ChK/appRobotControlScara
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Command handeling

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ChK
2026-04-22 12:17:48 +02:00
parent 08c0ff6e6e
commit 2505b8e310
4 changed files with 31 additions and 9 deletions
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0
scripts/create-cert.sh Normal file → Executable file
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16
server/fluidnc/FluidNCClient.js
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@@ -36,6 +36,14 @@ class FluidNCClient extends EventEmitter {
this.ws.on("error", (err) => {
console.log("[FluidNC] WS Error:", err.message);
});
this.ws.on("unexpected-response", (req, res) => {
console.log("[FluidNC] WS Unexpected Response:", res.statusCode, res.statusMessage);
});
this.ws.on("disconnect", () => {
console.log("[FluidNC] WS Disconnected");
});
}
sendLine(cmd) {
@@ -48,8 +56,12 @@ class FluidNCClient extends EventEmitter {
this.sendLine("?");
}
jog(axis, value) {
const cmd = `$J=G91 ${axis}${value} F2000`;
jog(relative, axis, value) {
// $J= um den Befehl als Jog zu kennzeichnen
// G91 für relative Bewegungen (G90 für absolute)
// G1 Linearbewegung
const cmd = relative? `$J=G91 G1 ${axis}${value} F2000\r\n`: `$J=G90 G1 ${axis}${value} F2000\r\n`;
console.log("[FluidNC] Jog Command:", cmd);
this.sendLine(cmd);
}

2
server/server.js
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@@ -39,7 +39,7 @@ wss.on("connection", (ws) => {
console.log("Message from WSS: " + msg);
if (data.type === "jog") {
fluid.jog(data.axis, data.value);
fluid.jog(data.relative, data.axis, data.value);
}
if (data.type === "gcode") {

22
web/index.html
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@@ -2,7 +2,7 @@
<html lang="de">
<head>
<meta charset="UTF-8" />
<title>2D Robot Control</title>
<title>FluidNC Robot Control</title>
<style>
body {
background: #234;
@@ -91,6 +91,7 @@
<div id="posBox">
<div>X: <span id="posX">0.000</span></div>
<div>Y: <span id="posY">0.000</span></div>
<div>Z: <span id="posZ">0.000</span></div>
</div>
@@ -103,6 +104,12 @@
<button onclick="jog('X', 1)">X +1</button>
<button onclick="jog('X', 10)">X +10</button>
<button onclick="jog('Y', -10)">Y -10</button>
<button onclick="jog('Y', -1)">Y -1</button>
<button class="noMouseHover"></button>
<button onclick="jog('Y', 1)">Y +1</button>
<button onclick="jog('Y', 10)">Y +10</button>
<button onclick="jog('Z', -10)">Z -10</button>
<button onclick="jog('Z', -1)">Z -1</button>
<button class="noMouseHover"></button>
@@ -180,8 +187,8 @@
// 1) Versuche WPos direkt zu lesen
const wposMatch = line.match(/WPos:([^|>]+)/);
if (wposMatch) {
const [x, , z] = wposMatch[1].split(",").map(Number);
updateXZ(x, z);
const [x, y, z] = wposMatch[1].split(",").map(Number);
updateXZ(x, y, z);
return;
}
@@ -194,16 +201,19 @@
const wco = wcoMatch[1].split(",").map(Number);
const x = (mpos[0] ?? 0) - (wco[0] ?? 0);
const y = (mpos[1] ?? 0) - (wco[1] ?? 0);
const z = (mpos[2] ?? 0) - (wco[2] ?? 0);
updateXZ(x, z);
updateXZ(x, y, z);
}
}
function updateXZ(x, z) {
function updateXZ(x, y, z) {
const elX = document.getElementById("posX");
const elY = document.getElementById("posY");
const elZ = document.getElementById("posZ");
if (elX) elX.textContent = Number.isFinite(x) ? x.toFixed(3) : "—";
if (elY) elY.textContent = Number.isFinite(y) ? y.toFixed(3) : "—";
if (elZ) elZ.textContent = Number.isFinite(z) ? z.toFixed(3) : "—";
}
@@ -226,7 +236,7 @@
}
function setZero() {
sendGcode("G92 X0 Z0");
sendGcode("G92 X0 Y0 Z0");
}