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The crafty chess program modified to publish data over IPC. A robot will pick up these IPC messages to play in the real world.

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Modified Crafty Engine
Version:  23.3
Documentation: http://www.cis.uab.edu/hyatt/craftydoc.html

Changes:
Added named pipes to communicate with crafty engine
Ach-ed it

Compile:
make linux

Run:
./crafty

ACH
------------
You play the game with crafty, move made with the PGN format.
Crafty publishes on two ach channels.

Channel 1: Name: crafty, Type: Somatic__Crafty
string move - char[10], next move in the extended PGN format. (Ex. Pd3d4, Qd1h5...)
byte boardstate - signed char[64], boardstate in the internal crafty format
After d4, board state would look like this - 
   4    2    3    5    6    3    2    4 
   1    1    1    0    1    1    1    1 
   0    0    0    0    0    0    0    0 
   0    0    0    1    0    0    0    0 
   0    0    0    0    0    0    0    0 
   0    0    0    0    0    0    0    0 
  -1   -1   -1   -1   -1   -1   -1   -1 
  -4   -2   -3   -5   -6   -3   -2   -4 


Channel 2: Name: token, Type: Somatic__Token
vector iattr - int[2], move start location to end location

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The crafty chess program modified to publish data over IPC. A robot will pick up these IPC messages to play in the real world.

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