#######################################################
Use the Vision Set to play Tic-Tac-Toe with Ned/Ned2
#######################################################
**V.1.1**
.. image:: /images/tictactoe/tictactoe.png
:alt: Play tic tac toe with ned
:width: 100%
:align: center
Difficulty: ``medium``
Time: ``~30 min``
.. note::
This tutorial is working from:
| The version v3.0.0 of the ned_ros_stack
| The version v3.0.0 of Niryo Studio
| The version v3.1.0 of PyNiryo
If you are using a Niryo One, please refer to `this tutorial `_.
Time has come to fight a worthy opponent, Ned, **at Tic-Tac-Toe**!
Or Ned2 for the hard mode!
Introduction
=======================================
This application uses our PyNiryo API, Ned/Ned2 as well as
our Vision Set. The image processing allows the robot to detect every object on the workspace,
used as the game board, and the AI makes Ned/Ned2 a fearsome opponent,
depending on the level of difficulty chosen at the beginning of every game.
Click `here `_ to download the Github repository to play Tic-Tac-Toe with Ned/Ned2.
.. raw:: html
Requirements
=======================================
- Ned (or a Ned2)
- The Vacuum Pump end effector
- 5 blue pawns and 5 green pawns
- The Vision Set as well as the workspace
- Optional: The slope from the Conveyor Belt
You can also customize your own workspace.
Set-up
=======================================
Setting up Ned
^^^^^^^^^^^^^^^^^^^^^
.. figure:: /images/tictactoe/ned_workspace_pawns.png
:alt: Overview Ned, its workspace and pawns
:width: 800px
:align: center
There are some variables you need to change in the **tictactoe_vision.py**
and **tic_tac_toe_config.yaml** files from the github repository:
In **tictactoe_vision.py**:
- | The IP address of your robot
In **tic_tac_toe_config.yaml**:
- | The workspace's name: start by calibrating the workspace with Niryo Studio. The workspace’s
name must be the same one as the one specified in the file tictactoe_vision.py (named by
default default_ws).
- | The observation pose: if your workspace is not in front of the robot, you will have to modify the
“observation_pose” variable so as to make the robot detect the four landmarks
on the workspace.
.. hint:: In order to set the observation pose, activate the learning mode, place the robot above the workspace so it can detect
the 4 landmarks, in the Pose panel of Niryo Studio, click **Set to current**. Now, the observation pose is stored and you just
have to copy the values in the **observation_pose** variable.
It is very important to firmly attach your robot, the slope and the workspace.
Setting up the slope
^^^^^^^^^^^^^^^^^^^^^
In case you use it, it is necessary to locate the slope before the game starts. In order to
do it, first launch the program with: ::
python3 tictactoe_vision.py
- Place the robot’s suction cup on the pawn at the bottom of the slope.
- Press enter.
You can also use the **--reset** argument in order to **modify the slope’s position**: ::
python3 tictactoe_vision.py --reset
or use the menu by using the **--menu** argument.
.. note:: If the slope’s position has changed since your last game, it will be
necessary to submit its new position to the robot.
How it works
=======================================
To implement Tic-Tac-Toe with Ned/Ned2, we are using the Vision Set to
picture the workspace. Then, the **pawns’ positions** in the workspace are
extracted thanks to **image processing functions**. Finally, objects are placed
in a **3×3 matrix** used as a game board.
With the algorithm and according to the chosen difficulty, the robot will
calculate its next move. A command will then be sent to the robot so as to make it place the pawn in the
right position.
This application is composed of several python files that implement different classes:
- | **tictactoe_vision.py** displays logs at the beginning, manages options and the slope position, and run the main loop which
uses the other files.
- | **game.py** implements the **TicTacToe** class, which provides all the calculation methods for the Tic-Tac-Toe game, and manages
the playing grid.
- | **robot_player.py** implements the **RobotPlayer** class, which provides all actions methods concerning Ned itself, such as
"pick_place_on_grid".
- | **object_detection.py** implements the **ObjectDetection** class, which manages both the display part and the objects detection part.
Features
=======================================
To launch the program, use: ::
python3 tictactoe_vision.py
This will start the Tic-Tac-Toe application with default settings, meaning:
- 1 game only
- You notify Ned/Ned2 you played your turn by moving it (you can move any joint you want)
- The AI difficulty is set to 5 out of 1000 (further explainations in the List Of Commands section)
- You are using the slope
Change settings
^^^^^^^^^^^^^^^
In order to **change those settings**, either you can:
- | directly change their value in the **tictactoe_vision.py** file, in the **param** dictionnary
under the line:
.. code-block:: python
if __name__ == '__main__':
- | or you can launch the program using the **--menu** argument with:
::
python3 tictactoe_vision.py --menu
That will allow you to choose a bunch of settings when launching the program. These settings will offer you the
possibility to change the way the game is played by the robot:
.. figure:: /images/tictactoe/launch_program_menu.png
:alt: Launch program with --menu option
:align: center
Other features
^^^^^^^^^^^^^^^
Our AI also has the following features:
- | The program is able to see if the Human player is cheating. In this case, it
will launch an animation and will then play its turn.
