G92 > send-to-ESP

robot/GCode.js

@@ -202,7 +202,8 @@ class GCode{
                 if(s.includes("e")){ robot.e = Number(s.substring(1, s.length));}
             });
         }
-        else if(g[0] == "G92"){  // G92 - Set Position
+        else if(g[0] == "M92"){  // G92 - Set Position --- M92 in Radiant
+            robot.createMotorPosition();
             g.forEach((s) => { 
                 if(s.includes("X")){ robot.xMotor = Number(s.substring(1, s.length));}
                 if(s.includes("x")){ robot.xMotor = Number(s.substring(1, s.length));}
@@ -226,6 +227,7 @@ class GCode{
 
             // ToDo: Send Command to update Position of Robot, because G92 should 
             // set the current Position to the given Coordinates without moving the Robot.
+            robot.sendCommand("G92");
         }
 
         if(calculateNew && !calculateFromMotorCoordinates){  

robot/Robot.js

@@ -180,7 +180,7 @@ class Robot{
         while(this.theta < -Math.PI){this.theta += 2*Math.PI}
     }
     
-    sendCommand(){
+    sendCommand(cmd="G1"){
         if(this.motorPosition == null){this.createMotorPosition() }
         this.motorPositionOld = this.motorPosition;
         this.createMotorPosition()
@@ -188,7 +188,12 @@ class Robot{
         console.log("Robot.sendCommand: Motor-Pos: x=", this.motorPosition.x.toFixed(3), "yMotor=",this.motorPosition.y.toFixed(3), "zMotor=",this.motorPosition.z.toFixed(3), "aM=", this.motorPosition.a.toFixed(3), "bM=", this.motorPosition.b.toFixed(3), "cM=", this.motorPosition.c.toFixed(3), " e=", this.motorPosition.e.toFixed(3));
        
         this.cmdReceivers.forEach(receiver => {
-            receiver.moveTo(this.motorPositionOld, this.motorPosition);
+            if(cmd == "G1"){
+                receiver.moveTo(this.motorPositionOld, this.motorPosition);
+            }
+            else{
+                receiver.execCommand(cmd,this.motorPositionOld, this.motorPosition);
+            }   
         });
     }
 }

robot/TelnetSenderGRBL.js

@@ -204,9 +204,10 @@ module.exports = class TelnetSenderGRBL{
             data += " b" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
         }
 
-        data += " f"+(maxSpeedF.toFixed(2).toString())
-
-    
+        if(strCommand == "G1"){
+            data += " f"+(maxSpeedF.toFixed(2).toString())
+        }
+        
         if(this.tSocket && data.toString("utf-8").length > 3){
             if(!this.isTestMode){ console.log("" + this.urlGRBLstr + " gets the message: " + data.toString("utf-8"))}
             this.tSocket.write( data.toString("utf-8") + "\r\n");