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Claude: Umbau Robot

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chk
2026-06-09 15:51:30 +02:00
parent 2da589dfa3
commit 78185b8bdb
14 changed files with 1017 additions and 221 deletions
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robot/RobotController.js Normal file
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/***
* RobotController — Steuerlogik (ToDo_6).
*
* Verarbeitet bereits geparste G-Code-/Befehlsobjekte (aus GCodeParser) und wendet
* sie auf das Robotermodell an: Bewegungsmodus, Kinematik, sendCommand().
*
* Bewusst getrennt vom Parsing (GCodeParser) und vom Datei-Handling (GCode):
* der Controller kennt nur strukturierte Befehle, keine rohen Textstrings.
*/
const GCodeParser = require('./GCodeParser');
class RobotController {
/**
* Parst eine rohe Nachricht und wendet alle enthaltenen Befehle der Reihe nach an.
* @param {object} robot Robotermodell
* @param {string|Buffer} message rohe G-Code-Nachricht
*/
static receive(robot, message) {
const commands = GCodeParser.parse(message);
if (!commands.length) return;
commands.forEach(parsed => this.applyCommand(robot, parsed));
}
/**
* Wendet einen einzelnen, bereits geparsten Befehl auf das Robotermodell an.
* @param {object} robot
* @param {{command: string, params: object}} parsed
*/
static applyCommand(robot, parsed) {
if (!parsed || !parsed.command) return;
const cmd = parsed.command;
const params = parsed.params || {};
if (cmd === 'G90') {
robot.moveRelative = false;
return;
}
if (cmd === 'G91') {
robot.moveRelative = true;
return;
}
if (cmd === 'G28') {
robot.x = 0;
robot.y = robot.l1 + robot.l2 + robot.l3;
robot.z = 0;
robot.phi = -Math.PI / 2;
robot.theta = Math.PI / 2;
robot.psi = 0;
robot.e = 0;
robot.calculateAngles3D();
robot.sendCommand();
return;
}
if (cmd === 'G1') {
if (robot.moveRelative) {
if (Number.isFinite(params.X)) { robot.x += params.X; robot.xMotorChanged = true; }
if (Number.isFinite(params.Y)) { robot.y += params.Y; robot.yMotorChanged = true; }
if (Number.isFinite(params.Z)) { robot.z += params.Z; robot.zMotorChanged = true; }
if (Number.isFinite(params.A)) { robot.phi += params.A; robot.aMotorChanged = true; }
if (Number.isFinite(params.B)) { robot.theta += params.B; robot.bMotorChanged = true; }
if (Number.isFinite(params.C)) { robot.psi += params.C; robot.cMotorChanged = true; }
if (Number.isFinite(params.E)) { robot.e += params.E; robot.eMotorChanged = true; }
if (Number.isFinite(params.F)) { robot.feedrate = params.F; }
} else {
if (Number.isFinite(params.X)) { robot.x = params.X; robot.xMotorChanged = true; }
if (Number.isFinite(params.Y)) { robot.y = params.Y; robot.yMotorChanged = true; }
if (Number.isFinite(params.Z)) { robot.z = params.Z; robot.zMotorChanged = true; }
if (Number.isFinite(params.A)) { robot.phi = params.A; robot.aMotorChanged = true; }
if (Number.isFinite(params.B)) { robot.theta = params.B; robot.bMotorChanged = true; }
if (Number.isFinite(params.C)) { robot.psi = params.C; robot.cMotorChanged = true; }
if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
if (Number.isFinite(params.F)) { robot.feedrate = params.F; }
}
robot.calculateAngles3D();
robot.sendCommand();
return;
}
if (cmd === 'M1') {
if (robot.moveRelative) {
if (Number.isFinite(params.X)) { robot.xMotor += params.X; robot.xMotorChanged = true; }
if (Number.isFinite(params.Y)) { robot.alpha += params.Y; robot.yMotorChanged = true; }
if (Number.isFinite(params.Z)) { robot.beta += params.Z; robot.zMotorChanged = true; }
if (Number.isFinite(params.A)) { robot.a += params.A; robot.aMotorChanged = true; }
if (Number.isFinite(params.B)) { robot.b += params.B; robot.bMotorChanged = true; }
if (Number.isFinite(params.C)) { robot.c += params.C; robot.cMotorChanged = true; }
if (Number.isFinite(params.E)) { robot.e += params.E; robot.eMotorChanged = true; }
} else {
if (Number.isFinite(params.X)) { robot.xMotor = params.X; robot.xMotorChanged = true; }
if (Number.isFinite(params.Y)) { robot.alpha = params.Y; robot.yMotorChanged = true; }
if (Number.isFinite(params.Z)) { robot.beta = params.Z; robot.zMotorChanged = true; }
if (Number.isFinite(params.A)) { robot.a = params.A; robot.aMotorChanged = true; }
if (Number.isFinite(params.B)) { robot.b = params.B; robot.bMotorChanged = true; }
if (Number.isFinite(params.C)) { robot.c = params.C; robot.cMotorChanged = true; }
if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
}
robot.calculatePositionFromMotorAngles();
robot.sendCommand();
return;
}
if (cmd === 'M92') {
robot.createMotorPosition();
if (Number.isFinite(params.X)) { robot.xMotor = params.X; robot.xMotorChanged = true; }
if (Number.isFinite(params.Y)) { robot.alpha = params.Y; robot.yMotorChanged = true; }
if (Number.isFinite(params.Z)) { robot.beta = params.Z; robot.zMotorChanged = true; }
if (Number.isFinite(params.A)) { robot.a = params.A; robot.aMotorChanged = true; }
if (Number.isFinite(params.B)) { robot.b = params.B; robot.bMotorChanged = true; }
if (Number.isFinite(params.C)) { robot.c = params.C; robot.cMotorChanged = true; }
if (Number.isFinite(params.E)) { robot.e = params.E; robot.eMotorChanged = true; }
robot.calculatePositionFromMotorAngles();
robot.sendCommand('G92');
return;
}
}
}
module.exports = RobotController;