Claude: Umbau Robot
This commit is contained in:
chk
49
README.md
49
README.md
@@ -76,9 +76,18 @@ Die Eingaben kommen per WebSocket an den HTTPS-Server und werden in `server/Inpu
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- `ROBOT_DEFAULT_FEEDRATE`
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- `ROBOT_DEFAULT_FEEDRATE`
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- Standard: `1000` (mm/min)
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- Standard: `1000` (mm/min)
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- Default-Feedrate für `G1`-Befehle, wenn keine `F`-Angabe vorhanden ist
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- Default-Feedrate für `G1`-Befehle, wenn keine `F`-Angabe vorhanden ist
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- `ROBOT_SPEED_MODE`
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- Werte: `legacy` (Standard) oder `correct`
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- `legacy`: alte Speed-Regelung — jeder Sender erhält die kartesische Feedrate `F`
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unverändert (Verhalten exakt wie bisher).
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- `correct`: koordinierte Feedrate pro Sender, sodass alle Controller den Bewegungsschritt
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gleichzeitig beenden. Aktiviert automatisch `calculateSpeeds()`.
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- Details: `doc/ToDo_6a_Speed.md`
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- `ROBOT_USE_SPEED_CALC`
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- `ROBOT_USE_SPEED_CALC`
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- Werte: `true`, `1` oder sonst leer
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- Werte: `true`, `1` oder sonst leer
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- Wenn gesetzt, werden `robot.calculateSpeeds()` und interne Motor-Geschwindigkeiten verwendet
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- Interner Schalter, ob `robot.calculateSpeeds()` rechnet. Ändert allein **nicht** die
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Sender-Ausgabe — dafür ist `ROBOT_SPEED_MODE=correct` nötig. Vom Korrekt-Modus
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automatisch aktiviert.
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### HTTPS-Konfiguration
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### HTTPS-Konfiguration
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@@ -120,8 +129,10 @@ Die Achszuordnung kann in `robot/TelnetSenderGRBL.js` durch Anpassung der Konstr
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- `startRobot.js`
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- `startRobot.js`
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- `server/InputWS.js`
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- `server/InputWS.js`
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- `server/InfoServer.js`
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- `server/InfoServer.js`
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- `robot/Robot.js`
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- `robot/Robot.js` — Modell + Kinematik
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- `robot/GCode.js`
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- `robot/GCodeParser.js` — wandelt rohe Nachrichten in strukturierte Befehlsobjekte
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- `robot/RobotController.js` — wendet geparste Befehle auf das Modell an (Steuerlogik)
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- `robot/GCode.js` — Fassade + Datei-Befehle
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- `robot/TelnetSenderGRBL.js`
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- `robot/TelnetSenderGRBL.js`
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- `robot/fluidnc/FluidNCClient.js` — alternative WebSocket-basierte FluidNC-Anbindung mit Reconnect-Logik (noch nicht integriert)
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- `robot/fluidnc/FluidNCClient.js` — alternative WebSocket-basierte FluidNC-Anbindung mit Reconnect-Logik (noch nicht integriert)
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- `GCodeFiles/` — enthalten Beispiel- und Log-G-Code-Dateien
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- `GCodeFiles/` — enthalten Beispiel- und Log-G-Code-Dateien
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@@ -136,22 +147,22 @@ Die Achszuordnung kann in `robot/TelnetSenderGRBL.js` durch Anpassung der Konstr
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Architektur- und Refactoring-Aufgaben sind in `doc/ToDo_*.md` dokumentiert:
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Architektur- und Refactoring-Aufgaben sind in `doc/ToDo_*.md` dokumentiert:
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| Datei | Thema |
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| Datei | Thema | Status |
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|---|---|
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| `doc/ToDo_1_Parsing.md` | G-Code-Parser-Schicht einführen |
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| `doc/ToDo_1_Parsing.md` | G-Code-Parser-Schicht einführen | ✅ erledigt |
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| `doc/ToDo_2_Anbindung.md` | Sender-Interface und Orchestrierung |
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| `doc/ToDo_2_Anbindung.md` | Sender-Interface und Orchestrierung | ✅ erledigt |
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| `doc/ToDo_3_Config.md` | Zentralisierte Konfiguration |
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| `doc/ToDo_3_Config.md` | Zentralisierte Konfiguration | offen |
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| `doc/ToDo_4_GCode.md` | G-Code- und Datei-Handling trennen |
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| `doc/ToDo_4_GCode.md` | G-Code- und Datei-Handling trennen | offen |
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| `doc/ToDo_5_API.md` | WebSocket-Antwortlogik strukturieren |
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| `doc/ToDo_5_API.md` | WebSocket-Antwortlogik strukturieren | ✅ erledigt |
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| `doc/ToDo_6_RobotController.md` | RobotController-Klasse einführen |
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| `doc/ToDo_6_RobotController.md` | RobotController-Klasse einführen | ✅ erledigt |
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| `doc/ToDo_6a_Speed.md` | Speed-Steuerung: `calculateSpeeds()` reparieren, per-Achse Feedrate |
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| `doc/ToDo_6a_Speed.md` | Speed-Steuerung: Schalter, `calculateSpeeds()`-Fix, koordinierte Feedrate | ✅ erledigt (WS-Sender offen) |
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| `doc/ToDo_6b_FileHandling.md` | File-Handling: fehlende Befehle, Cursor im Speicher, Fehler-Feedback |
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| `doc/ToDo_6b_FileHandling.md` | File-Handling: fehlende Befehle, Cursor im Speicher, Fehler-Feedback | offen |
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| `doc/ToDo_7_Tests.md` | Testabdeckung und Stabilität |
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| `doc/ToDo_7_Tests.md` | Testabdeckung und Stabilität | teilweise |
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| `doc/ToDo_8_Bugs.md` | Bekannte konkrete Bugs |
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| `doc/ToDo_8_Bugs.md` | Bekannte konkrete Bugs | teilweise |
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| `doc/ToDo_9_HardwareFeedback.md` | Hardware-Feedback-Loop (GRBL-Antworten, Command-Queue, Positionsabgleich) |
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| `doc/ToDo_9_HardwareFeedback.md` | Hardware-Feedback-Loop (GRBL-Antworten, Command-Queue, Positionsabgleich) | offen |
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| `doc/ToDo_10_VerbindungsVerlust.md` | Verbindungsverlust erkennen, Watchdog, UI-Statusanzeige |
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| `doc/ToDo_10_VerbindungsVerlust.md` | Verbindungsverlust erkennen, Watchdog, UI-Statusanzeige | offen |
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| `doc/ToDo_12_InverseKinematikConfig_ROADMAP.md` | Austauschbare Kinematik: RobotBase + Robot7M, Env-Konfiguration |
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| `doc/ToDo_12_InverseKinematikConfig_ROADMAP.md` | Austauschbare Kinematik: RobotBase + Robot7M, Env-Konfiguration | offen |
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| `doc/ToDo_49_Cleanup.md` | Pre-Release-Cleanup: tote Code, Zertifikate, ToDos, README |
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| `doc/ToDo_49_Cleanup.md` | Pre-Release-Cleanup: tote Code, Zertifikate, ToDos, README | offen |
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### Empfohlene Bearbeitungsreihenfolge
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### Empfohlene Bearbeitungsreihenfolge
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@@ -1,17 +1,35 @@
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# ToDo 6 — RobotController
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# ToDo 6 — RobotController
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> ## ✅ Status: erledigt
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>
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> Steuerlogik in `robot/RobotController.js` ausgelagert; `GCode.receiveGCode()` ist
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> nur noch Fassade. Tests: `test/RobotController.test.js` (+ alle bestehenden
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> `GCode.*`-Tests laufen unverändert über die Fassade).
