运动度运动函数

Question

我想控制一台马达，它能把装置转到齿轮上。

设备的输入值为0到360度。电机应始终以较短的旋转方式旋转装置。例如，如果位置为30°，目标位置为340°，则应逆时针旋转0°以上。

电机控制器内部有所谓的qc单元系统。例如，设备的一个转折点构成为2938500，因此需要转换所需的值。内部位置(在qc中)可能变成负值或正值，如整数。

最后，我得到了这段代码和一些测试，以确保它能够正常工作。我抓到所有案子了吗？我还能简化move函数吗？

import unittest

qc360 = 2938500

def qc2deg(qc):
    return (qc / float(qc360)) * 360.0

def deg2qc(deg):
    return int(round((deg/360.0) * qc360 ))

def move(is_qc, target_deg):
    is_deg = qc2deg(is_qc)
    diff = is_deg - target_deg

    if abs(diff) <= 180.0:
        if diff < 0:
            target_qc = is_qc + deg2qc(abs(diff))
        else:
            target_qc = is_qc + deg2qc(-diff)
    else:
        if diff < 0:
            target_qc = is_qc + deg2qc(abs(diff)-360)
        else:
            target_qc = is_qc + deg2qc(360-diff)

    return target_qc

class TestMovement(unittest.TestCase):

    def test_1qc2deg(self):
        self.assertEqual(qc2deg(qc360/2), 180)
        self.assertEqual(qc2deg(qc360+qc360/2), 360+180)
        self.assertEqual(qc2deg(-qc360/2), -180)
        self.assertEqual(qc2deg(-qc360-qc360/2), -360-180)

    def test_2deg2qc(self):
        self.assertEqual(deg2qc(180), qc360/2)
        self.assertEqual(deg2qc(360+180), qc360+qc360/2)
        self.assertEqual(deg2qc(-180), -qc360/2)
        self.assertEqual(deg2qc(-360-180), -qc360-qc360/2)

    def test_3simpleMovePositive(self):
        # Move within 180 degrees, without zero crossing
        self.assertEqual(move(0, 170), deg2qc(170))
        self.assertEqual(move(20, 90), deg2qc(90))

    def test_4simpleMoveNegative(self):
        self.assertEqual(move(20, 5), deg2qc(5))
        self.assertEqual(move(210, 170), deg2qc(170))

    def test_5wideMovePositive(self):
        # positive direction
        self.assertEqual(move(0, 190), deg2qc(-170))
        self.assertEqual(move(deg2qc(60), 350), deg2qc(-10))

    def test_6wideMoveNegative(self):
        # negative direction
        self.assertEqual(move(deg2qc(190), 0), deg2qc(360))
        self.assertEqual(move(deg2qc(350), 60), deg2qc(360+60))

    def test_7variousMoves(self):
        self.assertEqual(move(deg2qc(260), 50), deg2qc(360+50))
        self.assertEqual(move(deg2qc(260), 60), deg2qc(360+60))
        self.assertEqual(move(deg2qc(260), 70), deg2qc(360+70))
        self.assertEqual(move(deg2qc(260), 80), deg2qc(80))
        self.assertEqual(move(deg2qc(260), 90), deg2qc(90))
        self.assertEqual(move(deg2qc(260), 80), deg2qc(80))
        self.assertEqual(move(deg2qc(260), 120), deg2qc(120))

if __name__ == '__main__':
    unittest.main()

Answer 1

if diff < 0: target\_qc = is\_qc + deg2qc(abs(diff)) else: target\_qc = is\_qc + deg2qc(-diff)

如果是diff < 0，那么abs(diff) == -diff，与else的情况完全一样。这个

    target_qc = is_qc + deg2qc(-diff)

(没有if's和else's)就足够了。else (也就是abs(diff) > 180.0)也可以重写为

    if diff < 0:
        target_qc = is_qc + deg2qc(-diff - 360)
    else:
        target_qc = is_qc + deg2qc(-diff + 360)

这里的情况仅在360的符号上有所不同，这意味着您正在寻找剩余的-diff % 360；注意，python支持浮点数的其余部分。

为了摆脱丑陋的领先-，您可能需要将diff计算为

    diff = target_deg - is_deg