y war falsch

2026-06-26 08:27:50 +02:00
parent 29b5f2ae4b
commit 7205b9d913
12 changed files with 382 additions and 140 deletions
--- a/test/GCode.receiveGCode.test.js
+++ b/test/GCode.receiveGCode.test.js
@@ -97,8 +97,8 @@ describe('GCode.receiveGCode', () => {

    expect(robot.x).toBe(0)
    expect(robot.z).toBe(0)
-    expect(robot.y).toBe(robot.l1 + robot.l2 + robot.l3)
-    expect(robot.phi).toBeCloseTo(-Math.PI / 2)
+    expect(robot.y).toBe(-(robot.l1 + robot.l2 + robot.l3))   // -y Grundstellung
+    expect(robot.phi).toBeCloseTo(Math.PI / 2)
    expect(robot.theta).toBeCloseTo(Math.PI / 2)
    expect(robot.calculateAngles3D).toHaveBeenCalledTimes(1)
    expect(robot.sendCommand).toHaveBeenCalledTimes(1)