From 566d3894c4a45739b364a887c086236d699235a5 Mon Sep 17 00:00:00 2001
From: ChK <ckendel@gmail.com>
Date: Tue, 17 Mar 2026 08:14:48 +0100
Subject: [PATCH] logging

---
 robot/GCode.js | 3 +++
 robot/Robot.js | 3 +--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/robot/GCode.js b/robot/GCode.js
index 866bfea..1edbec9 100755
--- a/robot/GCode.js
+++ b/robot/GCode.js
@@ -89,6 +89,8 @@ class GCode{
 
         if(g == undefined) return;
 
+        console.log("GCode: Empfange GCode: " + g);
+
         var multipleCommands = g.split(" G");
         var doProcessRest = false;
         if(multipleCommands.length > 1){
@@ -104,6 +106,7 @@ class GCode{
 
         if(g[0] == "G90") {robot.moveRelative = false; calculateNew = false;}
         else if(g[0] == "G91") {robot.moveRelative = true; calculateNew = false;}
+        // G28 - Move to Home Position
         else if(g[0] == "G28") {
                 robot.x = 0;
                 robot.y = robot.l1 + robot.l2 + robot.l3;
diff --git a/robot/Robot.js b/robot/Robot.js
index db8eb68..78d7ac0 100755
--- a/robot/Robot.js
+++ b/robot/Robot.js
@@ -67,7 +67,6 @@ class Robot{
 
     // Berechnet aus XYZ die Motor-Winkel für den GCode
     calculateAngles3D(){
-
         while(this.phi >  Math.PI){this.phi -= 2*Math.PI}
         while(this.phi < -Math.PI){this.phi += 2*Math.PI}
         while(this.theta >  Math.PI){this.theta -= 2*Math.PI}
@@ -145,7 +144,7 @@ class Robot{
         this.motorPositionOld = this.motorPosition;
         this.createMotorPosition()
 
-        console.log("Robot.sendCommand: neue RobotMotorPosition: 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));
+        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);