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G92 > send-to-ESP

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ChK
2026-04-06 05:24:41 +02:00
parent 3e874e70c9
commit 3d33ecd747
12 changed files with 3337 additions and 20 deletions
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42
test/GCode.receiveGCode.G92.test.js
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@@ -1,9 +1,18 @@
// __tests__/Robot.inverseKinematics.test.js
const Robot = require('../robot/Robot.js');
const GCode = require('../robot/GCode.js');
var TenetSender = require('../robot/TelnetSenderGRBL.js')
describe("Robot G92", () => {
beforeAll(() => {
jest.spyOn(console, 'log').mockImplementation(() => {})
})
afterAll(() => {
jest.restoreAllMocks()
})
test("ReadPosition -> calculatePositionFromMotorAngles()", () => {
// === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
@@ -26,7 +35,7 @@ describe("Robot G92", () => {
A.calculateAngles3D();
var strGCode = `G92 X${A.xMotor} Y${A.alpha} Z${A.beta} A${A.a} B${A.b} C${A.c}`
var strGCode = `M92 X${A.xMotor} Y${A.alpha} Z${A.beta} A${A.a} B${A.b} C${A.c}`
const T = new Robot(L1, L2, L3)
@@ -44,5 +53,36 @@ describe("Robot G92", () => {
});
// G92 y2.8 z131.0
test("ReadPosition -> G92()", () => {
// === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
const L1 = 300;
const L2 = 300;
const L3 = 20;
const robot = new Robot(L1, L2, L3)
var telnetSender1 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
var telnetSender2 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
var telnetSender3 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
robot.cmdReceivers.push(telnetSender1);
robot.cmdReceivers.push(telnetSender2);
robot.cmdReceivers.push(telnetSender3);
GCode.receiveGCode(robot,"M92 y0.049 z2.286");
const strExpect1 = 'G92 x0.00 y2.81 z128.17\r\n';
const strExpect2 = 'G92 y2.81 z128.17\r\n';
allowedValues = [strExpect1, strExpect2];
expect(allowedValues).toContain(telnetSender1.tSocket.written);
// ("Wenn nur G92 x3 gegeben wird, dann wird trotzdem auch y und z gesendet. schlecht." );
});
});