B um 180° gedreht

2026-06-26 15:53:50 +02:00
parent 2197a8954f
commit 549d10b9c0
7 changed files with 259 additions and 49 deletions
--- a/test/GCode.receiveGCode.test.js
+++ b/test/GCode.receiveGCode.test.js
@@ -102,7 +102,7 @@ describe('GCode.receiveGCode', () => {
    expect(robot.alpha).toBe(0)
    expect(robot.beta).toBe(0)
    expect(robot.a).toBe(0)
-    expect(robot.b).toBe(Math.PI)        // gerade Hand (Phase-1-Konvention)
+    expect(robot.b).toBe(0)               // gerade Hand (Phase-2-Konvention: b=0)
    expect(robot.c).toBe(0)
    // Greifer unverändert -> kein Finger-Slam am Anschlag
    expect(robot.e).toBe(7)