從0自學C#07--螺旋隊列與螺旋運動

基於螺旋隊列邏輯的螺旋運動實現

螺旋隊列演算法的逆向方法，控制兩軸馬達按螺旋軌跡運動，如下圖。

1.螺旋隊列演算法分析

下圖是螺旋隊列。設1的座標是（0，0），x方向向右為正，y方向向下為正，例如，7的座標為（-1，-1），2的座標為（1，0）。程式實現輸入任一點座標（x，y），輸出所對應的數字！ （轉自網路）

每圈最大值max=(2*c+1)(2*c+1)，c為由內往外的圈數。

這些基準值與max之間的差分別是1C（上邊），3C（左邊），5C（下邊），7C（右邊）（C表示當前圈數），在上邊和下邊，y坐標表示（或等於）圈數（即C=y），而在左邊和右邊，x座標表示（或等於）圈數（即C=x）。因此前面提到的差值又可用座標表示成1y，3x，5y，7x。

程式實作：

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.螺旋運動

先自訂座標運算，表示PD的邏輯位置。

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 + ")";
        }
    }

然後逆向方法，依步數算出x，y座標。

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;
        }

最後，根據座標的變化實現運動。

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);
        }

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