从零开始写数控系统 0：直线插补

import math

# 起点终点坐标
start = (-8, -3)
end = (2, -5)
k = 1
xs, ys = start[0] * k, start[1] * k
xe, ye = end[0] * k, end[1] * k

# 平移至(0,0)
xss = xs - xs
yss = ys - ys
xee = xe - xs
yee = ye - ys
print((xss, yss), (xee, yee))

# 偏差
f = xe * yss - xss * ye

# 总步数
step = abs(xee) + abs(yee)

# 中间点
xi, yi = xs, ys

# 特殊：Y轴+-
if xee == 0:
    for i in range(int(step)):
        if yee > 0:
            yi = yi + 1
        else:
            yi = yi - 1
    print((xi/k, yi/k))
else:
    # 第一象限
    if xee > 0 and yee > 0:
        dx, dy = 1, 1
    # 第二象限
    elif xee < 0 and yee > 0:
        dx, dy = -1, 1
    # 第三象限
    elif xee < 0 and yee < 0:
    dx, dy = -1, -1
    # 第四象限
    elif xee > 0 and yee < 0:
        dx, dy = 1, -1
    # f>=0沿x轴进给；f<0沿y轴进给
    for i in range(int(step)):
        if f >= 0:
            f = f - yee * dy
            xi = xi + dx
        else:
            f = f + xee * dx
            yi = yi + dy
        print((xi/k, yi/k))