ToDo_1 erledigt
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chk
204
robot/GCode.js
204
robot/GCode.js
@@ -2,6 +2,7 @@
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* Receives GCode, processes it and moves the Data to the Roboter-Class
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*/
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const fs = require('fs');
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const GCodeParser = require('./GCodeParser');
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class GCode{
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@@ -81,138 +82,103 @@ class GCode{
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};
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static receiveGCode(robot, g){
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const commands = GCodeParser.parse(g);
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if (!commands.length) return;
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if(g == undefined) return;
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if(g.length == 0) return;
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commands.forEach(parsed => {
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if (!parsed || !parsed.command) {
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return;
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}
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// console.log("🔵 GCode.receiveGCode: Incoming command: " + g); // Moved to InputWS
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const cmd = parsed.command;
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const params = parsed.params || {};
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g = g.toString("utf8");
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if (cmd === 'G90') {
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robot.moveRelative = false;
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return;
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}
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if(g.startsWith("$J=")) {
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// Handle $J= GCode for jogging
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g = g.substring(3).trim(); // Remove "$J=" and trim whitespace
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}
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if (cmd === 'G91') {
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robot.moveRelative = true;
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return;
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}
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var multipleCommands = g.split(" G");
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var doProcessRest = false;
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if(multipleCommands.length > 1){
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doProcessRest = true;
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g = multipleCommands[0];
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}
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g = g.split(" ");
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var calculateNew = true;
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var calculateFromMotorCoordinates = false;
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if(g[0] == "G90") {robot.moveRelative = false; calculateNew = false;}
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else if(g[0] == "G91") {robot.moveRelative = true; calculateNew = false;}
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// G28 - Move to Home Position
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else if(g[0] == "G28") {
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if (cmd === 'G28') {
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robot.x = 0;
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robot.y = robot.l1 + robot.l2 + robot.l3;
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robot.z = 0;
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robot.phi = -Math.PI/2;
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robot.theta = Math.PI/2;
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robot.phi = -Math.PI / 2;
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robot.theta = Math.PI / 2;
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robot.psi = 0;
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robot.e = 0;
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return;
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}
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else if(g[0] == "G1" && robot.moveRelative){
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g.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.x += Number(s.substring(1, s.length)); robot.xMotorChanged = true;}
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if(s.toUpperCase().includes("Y")){ robot.y += Number(s.substring(1, s.length)); robot.yMotorChanged = true;}
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if(s.toUpperCase().includes("Z")){ robot.z += Number(s.substring(1, s.length)); robot.zMotorChanged = true;}
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// abc in 2Pi-Angles
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if(s.toUpperCase().includes("A")){ robot.phi += Number(s.substring(1, s.length)); robot.aMotorChanged = true;}
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if(s.toUpperCase().includes("B")){ robot.theta += Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
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if(s.toUpperCase().includes("C")){ robot.psi += Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
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if(s.toUpperCase().includes("E")){ robot.e += Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
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if(s.toUpperCase().includes("F")){ robot.feedrate = Number(s.substring(1, s.length));}
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});
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}
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else if(g[0] == "M1" && robot.moveRelative){
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calculateFromMotorCoordinates = true;
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g.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.xMotor += Number(s.substring(1, s.length)); robot.xMotorChanged = true;}
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if(s.toUpperCase().includes("Y")){ robot.alpha += Number(s.substring(1, s.length)); robot.yMotorChanged = true;}
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if(s.toUpperCase().includes("Z")){ robot.beta += Number(s.substring(1, s.length)); robot.zMotorChanged = true;}
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if(s.toUpperCase().includes("A")){ robot.a += Number(s.substring(1, s.length)); robot.aMotorChanged = true;}
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if(s.toUpperCase().includes("B")){ robot.b += Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
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if(s.toUpperCase().includes("C")){ robot.c += Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
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if(s.toUpperCase().includes("E")){ robot.e += Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
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});
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}
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// Absolute-Positioning
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else if(g[0] == "G1" && !robot.moveRelative){
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g.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.x = Number(s.substring(1, s.length)); robot.xMotorChanged = true;}
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if(s.toUpperCase().includes("Y")){ robot.y = Number(s.substring(1, s.length)); robot.yMotorChanged = true;}
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if(s.toUpperCase().includes("Z")){ robot.z = Number(s.substring(1, s.length)); robot.zMotorChanged = true;}
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if(s.toUpperCase().includes("A")){ robot.phi = Number(s.substring(1, s.length)); robot.aMotorChanged = true;}
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if(s.toUpperCase().includes("B")){ robot.theta = Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
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if(s.toUpperCase().includes("C")){ robot.psi = Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
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if(s.toUpperCase().includes("E")){ robot.e = Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
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if(s.toUpperCase().includes("F")){ robot.feedrate = Number(s.substring(1, s.length)); }
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});
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}
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else if(g[0] == "M1" && !robot.moveRelative){
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calculateFromMotorCoordinates = true;
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g.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.xMotor = Number(s.substring(1, s.length)); robot.xMotorChanged = true;}
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if(s.toUpperCase().includes("Y")){ robot.alpha = Number(s.substring(1, s.length)); robot.yMotorChanged = true;}
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if(s.toUpperCase().includes("Z")){ robot.beta = Number(s.substring(1, s.length)); robot.zMotorChanged = true;}
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if(s.toUpperCase().includes("A")){ robot.a = Number(s.substring(1, s.length)); robot.aMotorChanged = true;}
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if(s.toUpperCase().includes("B")){ robot.b = Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
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if(s.toUpperCase().includes("C")){ robot.c = Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
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if(s.toUpperCase().includes("E")){ robot.e = Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
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});
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robot.calculatePositionFromMotorAngles();
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}
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else if(g[0] == "M92"){ // G92 - Set Position --- M92 in Radiant
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robot.createMotorPosition();
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g.forEach((s) => {
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if(s.toUpperCase().includes("X")){ robot.xMotor = Number(s.substring(1, s.length)); robot.xMotorChanged = true;}
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if(s.toUpperCase().includes("Y")){ robot.alpha = Number(s.substring(1, s.length)); robot.yMotorChanged = true;}
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if(s.toUpperCase().includes("Z")){ robot.beta = Number(s.substring(1, s.length)); robot.zMotorChanged = true;}
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if(s.toUpperCase().includes("A")){ robot.a = Number(s.substring(1, s.length)); robot.aMotorChanged = true;}
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if(s.toUpperCase().includes("B")){ robot.b = Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
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if(s.toUpperCase().includes("C")){ robot.c = Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
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if(s.toUpperCase().includes("E")){ robot.e = Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
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});
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robot.calculatePositionFromMotorAngles();
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calculateNew = false;
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// ToDo: Send Command to update Position of Robot, because G92 should
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// set the current Position to the given Coordinates without moving the Robot.
