Naming

test/GCode.receiveGCode.G92.test.js

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+// __tests__/Robot.inverseKinematics.test.js
+const Robot = require('../robot/Robot.js');
+const GCode = require('../robot/GCode.js');
+
+describe("Robot G92", () => {
+
+    test("ReadPosition -> calculatePositionFromMotorAngles()", () => {
+
+        // === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
+        const L1 = 300;
+        const L2 = 200;
+        const L3 = 10;
+
+
+        const A = new Robot(L1, L2, L3)
+
+        // Beispiel-Eingabe
+        A.x = 0;
+        A.y = 310;
+        A.z = 0;
+
+        A.phi   = -Math.PI/2;
+        A.theta = Math.PI/2;
+        A.psi   = 0;
+        A.e     = 0;
+
+        A.calculateAngles3D();
+
+        var strGCode = `G92 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)
+        console.log("GCode: " + strGCode);
+        GCode.receiveGCode(T, strGCode);
+
+        
+        const EPS = 0.01;  // 1/1000 mm Genauigkeit
+        expect(T.xMotor).toBeCloseTo(A.xMotor, EPS);
+        expect(T.alpha).toBeCloseTo(A.alpha, EPS);
+        expect(T.beta).toBeCloseTo(A.beta, EPS);
+        expect(T.x).toBeCloseTo(A.x, EPS);
+        expect(T.y).toBeCloseTo(A.y, EPS);
+        expect(T.z).toBeCloseTo(A.z, EPS);
+
+
+    });
+});
+