- | The difficulty can be adapted, from a never losing AI to an AI playing in a
random way (cf. the list of commands).
- | If the **--noslope** option is chosen, the robot will automatically clean the
workspace before each game or else the robot will put the pawns out of the
workspace.
- | Each time the robot analyzes the workspace, a window opens and shows the
image processing that the robot uses to locate the pawns.
List of commands
=======================================
.. note:: You can only use **one command** when launching the program.
{--menu | --m}
^^^^^^^^^^^^^^
::
python3 tictactoe_vision.py --menu
python3 tictactoe_vision.py --m
This command displays the settings menu.
{A NUMBER}
^^^^^^^^^^^^
::
python3 tictactoe_vision.py --105
Number is an **integer between 0 and 1000**. This command allows you to adjust
the AI’s random side. The AI is unbeatable if you set the difficulty to 0, and
it plays in an absolutely random way if the difficulty is set to 1000.
{--loop | -l}
^^^^^^^^^^^^^^
::
python3 tictactoe_vision.py --loop
python3 tictactoe_vision.py --l
This command triggers the relaunch of any ended game.
{--button | -b}
^^^^^^^^^^^^^^^^^
::
python3 tictactoe_vision.py --button
python3 tictactoe_vision.py --b
This command allows you to tell the robot your turn is done by pressing
a button plugged in Ned/Ned2's GPIO port.
{--red | -r}
^^^^^^^^^^^^^^^^^
::
python3 tictactoe_vision.py --red
python3 tictactoe_vision.py --r
This command allows you to tell the robot your turn is done by moving a red pawn in the workspace. You can place it under the 3x3 grid board.
Then, Ned/Ned2 will place this pawn on the first landmark, waiting for its turn.
{--noslope | -s}
^^^^^^^^^^^^^^^^^
::
python3 tictactoe_vision.py --noslope
python3 tictactoe_vision.py --s
This command gives you the ability to use the workspace instead of the slope to store the robot’s
pawns. Before using this command, you must place the
robot’s green pawns on the workspace at the beginning of the game (you can also
add them in the storing slope during the game). When this setting is on, the robot
will automatically tidy the workspace at the beginning of each game.
.. note:: This command only works with round pawns since the square ones are too
big to be placed on the workspace at the beginning.
{--reset}
^^^^^^^^^^^^^^^^^
::
python3 tictactoe_vision.py --reset
Reset the position of the slope, that is stored in a file **tic_tac_toe_config.yaml**.
Launching a game
=======================================
Launching a game with standard settings
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
- **If you use the slope:**
Start by putting five green pawns on Ned’s slope, then launch: ::
python3 tictactoe_vision.py
.. note:: When you play for the first time, or when the slope has been moved, Ned will have to know its new position. Check the **Setting-up the slope** part
of this application to do that.
- **If you don't use the slope:**
Start by putting five round green pawns on the side of the workspace dedicated to the pawns, then launch: ::
python3 tictactoe_vision.py --noslope
Then a graphic interface will appear. It displays:
.. figure:: /images/tictactoe/graphical_interface.png
:align: center
- What Ned/Ned2 saw the last time it watched the workspace from above
- Several grids gathering information about blue and green pawns positions
Moreover, a grid will also be displayed in the program terminal, to let you know where Ned/Ned2
saw each pawn, like:
+---+---+---+---+
| | B | | B |
+---+---+---+---+
| G | | G | |
+---+---+---+---+
| G | | | |
+---+---+---+---+
| G | | | |
+---+---+---+---+
The left part is where Ned/Ned2's pawns are stored, and the 3x3 grid on top right corner is the Tic-Tac-Toe board.
If you start the game
^^^^^^^^^^^^^^^^^^^^^^^
- Place a pawn on the workspace, wherever you want
- Once the pawn is placed, indicate Ned/Ned2 your turn is over, according to the chosen option for the turn_end argument. Ned/Ned2 will scan the workspace and play its turn.
- Repeat the operation until the end of the game!
When the game is over, Ned/Ned2 will go back to its standby position.
If Ned/Ned2 starts the game
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
First, you have to indicate Ned/Ned2 it should start, according to the chosen option for the turn_end argument.
It will scan the workspace and place its first pawn. Once your pawn is on the workspace,
move the robot’s arm again and so on, until the end of the game.