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## Ziel der Verbesserung
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## Ziel der Verbesserung
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Der `RobotController` fasst die Steuerlogik zusammen und hält den Roboterzustand vom G-Code-Parsing getrennt. So wird die Architektur modularer und leichter wartbar.
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Der `RobotController` fasst die Steuerlogik zusammen und hält den Roboterzustand vom G-Code-Parsing getrennt. So wird die Architektur modularer und leichter wartbar.
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## Aufgaben
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## Aufgaben
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- [ ] `RobotController` einführen
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- [x] `RobotController` einführen (`robot/RobotController.js`)
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- verarbeitet strukturierte G-Code-/Befehlsobjekte
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- verarbeitet strukturierte G-Code-/Befehlsobjekte (`applyCommand`, `receive`)
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- steuert `moveRelative`, `calculateAngles3D()`, `calculateSpeeds()` und `sendCommand()`
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- steuert `moveRelative`, `calculateAngles3D()` und `sendCommand()`
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- [ ] `Robot.js` als reines Modell-/Kinematik-Modul nutzen
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- [x] `Robot.js` als reines Modell-/Kinematik-Modul nutzen
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- Zustand, Längen, Winkel, Kinematik-Berechnungen
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- Zustand, Längen, Winkel, Kinematik-Berechnungen
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- [ ] den Übergang von Befehlsobjekt zu Motorpositionen sauber definieren
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- [x] den Übergang von Befehlsobjekt zu Motorpositionen sauber definieren
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- [ ] Logik für Bewegungsbefehle zentralisieren: `G1`, `G28`, `G90`, `G91`, `G92`, `M1`
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- [x] Logik für Bewegungsbefehle zentralisieren: `G1`, `G28`, `G90`, `G91`, `G92`(=`M92`), `M1`
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- [ ] rohe Textstrings aus der Controller-Schicht entfernen
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- [x] rohe Textstrings aus der Controller-Schicht entfernen (Controller arbeitet nur auf geparsten Objekten)
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- [ ] Zustandsänderungen konsistent an die Sender weiterreichen
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- [x] Zustandsänderungen konsistent an die Sender weiterreichen (über `robot.sendCommand()`)
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## Status
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- Erledigt. Die Dispatch-Logik wurde aus `GCode.receiveGCode()` in `RobotController`
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ausgelagert. `GCode.receiveGCode()` bleibt als dünne Fassade erhalten (delegiert an
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`RobotController.receive()`), damit bestehende Aufrufer und Datei-Befehle unverändert
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funktionieren.
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- `calculateSpeeds()` wird bewusst weiterhin innerhalb von `robot.sendCommand()` ausgelöst
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(Geschwindigkeit ist eine Modell-Eigenschaft, die der Controller über `sendCommand`
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anstößt — siehe ToDo_6a).
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- Tests: `test/RobotController.test.js` (Controller direkt), alle bestehenden
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`GCode.*`-Tests laufen unverändert über die Fassade.
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@@ -1,114 +1,129 @@
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# ToDo 6a — Speed-Steuerung
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# ToDo 6a — Speed-Steuerung
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## Ist-Zustand und Defizite
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> ## ✅ Status: erledigt (Pakete 1–2)
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>
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> - **Schalter `ROBOT_SPEED_MODE`** (`legacy` Default = exakt wie bisher, `correct` = koordiniert)
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> - **`calculateSpeeds()`-NaN-Bug behoben** + `moveTime` eingeführt
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> - **Koordinierte Feedrate** im `TelnetSenderGRBL` (Korrekt-Modus), Legacy-Pfad unangetastet
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> - Tests: `test/Robot.calculateSpeeds.test.js`, `test/Sender.Telnet.speedMode.test.js`,
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> `test/Speed.coordination.test.js`
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>
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> **Offen:** WS-Sender (Paket 3), `FPoint`-Feedrate (Paket 4 → ToDo_6b).
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Die Feedrate-Logik ist auf zwei Ebenen defekt:
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## Der Schalter: `ROBOT_SPEED_MODE`
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### Ebene 1: `calculateSpeeds()` berechnet NaN
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Die Speed-Regelung ist über **eine einzige Umgebungsvariable** umschaltbar:
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`Robot.calculateSpeeds(oldPos, newPos)` liest `oldPos.xMotor`, `oldPos.alpha`, `oldPos.beta` —
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| Wert | Bedeutung |
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diese Properties existieren in `RobotMotorPosition` **nicht**. Dort heißen sie `x`, `y`, `z`.
