An autonomous system designed for a single player to compete against a Chess AI. The AI's pieces move automatically using a hidden electromagnet system, while the player's moves are detected by hall-effect sensors embedded under each square.
Tournament-standard size chessboard
Advanced chess AI with robust decision-making
Hall-effect sensors (one under each square)
Creating an autonomous chess-playing system presented several key challenges:
First Chess Robot Drawing
We developed an integrated system featuring:
Two-Axis Gantry System Assembly
The mechanical subsystem was designed to move pieces across the board with precision and reliability:
The system architecture consists of three main components working together:
Software: Python controls game flow using the Python Chess Library, handling move validation and AI integration. The Chess Drive Class translates chess moves to motor commands, while the MoveSensor class interprets player actions from the hall-effect sensor data.
Electrical: An 8×8 Hall Effect Sensor Matrix uses two CD4051BE multiplexer/decoders to read sensor values, while the electromagnet is controlled via a 2N3904 NPN switching transistor. Two NEMA 17 Stepper motors connected to A4988 drivers control the gantry movement.
System Logic
The project was developed over three main sprints:
Sprint 1: Concept development, initial testing with a DC motor and temporary electromagnet, and exploration of LED matrix technology.
Sprint 2: First draft of the box design, iteration on 3D-printed mounts, and transition from a 2×2 test matrix to PCB design for the full 8×8 sensor matrix.
Sprint 3: Final assembly of the gantry system, completion of the hall effect sensor matrix, and integration of all subsystems. This sprint included significant troubleshooting of motor control issues and optimization of movement parameters.
Hall Effect Sensor Matrix Schematic