Self-study C#07 from 0--Spiral queue and spiral motion

Spiral motion implementation based on spiral queue logic

The reverse method of the spiral queue algorithm controls the two-axis motor to move according to the spiral trajectory, as shown below.

#1. Spiral Queue Algorithm Analysis

The following figure is a spiral queue. Assume that the coordinates of 1 are (0, 0), the x direction is positive to the right, and the y direction is positive downward. For example, the coordinates of 7 are (-1, -1), and the coordinates of 2 are (1, 0). Programming allows you to input the coordinates (x, y) of any point and output the corresponding number! (Reprinted from the Internet)

Maximum value per circle max=(2*c+1)(2*c+1), c It is the number of turns from inside to outside.

The differences between these reference values ​​and max are 1C (top), 3C (left), 5C (bottom), 7C (right) (C represents the current number of laps), on the top and bottom, y The coordinate represents (or is equal to) the number of circles (i.e. C=y), while on the left and right the x-coordinate represents (or is equal to) the number of circles (i.e. C=x). Therefore, the difference mentioned earlier can be expressed as 1y, 3x, 5y, 7x using coordinates.

Code implementation:

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. Spiral motion

First customize the coordinate operation to represent the logical position of the PD.

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 + ")";
        }
    }

Then reverse the method and calculate the x and y coordinates based on the number of steps.

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;
        }

Finally, the movement is realized according to the change of coordinates.

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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