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Ergebnis: alle `motorSpeeds`-Werte sind `NaN`. Die Methode ist seit ihrer Einführung kaputt
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| `legacy` (Default) | **Alte Speed-Regelung — alles läuft exakt wie bisher.** Jeder Sender sendet die kartesische Feedrate `F` (aus dem G-Code bzw. `robot.feedrate`) unverändert an alle seine Achsen. |
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und fällt nur nicht auf, weil `ROBOT_USE_SPEED_CALC` standardmäßig `false` ist.
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| `correct` | **Korrekte Speed-Regelung.** Jeder Sender erhält eine eigene, koordinierte Feedrate, sodass alle Controller die Bewegung gleichzeitig beenden. |
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```js
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```yaml
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// Zeile ~214 Robot.js — falsch:
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# docker-compose.yml
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this.motorSpeeds.x = (this.xMotor - oldPos.xMotor) / time; // oldPos.xMotor → undefined
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environment:
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this.motorSpeeds.y = (this.alpha - oldPos.alpha) / time; // oldPos.alpha → undefined
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ROBOT_SPEED_MODE: legacy # oder: correct
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this.motorSpeeds.z = (this.beta - oldPos.beta) / time; // oldPos.beta → undefined
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// Richtig (RobotMotorPosition-Felder):
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this.motorSpeeds.x = (this.xMotor - oldPos.x) / time;
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this.motorSpeeds.y = (this.alpha - oldPos.y) / time;
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this.motorSpeeds.z = (this.beta - oldPos.z) / time;
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```
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```
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### Ebene 2: `motorSpeeds` werden von keinem Sender gelesen
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### Garantie für `legacy`
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Selbst wenn `calculateSpeeds()` korrekte Werte lieferte, ignorieren beide Sender die
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Im Legacy-Modus wird der **Sende-Pfad der Sender nicht angefasst**. Die Feedrate-Zeile
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berechneten Geschwindigkeiten vollständig:
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entsteht über exakt denselben Code wie bisher. Die bestehenden Sender-Tests
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(`Sender.Telnet.test.js`, `Sender.Telnet.caseBackward.test.js`) prüfen die Ausgabe
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zeichengenau und sind das Sicherheitsnetz: solange sie grün sind, ist Legacy
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byte-identisch zu vorher.
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- **`TelnetSenderGRBL`**: sendet `mNew.feedrate` (Kartesisch, mm/min) an alle Achsen gleich
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Der Korrekt-Modus fügt **nur zusätzlich** eine alternative Feedrate-Berechnung hinzu,
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- **`WSSenderGrbl`**: sendet immer `this.maxSpeedF`, ignoriert `mNew.feedrate` komplett
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die ausschließlich greift, wenn `ROBOT_SPEED_MODE=correct`.
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Das ist grundsätzlich falsch: Der Roboter hat drei unabhängige GRBL-Controller. Damit die
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### Abgrenzung zu `ROBOT_USE_SPEED_CALC`
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Fingerspitze mit `F1000 mm/min` fährt, muss jede Achse mit einer **anderen** Winkelgeschwindigkeit
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drehen — je nachdem, wie weit sie sich für diesen Schritt bewegt. Alle Achsen mit derselben
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Feedrate zu befehlen führt zu nicht-linearen Werkzeugbahnen.
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### Ebene 3: `FPoint` kodiert Feedrate hart
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`ROBOT_USE_SPEED_CALC` bleibt der interne Schalter dafür, ob `Robot.calculateSpeeds()`
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überhaupt rechnet. Der Korrekt-Modus aktiviert diese Berechnung automatisch.
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```js
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`ROBOT_USE_SPEED_CALC` allein ändert **nicht** die Sender-Ausgabe — nur
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// GCode.js FPoint — immer f1000, egal was robot.feedrate ist:
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`ROBOT_SPEED_MODE=correct` tut das. Damit bleibt bestehendes Verhalten erhalten.
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var strGCode = `G90 G1 x${robot.x} ... f1000`
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```
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---
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---
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## Konzept: Korrekte Feedrate-Verteilung
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## Hintergrund: Warum die alte Regelung falsch ist
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Gesamtziel: Die Kartesische Feedrate `F` (mm/min) des G-Code-Befehls bestimmt, wie lange
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Der Roboter hat drei unabhängige GRBL/FluidNC-Controller. Im Legacy-Modus bekommen alle
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der Bewegungsschritt dauert. Diese Zeit wird auf alle Achsen aufgeteilt.
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dieselbe kartesische Feedrate (z. B. `f1000`) — unabhängig davon, wie weit sich die
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jeweilige Achse in diesem Schritt tatsächlich bewegt. Folge: die Achse mit kurzer
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Bewegung ist viel früher fertig als die mit langer Bewegung, die Bewegungen laufen nicht
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koordiniert, und die Werkzeugbahn der Fingerspitze ist nicht linear.
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**Korrekt:** Die kartesische Feedrate `F` bestimmt die Gesamt-Zeit des Schritts:
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```
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```
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Zeit = kartesische_Distanz / F_mm_per_min
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Bewegungszeit = kartesische_Distanz / F
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Achsen-Feedrate[i] = Achsen-Delta[i] / Zeit
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Sender-Feedrate = Distanz_dieses_Senders / Bewegungszeit
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(in Grad/min, da GRBL-Achsen typisch in Grad konfiguriert)
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```
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```
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Der Sender kennt seine Achse (`xAxisGrbl`, `yAxisGrbl`, `zAxisGrbl`) und kann die passende
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So braucht jeder Controller dieselbe Zeit → die Bewegungen sind koordiniert.
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Geschwindigkeit aus `motorPosition.speeds` lesen, wenn diese korrekt befüllt sind.
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---
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## Behobene Defizite (Implementierung dieses ToDos)
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### 1. `calculateSpeeds()` berechnete NaN — behoben
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`Robot.calculateSpeeds()` las `oldPos.xMotor`, `oldPos.alpha`, `oldPos.beta` — Felder, die
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in `RobotMotorPosition` nicht existieren (dort `x`, `y`, `z`). Ergebnis: `NaN`.
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Korrigiert auf `oldPos.x/y/z`. Zusätzlich speichert die Methode jetzt die `Bewegungszeit`
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(`moveTime`), die der Sender für die koordinierte Feedrate braucht.
