Viren Bajaj and Luka Jelenak
https://www.youtube.com/watch?v=KWnk6U6LCTM&t=24s.
And take a look at our presentation attached as cozmo.pdf
The goal of this project is to succesfully have two cozmos play each other in a game of tic tac toe without any human intervention. This means the two cozmos would have to be able to communicate, know the positions they want to go to, and be able to choose which move would be the best.
For our game, we assumed the the board would be made up of 20 mm x 20 mm squares with a custom object marker in the bottom left corner, and one in the top right corner. From these markers, when cozmo sees them, he would be able to find the relative positions of the board, and the chips, and a start position. We had a file called MakeMap.py which did all the mapping.
The cozmos would go to their start positions. Then, using code written by Jordan, one cozmo would decide which move he would make based on the state of the game using our GameEst.py file, which contained an estimator in which you could vary the AI intelligence.
Then using our State Machine Program, in either GamePlayX.fsm or GamePlayO.fsm based on which cozmo is playing as which player. The FSM will make cozmo go to start before each move, and while one cozmo is waiting for communication, the other is choosing a move, executing it after catching a chip, and finally returning to start before telling the other cozmo which move was made and where it was made. The paths that cozmo executes is calculated and executed by professor Touretzky's path planner.
We had to have our own local version of simple_cli, since the general one imported some premade custom object markers, which took precedence over the markers we used, and thus had incorrect values used for the mapping.