolutionEach step equals 1.8 degrees of angular displacement.

200 steps per revolutionNo feedback needed with stepper motorsX and Y axes have the same size gears and motors, so the scaling is the sameZ axis needs one half revolution of the large gear.1REV = 1.978in 1Step ≈ .01inSlide14

Motion Control CircuitsX and Y Axes Over travel switchesE-Stop Switch

X,Y and Z Axes Home Sensors to provide the micro controller with a starting reference.Gripper Open and or Closed sensorHome and Gripper position sensors Digital Discrete InputsSlide15

LED GridPurpose:The grid of LEDs have a dual function, to add a lighting aesthetic to the board and visual cues for the player based on what is happening in the game. The board itself does not have painted on black and white squares, like most chess boards, but rather it has the LEDs under the board turn on or off in a checkerboard pattern to make the distinction between squares.

The visual cues the LEDs give the player is to change color based on whether or not a piece is in danger of being taken, if one of the players are in check, or if a pawn has changed into another piece via the opponent’s side of the board.Slide16

LED GridParts to use:MAX7219 8X8 grid LED Driver Plcc6 3 in 1 SMD LEDSlide17

LED GridSlide18

Hall Effect Sensor GridPurpose:For the microcontroller to understand where the chess pieces are Hall Effect sensors are put under the board and grave yard.The sensors will read whether or not the chess piece, which has a magnet embedded into it, is on particular squares. Slide19

Hall Effect Sensor GridParts to use:4 to 16 Demultiplexer8 to 1 MultiplexerUni-polar linear Hall Effect sensors

4 way Discrete Wire-to-Board surface mounted terminal blocks1k resistorsSchottky DiodeSlide20

Hall Effect Sensor GridSpecifications:4 to 16 Demultiplexer(HEF4514): VDD  5VDC A0

-A3, EL = 5VDC O0-O15  5VDC E(NOT), VSS= 0V8 to 1 Multiplexer(74HC151N)2.0  VCC,S2-S









E(NOT) = 0V


-polar linear Hall Effect sensors(OH090U):






= 5VDC

Magnetic Hysteresis = 10 to 100 GaussSlide21

Hall Effect Sensor Grid

Is an Optocoupler Needed?:

4 to 16 Demultiplexer(HEF4514):




will be required to communicate with Microcontroller due to a voltage requirement of

the demultiplexer being

greater than 3.3VDC.

8 to 1 Multiplexer(74HC151N)

Can directly communication with the Microcontroller due to 3.3VDC being within

the multiplexer’s operating range.Slide22

Hall Effect Sensor GridSlide23

Hall Effect Sensor GridHall Effect Sensor Modular DesignSlide24

Hall Effect Sensor GridSlide25

Hall Effect Sensor GridSlide26

User InterfaceDisplays messagesPrompts the userInforms the userWill have buttons for input selections

Serial LCD Module 20x4 Blue with White Backlight for


Microcontroller RequirementsMust run an onboard minimalist chess engineLarge development communityEasy access to dev


Microcontroller Specifications60 I/O pins 4 hardware timers4 USART

60 KB flash4 KB SRAMSlide29

Xmega128A18KB SRAM78 I/O pins8 UART for Serial8 Timers for PWM128KB Flash memoryAVRFreaks support communityAtmel Tutorials, Atmel software suiteSlide30

Development ToolsA1Xplained BoardFor testing individual componentsAtmel StudioUSB gatewayHad to program using Atmel FLIP

No debuggingSlide31

In System ProgrammingOrdered an AVR-ISP-MK2Program in system with PDIAlso has debugging capabilitiesSlide32


Main ModuleSlide34

Main ModuleUse only high level method calls Describes high level gameplay processOrchestrates interaction between I/O and EngineTranslates “moves” between chess engine and I/O module representationsSlide35

Chess ModuleSlide36

Chess ModuleContains internal state of chess gameAccepts player moves and creates AI movesShould use < 4 KB RAM

Micro-Max open source chess engineSmallest chess engine in the worldOur goal was not to understand, but to interface.


I/O ModuleSlide38

I/O ModuleContains functions to interface with individual I/O devicesExposes high level interface to main moduleSlide39

Motor ControllerAll motor I/O functions grouped togetherHigh level interface including “move piece”Slide40

Software ProgressProgramed A1Xplained over USBCreated scaffolding for whole projectPorted and created interface to chess

engineHave claw servo workingWe have single stepper motor to moveCreated test suite for individual component testingGot LCDs working with ArduinoSlide41

Anticipated ProblemsMotor controllerCurrently runs with 1 of 4 wires disconnectedChanging I/O configurations as we goRepeatability

Integration issuesActually putting everything on the boardSlide42

Test PlanWe have developed a written test planAcceptance Test Plan (ATP) where the Acceptance Test Results (ATR) are the final test resultsSlide43

Budget to DateSlide44


Igus Allied ElectronicsSlide45

$346.90Total Spent to Date Slide46

Total Progress