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### 2. Koordinierte Feedrate im Sender (Korrekt-Modus)
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`TelnetSenderGRBL` berechnet im Korrekt-Modus die Feedrate als
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`Distanz_dieses_Senders / moveTime`. Die Distanz wird über `portValue()` ermittelt —
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eine reine Funktion, die für jede (GRBL-Port, Roboter-Achse)-Zuordnung den gesendeten
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Wert liefert (dieselben Formeln wie der Sende-Pfad, aber als isolierte, testbare Funktion).
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---
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---
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## Pakete
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## Pakete
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### Paket 1: `calculateSpeeds()` reparieren
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### Paket 1: `calculateSpeeds()` reparieren — ✅ ERLEDIGT
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- [ ] Property-Namen korrigieren: `oldPos.x/y/z/a/b/c/e` statt `oldPos.xMotor/alpha/beta/...`
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- [x] Property-Namen korrigiert: `oldPos.x/y/z/a/b/c/e`
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- [ ] Einheit klären: `motorSpeeds` in rad/min oder direkt in Grad/min?
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- [x] `moveTime` berechnen und auf `motorPosition` ablegen
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- Sender wandeln Motorwinkel bereits von rad → Grad (`* 180/π`) für Positionen
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- [x] Unit-Tests: NaN-Freiheit, exakte Werte, Handgelenk-/Finger-Zweige, Guards
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- Einheitlichste Lösung: `motorSpeeds` ebenfalls in Grad/min speichern, oder
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(`test/Robot.calculateSpeeds.test.js`)
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die Umrechnung konsistent im Sender vornehmen
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- [ ] Grenzfall: Wenn kartesische Distanz null ist (reine Gelenkbewegung), Distanz
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über Handgelenk-Punkt verwenden — das ist bereits so angelegt, aber mit den
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falschen Property-Namen
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- [ ] Unit-Test: `calculateSpeeds` mit bekannten Werten, prüfen dass keine NaN entstehen
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### Paket 2: `motorSpeeds` in den Sender durchreichen
|
### Paket 2: Schalter + koordinierte Feedrate — ✅ ERLEDIGT
|
||||||
|
|
||||||
- [ ] `motorPosition.speeds` korrekt befüllen (passiert bereits via `this.motorPosition.speeds = {...this.motorSpeeds}` nach `calculateSpeeds`)
|
- [x] `ROBOT_SPEED_MODE`-Schalter (`legacy` Default, `correct`)
|
||||||
- [ ] Sender-Interface (`execCommand`): wenn `ROBOT_USE_SPEED_CALC` aktiv und
|
- [x] `TelnetSenderGRBL`: koordinierte Feedrate im Korrekt-Modus, Legacy-Pfad unverändert
|
||||||
`motorPosition.speeds[achse]` verfügbar und > 0 → diesen Wert als `F` verwenden
|
- [x] `portValue()` als isolierte Funktion, per Kreuzprobe gegen den echten Sende-Pfad getestet
|
||||||
- [ ] Jeder Sender (`TelnetSenderGRBL`, `WSSenderGrbl`) kennt seine Achse und holt
|
- [x] Korrekt-Modus-Tests + Koordinations-Invariante über alle drei Sender
|
||||||
die passende Geschwindigkeit aus `speeds`:
|
(`test/Sender.Telnet.speedMode.test.js`, `test/Speed.coordination.test.js`)
|
||||||
```js
|
|
||||||
// Beispiel: Sender ist für Achse "a" zuständig
|
|
||||||
const f = (useSpeedCalc && mNew.speeds.a > 0) ? mNew.speeds.a : mNew.feedrate;
|
|
||||||
data += ` f${f.toFixed(2)}`;
|
|
||||||
```
|
|
||||||
- [ ] Fallback: wenn `ROBOT_USE_SPEED_CALC=false` oder Speeds nicht berechnet →
|
|
||||||
`mNew.feedrate` wie bisher (Rückwärtskompatibilität)
|
|
||||||
|
|
||||||
### Paket 3: `WSSenderGrbl` Feedrate-Handling vereinheitlichen
|
### Paket 3: `WSSenderGrbl` — ⬜ OFFEN (Folge-Schritt)
|
||||||
|
|
||||||
- [ ] `WSSenderGrbl.execCommand()` auf dasselbe Feedrate-Schema wie `TelnetSenderGRBL` umstellen
|
- [ ] `WSSenderGrbl` auf denselben Schalter + koordinierte Feedrate bringen
|
||||||
- aktuell: immer `this.maxSpeedF` → ignoriert das `F` aus dem G-Code-Befehl komplett
|
- WS-Sender ist aktuell nicht in `startRobot.js` aktiv → kein Produktiv-Risiko
|
||||||
- richtig: `mNew.feedrate` verwenden (bzw. per-Achse aus Paket 2)
|
- Legacy-Verhalten des WS-Senders zunächst unverändert lassen
|
||||||
- [ ] `maxSpeedF` als Obergrenze behalten (Clamp), nicht als feste Ausgabe
|
|
||||||
|
|
||||||
### Paket 4: Kleinere Korrekturen
|
### Paket 4: Aufräumen — ⬜ OFFEN (Folge-Schritt)
|
||||||
|
|
||||||
- [ ] `FPoint` in `GCode.receiveFC()`: `robot.feedrate` statt hardcodierten `1000` speichern
|
- [ ] `FPoint` in `GCode.receiveFC()`: `robot.feedrate` statt hardcodiertem `1000`
|
||||||
- [ ] `ROBOT_USE_SPEED_CALC`-Flag dokumentieren: was ändert sich mit/ohne Flag?
|
→ gehört thematisch zur Datei-Logik, wird in **ToDo_6b** behandelt
|
||||||
Klarer Kommentar in `Robot.js` und im README
|
- [ ] `portValue()` perspektivisch auch im Sende-Pfad nutzen (Dedupe der Formeln);
|
||||||
|
bewusst aufgeschoben, um den Legacy-Pfad in diesem Schritt nicht anzufassen
|
||||||
|
|
||||||
|
### Bekannte Grenze des Korrekt-Modus v1
|
||||||
|
|
||||||
|
Die koordinierte Feedrate bildet die euklidische Norm über die Achsen eines Senders.
