如何通过接受当前位置作为第一个坐标来重新启动电机

根据我们在评论中讨论的内容，我创建了一个小型 Winforms 项目来模拟您要实现的目标。

首先，我添加了几个控件：

1. listBox2：保存电机要重复的图案的位置
2. btnCalculatePattern：单击时，根据您在 listBox1 中设置的坐标计算重复模式
3. btnAvatar：这只是通过移动按钮在屏幕上显示电机的运动。

我还启用了控制台窗口，以便查看发送到电机的命令。

首先，在向电机发送命令之前，单击“计算模式”来计算模式。之后，单击“发送数据”，这将激活计时器（如原始代码中）并开始发送数据：

您可以在此 GitHub 存储库中找到整个解决方案，也可以在此处将其下载为 zip 文件。如果您在打开它时遇到任何问题，请告诉我。

我不知道您以什么格式将数据发送到电机，所以我只使用了格式为“X.Y”的字符串，用点“.”分隔，因此您可能需要使用您正在使用的字符串格式调整此部分。

这是具有新更改的 Form1 代码。我不得不将命令变量移出 SendDataToArduino，对此方法进行了一些更改，并添加了其他方法btnCalculatePattern_Click 和 UpdateCoordinates：

public partial class Form1 : Form
{
    bool serialPortIsOpen = true;

    int currentIndex = 0;

    string command = "";

    public Form1()
    {
        InitializeComponent();

        //Move the visual avatar to the starting position
        MoveAvatar(listBox1.Items[0].ToString());
    }

    private void MoveAvatar(string point)
    {
        var currentCoordinates = point.Split('.');
        var current_x = Convert.ToInt32(currentCoordinates[0]);
        var current_y = Convert.ToInt32(currentCoordinates[1]);
        btnAvatar.Location = new System.Drawing.Point(current_x, current_y);
    }

    private void btnSendData_Click(object sender, EventArgs e)
    {
        if (serialPortIsOpen && listBox1.Items.Count > 1)
        {
            currentIndex = 0; // Reset the index to start from the first item
            timer1.Interval = 750;  // in mili-second
            timer1.Start();

        }
        else
        {
            MessageBox.Show("Port Closed or Not Enough Data");
        }
    }

    private void btnCalculatePattern_Click(object sender, EventArgs e)
    {
        // The first item of the pattern is always (0,0)
        listBox2.Items.Add($"0.0");

        for (int i = 0; i < listBox1.Items.Count - 1; i++)
        {
            var currentCoordinates = listBox1.Items[i].ToString().Split('.');
            var current_x = Convert.ToInt32(currentCoordinates[0]);
            var current_y = Convert.ToInt32(currentCoordinates[1]);

            var nextCoordinates = listBox1.Items[i + 1].ToString().Split('.');
            var next_x = Convert.ToInt32(nextCoordinates[0]);
            var next_y = Convert.ToInt32(nextCoordinates[1]);

            var x = next_x - current_x;
            var y = next_y - current_y;

            listBox2.Items.Add($"{x}.{y}");
        }

        btnCalculatePattern.Enabled = false;
        btnSendData.Enabled = true;
    }
    private void UpdateCoordinates(string startingPoint)
    {
        // The startingPoint is the ending point of the last iteration
        listBox1.Items[0] = startingPoint;

        var startingPointSplit = startingPoint.Split(".");
        var startingPoint_x = Convert.ToInt32(startingPointSplit[0]);
        var startingPoint_y = Convert.ToInt32(startingPointSplit[1]);

        // Calculate the rest of the coordinates for this iteration from
        // the starting point and the pattern

        var x = startingPoint_x;
        var y = startingPoint_y;

        for (int i = 0; i < listBox1.Items.Count; i++)
        {
            var pattern = listBox2.Items[i].ToString().Split('.');
            var pattern_x = Convert.ToInt32(pattern[0]);
            var pattern_y = Convert.ToInt32(pattern[1]);

            x += pattern_x;
            y += pattern_y;

            listBox1.Items[i] = $"{x}.{y}";
        }
    }

    private void SendDataToArduino()
    {
        // Send commands with the current state of Coordinates

        if (currentIndex < listBox1.Items.Count)
        {
            command = listBox1.Items[currentIndex].ToString();
            command = command.Replace(": ", ""); // Remove the colon
            command = command.Replace(",", ""); // Remove comma if needed

            //We move the visual avatar and print the coordinates to the console
            // to simulate the motor receiving the commands 
            // serialPort1.WriteLine(command);
            Console.WriteLine(command);
            MoveAvatar(command);

            textBox3.Text = command;

            currentIndex++; // Move to the next item

        }
        else
        {
            // Tüm veriler gönderildi, işlemi yeniden başlat
            currentIndex = 0;

            // Update the Coordinates in the listBox with the Pattern information
            // passing the last point of the current iteration
            // as the starting point of the next iteration.
            UpdateCoordinates(command);
        }
    }

    private void timer1_Tick(object sender, EventArgs e)
    {
        SendDataToArduino();
    }
}