[prashnts]

It looks amazing! How is actuator travel distance which compensates differences between the heights of the chess pieces implemented?

[joey_meyer]

It's hard-coded at the moment. I just measured the height of each piece and stored the values.

[mentos]

To me it looked like the clearance height was the same for all pieces. Is it actually dynamically calculated for each move?

[joey_meyer]

Ah yes clearance height is the same for all pieces, the servo raises the piece to the piece height + the "resting" height. Relevant code can be found here:

https://github.com/joeymeyer/raspberryturk/blob/master/raspb...