|
||||||
|
Mischt ein Sender lineare (mm) und winklige (Grad) Achsen, mischt die Norm diese
|
||||||
|
Einheiten — dieselbe Vereinfachung, die GRBL bei gemischten Achsen ohnehin macht.
|
||||||
|
Für eine spätere, einheiten-saubere Behandlung ggf. eigenes ToDo.
|
||||||
|
|
||||||
## Betroffene Dateien
|
## Betroffene Dateien
|
||||||
|
|
||||||
- `robot/Robot.js` — `calculateSpeeds()` bugfix, Einheitenwahl
|
- `robot/Robot.js` — `calculateSpeeds()` Fix, `moveTime`, Schalter→`useSpeedCalc`
|
||||||
- `robot/RobotMotorPosition.js` — ggf. `speeds`-Feld klarer benennen
|
- `robot/RobotMotorPosition.js` — `moveTime`-Feld
|
||||||
- `robot/TelnetSenderGRBL.js` — per-Achse Feedrate aus `speeds`
|
- `robot/TelnetSenderGRBL.js` — `portValue()`, koordinierte Feedrate, Schalter
|
||||||
- `robot/WSSenderGrbl.js` — Feedrate auf `mNew.feedrate` umstellen + Clamp
|
- `test/Robot.calculateSpeeds.test.js` — neu
|
||||||
- `robot/GCode.js` — `FPoint`: `robot.feedrate` statt `1000`
|
- `test/Sender.Telnet.speedMode.test.js` — neu
|
||||||
- `test/GCode.speed.test.js` — Tests für NaN-freie Berechnung ergänzen
|
|
||||||
|
|||||||
@@ -10269,3 +10269,73 @@
|
|||||||
2026-06-08T17:01:57.362Z ::ffff:127.0.0.1: M114
|
2026-06-08T17:01:57.362Z ::ffff:127.0.0.1: M114
|
||||||
2026-06-08T17:01:57.582Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
2026-06-08T17:01:57.582Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
2026-06-08T17:01:57.813Z ::ffff:127.0.0.1: G1 X1
|
2026-06-08T17:01:57.813Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:21:58.752Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:21:58.971Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:21:59.204Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:21:59.494Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:21:59.505Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:23:56.576Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:23:56.792Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:23:57.007Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:23:57.900Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:23:57.907Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:24:56.076Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:24:56.093Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:24:56.450Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:24:56.670Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:24:56.900Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:25:21.354Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:25:21.373Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:25:21.638Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:25:21.864Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:25:22.092Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:25:47.666Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:25:47.884Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:25:48.115Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:25:49.421Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:25:49.429Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:26:07.232Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:26:07.253Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:26:07.426Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:26:07.655Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:26:07.884Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:26:20.226Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:26:20.245Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:26:20.452Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:26:20.667Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:26:20.894Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:26:33.300Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:26:33.518Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:26:33.747Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:26:33.979Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:26:33.985Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:29:43.175Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:29:43.394Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:29:43.621Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:29:44.159Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:29:44.165Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:37:57.971Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:37:57.990Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:37:58.081Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:37:58.317Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:37:58.555Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:39:15.320Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:39:15.338Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:39:15.579Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:39:15.804Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:39:16.030Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:39:38.781Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:39:38.805Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:39:38.958Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:39:39.183Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:39:39.408Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:39:57.292Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:39:57.508Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:39:57.737Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
2026-06-09T10:39:57.872Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:39:57.877Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:41:44.504Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:41:44.520Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:41:44.720Z ::ffff:127.0.0.1: M114
|
||||||
|
2026-06-09T10:41:44.937Z ::ffff:127.0.0.1: G1 X1 Y2 Z3
|
||||||
|
2026-06-09T10:41:45.162Z ::ffff:127.0.0.1: G1 X1
|
||||||
|
|||||||
@@ -14582,3 +14582,31 @@
|
|||||||
2026-06-08T17:01:45.128Z ::ffff:127.0.0.1 : Ping
|
2026-06-08T17:01:45.128Z ::ffff:127.0.0.1 : Ping
|
||||||
2026-06-08T17:01:57.161Z ::ffff:127.0.0.1 : Ping
|
2026-06-08T17:01:57.161Z ::ffff:127.0.0.1 : Ping
|
||||||
2026-06-08T17:01:57.231Z ::ffff:127.0.0.1 : Ping
|
2026-06-08T17:01:57.231Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:21:58.539Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:21:59.485Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:23:56.359Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:23:57.891Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:24:56.048Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:24:56.216Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:25:21.323Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:25:21.407Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:25:47.453Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:25:49.403Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:26:07.185Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:26:07.195Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:26:20.179Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:26:20.206Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:26:33.080Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:26:33.971Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:29:42.949Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:29:44.153Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:37:57.831Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:37:57.933Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:39:15.280Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:39:15.324Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:39:38.709Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:39:38.743Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:39:57.078Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:39:57.863Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:41:44.479Z ::ffff:127.0.0.1 : Ping
|
||||||
|
2026-06-09T10:41:44.499Z ::ffff:127.0.0.1 : Ping
|
||||||
|
|||||||
108
robot/GCode.js
108
robot/GCode.js
@@ -2,7 +2,7 @@
|
|||||||
* Receives GCode, processes it and moves the Data to the Roboter-Class
|
* Receives GCode, processes it and moves the Data to the Roboter-Class
|
||||||
*/
|
*/
|
||||||
const fs = require('fs');
|
const fs = require('fs');
|
||||||
const GCodeParser = require('./GCodeParser');
|
const RobotController = require('./RobotController');
|
||||||
|
|
||||||
|
|
||||||
class GCode{
|
class GCode{
|
||||||
@@ -81,106 +81,14 @@ class GCode{
|
|||||||
return newGString.trim();
|
return newGString.trim();
|
||||||
};
|
};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Verarbeitet eine rohe G-Code-Nachricht. Parsing + Steuerlogik liegen jetzt im
|
||||||
|
* GCodeParser bzw. RobotController (ToDo_6); diese Methode bleibt als Fassade
|
||||||
|
* erhalten, damit bestehende Aufrufer (InputWS, Datei-Befehle) unverändert
|
||||||
|
* funktionieren.