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robot.sendCommand("G92");
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}
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if(calculateNew && !calculateFromMotorCoordinates){
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robot.calculateAngles3D();
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robot.sendCommand();
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}
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if(calculateFromMotorCoordinates){
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robot.calculatePositionFromMotorAngles();
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robot.sendCommand();
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}
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// verarbeitet alle weiteren Commands in dieser Zeile.
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if(doProcessRest){
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multipleCommands.forEach((cmd) => {
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if(cmd[0] != "G"){
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this.receiveGCode(robot, "G"+cmd);
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if (cmd === 'G1') {
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if (robot.moveRelative) {
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if (Number.isFinite(params.X)) { robot.x += params.X; robot.xMotorChanged = true; }
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if (Number.isFinite(params.Y)) { robot.y += params.Y; robot.yMotorChanged = true; }
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if (Number.isFinite(params.Z)) { robot.z += params.Z; robot.zMotorChanged = true; }
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if (Number.isFinite(params.A)) { robot.phi += params.A; robot.aMotorChanged = true; }
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if (Number.isFinite(params.B)) { robot.theta += params.B; robot.bMotorChanged = true; }
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if (Number.isFinite(params.C)) { robot.psi += params.C; robot.cMotorChanged = true; }
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if (Number.isFinite(params.E)) { robot.e += params.E; robot.eMotorChanged = true; }
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if (Number.isFinite(params.F)) { robot.feedrate = params.F; }
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} else {
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if (Number.isFinite(params.X)) { robot.x = params.X; robot.xMotorChanged = true; }
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if (Number.isFinite(params.Y)) { robot.y = params.Y; robot.yMotorChanged = true; }
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if (Number.isFinite(params.Z)) { robot.z = params.Z; robot.zMotorChanged = true; }
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if (Number.isFinite(params.A)) { robot.phi = params.A; robot.aMotorChanged = true; }
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if (Number.isFinite(params.B)) { robot.theta = params.B; robot.bMotorChanged = true; }
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if (Number.isFinite(params.C)) { robot.psi = params.C; robot.cMotorChanged = true; }
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if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
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if (Number.isFinite(params.F)) { robot.feedrate = params.F; }
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}
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})
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}
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robot.calculateAngles3D();
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robot.sendCommand();
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return;
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}
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if (cmd === 'M1') {
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if (robot.moveRelative) {
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if (Number.isFinite(params.X)) { robot.xMotor += params.X; robot.xMotorChanged = true; }
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if (Number.isFinite(params.Y)) { robot.alpha += params.Y; robot.yMotorChanged = true; }
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if (Number.isFinite(params.Z)) { robot.beta += params.Z; robot.zMotorChanged = true; }
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if (Number.isFinite(params.A)) { robot.a += params.A; robot.aMotorChanged = true; }
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if (Number.isFinite(params.B)) { robot.b += params.B; robot.bMotorChanged = true; }
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if (Number.isFinite(params.C)) { robot.c += params.C; robot.cMotorChanged = true; }
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if (Number.isFinite(params.E)) { robot.e += params.E; robot.eMotorChanged = true; }
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} else {
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if (Number.isFinite(params.X)) { robot.xMotor = params.X; robot.xMotorChanged = true; }
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if (Number.isFinite(params.Y)) { robot.alpha = params.Y; robot.yMotorChanged = true; }
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if (Number.isFinite(params.Z)) { robot.beta = params.Z; robot.zMotorChanged = true; }
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if (Number.isFinite(params.A)) { robot.a = params.A; robot.aMotorChanged = true; }
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if (Number.isFinite(params.B)) { robot.b = params.B; robot.bMotorChanged = true; }
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if (Number.isFinite(params.C)) { robot.c = params.C; robot.cMotorChanged = true; }
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if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
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}
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robot.calculatePositionFromMotorAngles();
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robot.sendCommand();
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return;
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}
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if (cmd === 'M92') {
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robot.createMotorPosition();
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if (Number.isFinite(params.X)) { robot.xMotor = params.X; robot.xMotorChanged = true; }
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if (Number.isFinite(params.Y)) { robot.alpha = params.Y; robot.yMotorChanged = true; }
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if (Number.isFinite(params.Z)) { robot.beta = params.Z; robot.zMotorChanged = true; }
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if (Number.isFinite(params.A)) { robot.a = params.A; robot.aMotorChanged = true; }
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if (Number.isFinite(params.B)) { robot.b = params.B; robot.bMotorChanged = true; }
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if (Number.isFinite(params.C)) { robot.c = params.C; robot.cMotorChanged = true; }
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if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
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robot.calculatePositionFromMotorAngles();
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robot.sendCommand('G92');
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return;
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}
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});
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////77
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