Winform模拟机器人运动轨迹

前言：感觉上是有点标题党了，但事确实是这么个事，代码也确实一开始是计划这么用的——只不过后来在实现的过程中，发现情况要比现在还要简单一些（虽然现在也挺简单）。

背景情况是这样的，我们有一个机器人会按照特定轨道进行自动取货送货，所以就需要在机器人开始任务的时候进行一个位置的实时监控。在一开始设想的时候（主要是模拟环境），我是用代码控制他的坐标的，也就是现在的代码。但实际上，我只要能够从PLC实时获取到坐标并显示出来即可。所以软件上基本就画个路径并且设置好轨道坐标即可。.

但是写都写出来了，记录下吧;以下代码可能没什么实用价值，我也不废话了- -，可以直接翻到最后看下效果。

以下主要是通过GDI+绘制的，所以理论上是没什么比较复杂的东西
首先分别创建横竖轨道的实体类，用来绘制线路

private class HRoad { public int ID { get; set; } public int X { get; set; } public int Y { get; set; } public int Length { get; set; }
}
private class VRoad { public int ParentID { get; set; } public int X { get; set; } public int Y { get; set; } public int Length { get; set; }
}

一些必要的基础变量
```
 
```
Pen penR = new Pen(Color.LightGray, 2); Pen penB = new Pen(Color.Red, 1);
List<HRoad> hRoads = new List<HRoad>(); List<VRoad> vRoads = new List<VRoad>();
int x = 20, y = 100;
bool isRun = false; int hIndex = 0;
int speed = 200; int stopX = 200;
对数据进行初始化
```
 
```
private void Init() { int hx = 20, hy = 20; int hlength = 500, vlength = 80; for (int i = 1; i <= 3; i++) { HRoad road = new HRoad { ID = i, X = hx, Y = i * vlength + hy, Length = hlength }; hRoads.Add(road);
if (i < 3) { vRoads.Add(new VRoad { ParentID = road.ID, X = 80 * i, Y = road.Y, Length = vlength }); } }
}
绘制线路以及机器人坐标
```
 
```
private void panel2_Paint(object sender, PaintEventArgs e) { Graphics graphics = e.Graphics; graphics.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias; foreach (var hRoad in hRoads) { graphics.DrawLine(penR, hRoad.X, hRoad.Y, hRoad.X + hRoad.Length, hRoad.Y); }
foreach (var vRoad in vRoads) { graphics.DrawLine(penR, vRoad.X, vRoad.Y, vRoad.X, vRoad.Y + vRoad.Length); } Rectangle rect = new Rectangle(x, y - 10, 20, 20); graphics.DrawRectangle(penB, rect);
graphics.FillEllipse(new SolidBrush(Color.LightBlue), stopX + 5, hRoads.Last().Y - 5, 10, 10); }
开始模拟
```
 
```
private async void Start() { while (isRun && hIndex < hRoads.Count) { var move = vRoads.Find(s => s.ParentID == hRoads[hIndex].ID); if (move != null) { while (isRun) { if (move.X - 10 > x) { x += 10; panel2.Invalidate(new Rectangle(hRoads[hIndex].X, hRoads[hIndex].Y - 10, hRoads[hIndex].Length, 22)); } else if (move.X - 10 == x) { if (y < move.Length + move.Y) { y += 10; panel2.Invalidate(new Rectangle(move.X-10, move.Y-10 , 22, move.Length+22)); } else { hIndex++; break; } } else { x -= 10; panel2.Invalidate(new Rectangle(hRoads[hIndex].X, hRoads[hIndex].Y-10, hRoads[hIndex].Length, 22)); } await Task.Delay(speed); } } else { while (x != stopX && isRun) { if (stopX > x) { x += 10; } else { x -= 10; } panel2.Invalidate(new Rectangle(hRoads[hIndex].X, hRoads[hIndex].Y - 10, hRoads[hIndex].Length, 22)); await Task.Delay(speed); } btn_start_Click(null, null); break; }
}
}
运行以及暂停继续
```
 
```
private void btn_start_Click(object sender, EventArgs e) { if (btn_start.Text == "开始") { btn_start.Text = "停止"; btn_pause.Enabled = true; isRun = true; x = 20; y = 100; hIndex = 0; panel2.Invalidate();
speed = (int)num_speed.Value; stopX = (int)num_stop.Value; Start(); } else { btn_start.Text = "开始"; btn_pause.Text = "暂停"; btn_pause.Enabled = false; isRun = false; } }
private void btn_pause_Click(object sender, EventArgs e) { if (btn_pause.Text == "暂停") { btn_pause.Text = "继续"; isRun = false; } else { btn_pause.Text = "暂停"; isRun = true; Start(); } }
结束，看效果

董川民