|
||||||
|
*/
|
||||||
static receiveGCode(robot, g){
|
static receiveGCode(robot, g){
|
||||||
const commands = GCodeParser.parse(g);
|
RobotController.receive(robot, g);
|
||||||
if (!commands.length) return;
|
|
||||||
|
|
||||||
commands.forEach(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;
|
|
||||||
}
|
|
||||||
});
|
|
||||||
}
|
}
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////////////////////////////////////////////////////77
|
//////////////////////////////////////////////////////////////////////////////////////////////////////////////77
|
||||||
|
|||||||
@@ -7,8 +7,16 @@ class Robot{
|
|||||||
// Umgebungsvariablen-Logik
|
// Umgebungsvariablen-Logik
|
||||||
const DEFAULT_FEEDRATE = process.env.ROBOT_DEFAULT_FEEDRATE ?
|
const DEFAULT_FEEDRATE = process.env.ROBOT_DEFAULT_FEEDRATE ?
|
||||||
Number(process.env.ROBOT_DEFAULT_FEEDRATE) : 1000;
|
Number(process.env.ROBOT_DEFAULT_FEEDRATE) : 1000;
|
||||||
this.useSpeedCalc = process.env.ROBOT_USE_SPEED_CALC === 'true' ||
|
// Speed-Regelung-Schalter: 'legacy' (Default — exakt wie bisher) oder 'correct'.
|
||||||
|
// Siehe doc/ToDo_6a_Speed.md.
|
||||||
|
this.speedMode = (process.env.ROBOT_SPEED_MODE || 'legacy').toLowerCase();
|
||||||
|
// ROBOT_USE_SPEED_CALC bleibt der interne Schalter für calculateSpeeds();
|
||||||
|
// der Korrekt-Modus aktiviert die Berechnung automatisch.
|
||||||
|
this.useSpeedCalc = this.speedMode === 'correct' ||
|
||||||
|
process.env.ROBOT_USE_SPEED_CALC === 'true' ||
|
||||||
process.env.ROBOT_USE_SPEED_CALC === '1';
|
process.env.ROBOT_USE_SPEED_CALC === '1';
|
||||||
|
/** @type {number} Bewegungszeit des letzten Schritts in Minuten (für koordinierte Feedrate) */
|
||||||
|
this.lastMoveTime = 0;
|
||||||
|
|
||||||
/** @type {number} Bewegungsgeschwindigkeit X-Achse in mm/min */
|
/** @type {number} Bewegungsgeschwindigkeit X-Achse in mm/min */
|
||||||
this.speedX = 200;
|
this.speedX = 200;
|
||||||
@@ -131,6 +139,10 @@ class Robot{
|
|||||||
// Setze Geschwindigkeiten
|
// Setze Geschwindigkeiten
|
||||||
this.motorPosition.speeds = {...this.motorSpeeds};
|
this.motorPosition.speeds = {...this.motorSpeeds};
|
||||||
this.motorPosition.feedrate = this.feedrate || 200;
|
this.motorPosition.feedrate = this.feedrate || 200;
|
||||||
|
|
||||||
|
// Speed-Regelung: Modus und (vorläufige) Bewegungszeit für die Sender
|
||||||
|
this.motorPosition.speedMode = this.speedMode;
|
||||||
|
this.motorPosition.moveTime = this.lastMoveTime || 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Berechnet aus XYZ die Motor-Winkel für den GCode
|
// Berechnet aus XYZ die Motor-Winkel für den GCode
|
||||||
@@ -203,6 +215,8 @@ class Robot{
|
|||||||
if (!this.useSpeedCalc) return; // Neue Logik nur aktivieren, wenn Flag gesetzt
|
if (!this.useSpeedCalc) return; // Neue Logik nur aktivieren, wenn Flag gesetzt
|
||||||
if (!oldPos || !newPos || this.feedrate <= 0) return;
|
if (!oldPos || !newPos || this.feedrate <= 0) return;
|
||||||
|
|
||||||
|
this.lastMoveTime = 0; // wird unten gesetzt, sobald eine Bewegung erkannt wird
|
||||||
|
|
||||||
// 1. Berechne xyz-Distanz (primär)
|
// 1. Berechne xyz-Distanz (primär)
|
||||||
const dx = newPos.x - oldPos.x;
|
const dx = newPos.x - oldPos.x;
|
||||||
const dy = newPos.y - oldPos.y;
|
const dy = newPos.y - oldPos.y;
|
||||||
@@ -211,9 +225,10 @@ class Robot{
|
|||||||
|
|
||||||
if (xyz_dist > 0.001) {
|
if (xyz_dist > 0.001) {
|
||||||
const time = xyz_dist / this.feedrate;
|
const time = xyz_dist / this.feedrate;
|
||||||
this.motorSpeeds.x = (this.xMotor - oldPos.xMotor) / time;
|
this.lastMoveTime = time;
|
||||||
this.motorSpeeds.y = (this.alpha - oldPos.alpha) / time;
|
this.motorSpeeds.x = (this.xMotor - oldPos.x) / time;
|
||||||
this.motorSpeeds.z = (this.beta - oldPos.beta) / time;
|
this.motorSpeeds.y = (this.alpha - oldPos.y) / time;
|
||||||
|
this.motorSpeeds.z = (this.beta - oldPos.z) / time;
|
||||||
this.motorSpeeds.a = (this.a - oldPos.a) / time;
|
this.motorSpeeds.a = (this.a - oldPos.a) / time;
|
||||||
this.motorSpeeds.b = (this.b - oldPos.b) / time;
|
this.motorSpeeds.b = (this.b - oldPos.b) / time;
