从0自学C#07--螺旋队列和螺旋运动

基于螺旋队列逻辑的螺旋运动实现

螺旋队列算法的逆向方法，控制两轴马达按螺旋轨迹运动，如下图。

1.螺旋队列算法分析

下图是螺旋队列。设1的坐标是（0，0），x方向向右为正，y方向向下为正，例如，7的坐标为（-1，-1），2的坐标为（1，0）。编程实现输入任意一点坐标（x，y），输出所对应的数字！（转自网络）

每圈最大值max=(2*c+1)(2*c+1)，c为由内往外的圈数。

这些基准值与max之间的差分别是1C（上边），3C（左边），5C（下边），7C（右边）（C表示当前圈数），在上边和下边，y坐标表示（或等于）圈数（即C=y），而在左边和右边，x坐标表示（或等于）圈数（即C=x）。因此前面提到的差值又可用坐标表示成1y，3x，5y，7x。

代码实现：

private static Object spiral(int x, int y) 
    {  
        int c = max(abs(x), abs(y));// 当前坐标所在圈 
        int max = (c * 2 + 1) * (c * 2 + 1);// 当前圈上最大值 

        if (y == -c) { // 上边 
            return max + (x + y);  
        } else if (x == -c) {// 左边 
            return max + (3 * x - y);  
        } else if (y == c) {// 下边 
            return max + (-x - 5 * y);  
        } else {// 右边 
            return max + (-7 * x + y);  
        }  
    }  

2.螺旋运动

首先自定义坐标运算，表示PD的逻辑位置。

struct Coordinate
    {
        public int X;
        public int Y;

        public Coordinate(int a, int b)
        {
            X = a;
            Y = b;
        }

        public static bool operator ==(Coordinate loc1, Coordinate loc2)
        {
            return (loc1.X == loc2.X) && (loc1.Y == loc2.Y);
        }

        public static bool operator !=(Coordinate loc1, Coordinate loc2)
        {
            return !(loc1 == loc2);
        }
        public override bool Equals(object loc)
        {
            return this == (Coordinate)loc;
        }

        public override int GetHashCode()
        {
            return base.GetHashCode();
        }

        public static Coordinate operator -(Coordinate loc1, Coordinate loc2)
        {
            return new Coordinate(loc1.X - loc2.X, loc1.Y - loc2.Y);
        }

        public static Coordinate operator +(Coordinate loc1, Coordinate loc2)
        {
            return new Coordinate(loc1.X + loc2.X, loc1.Y + loc2.Y);
        }

        public override string ToString()
        {
            return "(" + X + "," + Y + ")";
        }
    }

然后逆向方法，根据步数算出x，y坐标。

public Coordinate ToLocation(int step, int pulse)
        {
            int c = (int)Math.Ceiling((Math.Sqrt(step) - 1) / 2);
            int max = (int)Math.Pow(2 * c + 1, 2);
            int x, y;

            y = -c;//top
            x = -(max + y - step);
            if (Math.Abs(x) <= Math.Abs(y))
            {
                this.location.X = x * pulse;
                this.location.Y = y * pulse;
                return this.location;
            }

            x = -c;//left
            y = max + 3 * x - step;
            if (Math.Abs(y) <= Math.Abs(x))
            {
                this.location.X = x * pulse;
                this.location.Y = y * pulse;
                return this.location;
            }

            y = c;//bottom
            x = max - 5 * y - step;
            if (Math.Abs(x) <= Math.Abs(y))
            {
                this.location.X = x * pulse;
                this.location.Y = y * pulse;
                return this.location;
            }

            x = c;//right
            y = -(max - 7 * x - step);
            this.location.X = x * pulse;
            this.location.Y = y * pulse;

            //LocChange();
            return this.location;
        }

最后，根据坐标的变化实现运动。

public void Start()
        {
            Coordinate moveToLoc, currentLoc, deltaLoc; 

            currentLoc = ToLocation(1, 0);
            logInfo = string.Format("{0}: {1}{2}.", DateTime.Now.ToString("HH:mm:ss"), "the start location is ", currentLoc.ToString());
            log.SaveLogToTxt(logInfo);

            logInfo = string.Format("{0}: {1}.", DateTime.Now.ToString("HH:mm:ss"), "begin to move... ");
            log.SaveLogToTxt(logInfo);

            for (int step = 1; step <= this.roMaxStep[0]; step++)
            {
                moveToLoc = ToLocation(step + 1, this.roPulse[0]);
                deltaLoc = moveToLoc - currentLoc;

                logInfo = string.Format("{0}: step{1}{2}{3}...", DateTime.Now.ToString("HH:mm:ss"), step + " ", "move to ", moveToLoc.ToString());
                log.SaveLogToTxt(logInfo);

                bool moveX = card.MoveX(deltaLoc.X);
                bool moveY = card.MoveY(deltaLoc.Y);

                if (moveX == false || moveY == false)
                    //throw error
                    return;

                currentLoc = moveToLoc; 
                //if RES > RoRESTarget
                //break;
            }

            logInfo = string.Format("{0}: {1}.", DateTime.Now.ToString("HH:mm:ss"), "move done");
            log.SaveLogToTxt(logInfo);

            logInfo = string.Format("{0}: {1}{2}.", DateTime.Now.ToString("HH:mm:ss"), "the current location is ", currentLoc.ToString());
            log.SaveLogToTxt(logInfo);
        }