|
||||||
this.motorSpeeds.c = (this.c - oldPos.c) / time;
|
this.motorSpeeds.c = (this.c - oldPos.c) / time;
|
||||||
@@ -229,9 +244,10 @@ class Robot{
|
|||||||
|
|
||||||
if (handgelenk_dist > 0.001) {
|
if (handgelenk_dist > 0.001) {
|
||||||
const time = handgelenk_dist / this.feedrate;
|
const time = handgelenk_dist / this.feedrate;
|
||||||
this.motorSpeeds.x = (this.xMotor - oldPos.xMotor) / time;
|
this.lastMoveTime = time;
|
||||||
this.motorSpeeds.y = (this.alpha - oldPos.alpha) / time;
|
this.motorSpeeds.x = (this.xMotor - oldPos.x) / time;
|
||||||
this.motorSpeeds.z = (this.beta - oldPos.beta) / time;
|
this.motorSpeeds.y = (this.alpha - oldPos.y) / time;
|
||||||
|
this.motorSpeeds.z = (this.beta - oldPos.z) / time;
|
||||||
this.motorSpeeds.a = (this.a - oldPos.a) / time;
|
this.motorSpeeds.a = (this.a - oldPos.a) / time;
|
||||||
this.motorSpeeds.b = (this.b - oldPos.b) / time;
|
this.motorSpeeds.b = (this.b - oldPos.b) / time;
|
||||||
this.motorSpeeds.c = (this.c - oldPos.c) / time;
|
this.motorSpeeds.c = (this.c - oldPos.c) / time;
|
||||||
@@ -243,9 +259,10 @@ class Robot{
|
|||||||
const de = Math.abs(this.eMotor - oldPos.e);
|
const de = Math.abs(this.eMotor - oldPos.e);
|
||||||
if (de > 0.001) {
|
if (de > 0.001) {
|
||||||
const time = de / this.feedrate;
|
const time = de / this.feedrate;
|
||||||
this.motorSpeeds.x = (this.xMotor - oldPos.xMotor) / time;
|
this.lastMoveTime = time;
|
||||||
this.motorSpeeds.y = (this.alpha - oldPos.alpha) / time;
|
this.motorSpeeds.x = (this.xMotor - oldPos.x) / time;
|
||||||
this.motorSpeeds.z = (this.beta - oldPos.beta) / time;
|
this.motorSpeeds.y = (this.alpha - oldPos.y) / time;
|
||||||
|
this.motorSpeeds.z = (this.beta - oldPos.z) / time;
|
||||||
this.motorSpeeds.a = (this.a - oldPos.a) / time;
|
this.motorSpeeds.a = (this.a - oldPos.a) / time;
|
||||||
this.motorSpeeds.b = (this.b - oldPos.b) / time;
|
this.motorSpeeds.b = (this.b - oldPos.b) / time;
|
||||||
this.motorSpeeds.c = (this.c - oldPos.c) / time;
|
this.motorSpeeds.c = (this.c - oldPos.c) / time;
|
||||||
@@ -336,6 +353,8 @@ class Robot{
|
|||||||
// Berechne Geschwindigkeiten
|
// Berechne Geschwindigkeiten
|
||||||
this.calculateSpeeds(this.motorPositionOld, this.motorPosition);
|
this.calculateSpeeds(this.motorPositionOld, this.motorPosition);
|
||||||
this.motorPosition.speeds = {...this.motorSpeeds};
|
this.motorPosition.speeds = {...this.motorSpeeds};
|
||||||
|
// moveTime nach der Berechnung aktualisieren (createMotorPosition lief davor)
|
||||||
|
this.motorPosition.moveTime = this.lastMoveTime || 0;
|
||||||
|
|
||||||
console.log("Robot.sendCommand: ", cmd.toString(), " 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));
|
console.log("Robot.sendCommand: ", cmd.toString(), " 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));
|
||||||
|
|
||||||
|
|||||||
126
robot/RobotController.js
Normal file
126
robot/RobotController.js
Normal file
@@ -0,0 +1,126 @@
|
|||||||
|
/***
|
||||||
|
* 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;
|
||||||
@@ -32,6 +32,12 @@ module.exports = class RobotMotorPosition{
|
|||||||
|
|
||||||
// Feedrate in mm/min
|
// Feedrate in mm/min
|
||||||
this.feedrate = 0;
|
this.feedrate = 0;
|
||||||
|
|
||||||
|
// Bewegungszeit des Schritts in Minuten (für koordinierte Feedrate, ToDo_6a)
|
||||||
|
this.moveTime = 0;
|
||||||
|
|
||||||
|
// Speed-Regelung-Modus, vom Robot gesetzt: 'legacy' | 'correct'
|
||||||
|
this.speedMode = 'legacy';
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -235,6 +235,116 @@ module.exports = class TelnetSenderGRBL extends SenderInterface {
|
|||||||
this.execCommand("G1", mOld, mNew)
|
this.execCommand("G1", mOld, mNew)
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Liefert den Wert, der an einen GRBL-Port gesendet wird, wenn dieser auf eine
|
||||||
|
* Roboter-Achse abgebildet ist — als reine Funktion der Positions-/Geschwindigkeits-
|
||||||
|
* Quelle `pos` ({x,y,z,a,b,c,e}). Dieselben Formeln wie der Sende-Pfad, aber isoliert
|
||||||
|
* und testbar. Wird für die koordinierte Feedrate (ToDo_6a) verwendet.
|
||||||
|
* @returns {number|null}
|
||||||
|
*/
|
||||||
|
portValue(grblPort, robotAxis, pos) {
|
||||||
|
if (!robotAxis || !pos) return null;
|
||||||
|
const D = 180 / Math.PI;
|
||||||
|
const factorTurnLift = 1.2;
|
||||||
|
const handOpenInMM = 1.0;
|
||||||
|
const { x, y, z, a, b, c, e } = pos;
|
||||||
|
|
||||||
|
switch (grblPort) {
|
||||||
|
case 'x':
|
||||||
|
switch (robotAxis) {
|
||||||
|
case 'x': return x;
|
||||||
|
case 'y': return y * D;
|
||||||
|
case 'z': return (z - y) * D;
|
||||||
|
case 'a': return a * D;
|
||||||
|
case 'b': return (b + z - y) * D;
|
||||||
|
case 'c': return (-b + c) * D;
|
||||||
|
case 'e': return -1.0 * (-1.0 * (b * D * factorTurnLift) + c * D) + e * handOpenInMM;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case 'y':
|
||||||
|
switch (robotAxis) {
|
||||||
|
case 'x': return x;
|
||||||
|
case 'y': return y * D;
|
||||||
|
case 'z': return (z - y) * D;
|
||||||
|
case 'a': return a * D;
|
||||||
|
case 'b': return (b + z - y) * D;
|
||||||
|
case 'c': return -1.0 * (b * D * factorTurnLift) + c * D;
|
||||||
|
case 'e': return e * D;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case 'z':
|
||||||
|
switch (robotAxis) {
|
||||||
|
case 'x': return x;
|
||||||
|
case 'y': return y * D;
|
||||||
|
case 'z': return (z - y) * D;
|
||||||
|
case 'a': return a * D;
|
||||||
|
case 'b': return b * D;
|
||||||
|
case 'c': return (c + b + z - y) * D;
|
||||||
|
case 'e': return e * D;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case 'a':
|
||||||
|
switch (robotAxis) {
|
||||||
|
case 'x': return y * D; // Quirk: a-Port auf robotAxis 'x' nutzt y (wie im Sende-Pfad)
|
||||||
|
case 'y': return y * D;
|
||||||
|
case 'z': return (z - y) * D;
|
||||||
|
case 'a': return a * D;
|
||||||
|
case 'b': return (b + z - y) * D;
|
||||||
|
case 'c': return (c + b + z - y) * D;
|
||||||
|
case 'e': return e * D;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
case 'b':
|
||||||
|
switch (robotAxis) {
|
||||||
|
case 'x': return x;
|
||||||
|
case 'y': return y * D;
|
||||||
|
case 'z': return (z - y) * D;
|
||||||
|
case 'a': return a * D;
|
||||||
|
case 'b': return b * D;
|
||||||
|
case 'c': return (c + b + z - y) * D;
|
||||||
|
case 'e': return e * D;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
return null;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Koordinierte Feedrate für diesen Sender (Korrekt-Modus): die euklidische Strecke,
|
||||||
|
* die dieser Sender in diesem Schritt zurücklegt, geteilt durch die Bewegungszeit.
|
||||||
|
* So beenden alle Controller den Schritt gleichzeitig.
|
||||||
|
* @returns {number|null} Feedrate oder null, wenn nicht bestimmbar (→ Legacy-Fallback)
|
||||||
|
*/
|
||||||
|
computeCoordinatedFeedrate(mOld, mNew) {
|
||||||
|
const moveTime = mNew && Number.isFinite(mNew.moveTime) ? mNew.moveTime : 0;
|
||||||
|
if (!(moveTime > 0) || !mOld) return null;
|
||||||
|
|
||||||
|
const ports = [
|
||||||
|
['x', this.xAxisGrbl],
|
||||||
|
['y', this.yAxisGrbl],
|
||||||
|
['z', this.zAxisGrbl],
|
||||||
|
['a', this.aAxisGrbl],
|
||||||
|
['b', this.bAxisGrbl],
|
||||||
|
];
|
||||||
|
|
||||||
|
let sumSq = 0;
|
||||||
|
let any = false;
|
||||||
|
for (const [port, robotAxis] of ports) {
|
||||||
|
if (!robotAxis) continue;
|
||||||
|
const vNew = this.portValue(port, robotAxis, mNew);
|
||||||
|
const vOld = this.portValue(port, robotAxis, mOld);
|
||||||
|
if (!Number.isFinite(vNew) || !Number.isFinite(vOld)) continue;
|
||||||
|
const d = vNew - vOld;
|
||||||
|
sumSq += d * d;
|
||||||
|
any = true;
|
||||||
|
}
|
||||||
|
if (!any) return null;
|
||||||
|
|
||||||
|
const dist = Math.sqrt(sumSq);
|
||||||
|
if (!(dist > 0)) return null;
|
||||||
|
return dist / moveTime;
|
||||||
|
}
|
||||||
|
|
||||||
execCommand(strCommand = "G1", mOld, mNew ){
|
execCommand(strCommand = "G1", mOld, mNew ){
|
||||||
|
|
||||||
// The Hand-Turn is not 1:1 to the Hand-Lift °
|
// The Hand-Turn is not 1:1 to the Hand-Lift °
|
||||||
@@ -379,12 +489,20 @@ module.exports = class TelnetSenderGRBL extends SenderInterface {
|
|||||||
if(strCommand == "G1" && mNew){
|
if(strCommand == "G1" && mNew){
|
||||||
const DEFAULT_FEEDRATE = process.env.ROBOT_DEFAULT_FEEDRATE ?
|
const DEFAULT_FEEDRATE = process.env.ROBOT_DEFAULT_FEEDRATE ?
|
||||||
Number(process.env.ROBOT_DEFAULT_FEEDRATE) : this.maxSpeedF;
|
Number(process.env.ROBOT_DEFAULT_FEEDRATE) : this.maxSpeedF;
|
||||||
const feedrate = mNew.feedrate !== undefined ? mNew.feedrate : DEFAULT_FEEDRATE;
|
|
||||||
data += " f"+(feedrate.toFixed(2).toString())
|
|
||||||
|
|
||||||
// ToDo: Aus motorSpeed mit einzelnenen Werten muss noch die feedrate berechnet werden.
|
let feedrate;
|
||||||
// hier bin ich unsicher, ob das nicht in den Sender rein sollte, da es eventuell
|
if (mNew.speedMode === 'correct') {
|
||||||
// abhngig vom FluidNC und dessen speed interpretation ist.
|
// Korrekt-Modus: koordinierte Feedrate; Fallback auf Legacy-Wert,
|
||||||
|
// wenn (noch) nicht bestimmbar (z. B. erster Schritt ohne moveTime).
|
||||||
|
const coordinated = this.computeCoordinatedFeedrate(mOld, mNew);
|
||||||
|
feedrate = (coordinated != null && Number.isFinite(coordinated) && coordinated > 0)
|
||||||
|
? coordinated
|
||||||
|
: (mNew.feedrate !== undefined ? mNew.feedrate : DEFAULT_FEEDRATE);
|
||||||
|
} else {
|
||||||
|
// Legacy-Pfad — unverändert: kartesische Feedrate an alle Achsen
|
||||||
|
feedrate = mNew.feedrate !== undefined ? mNew.feedrate : DEFAULT_FEEDRATE;
|
||||||
|
}
|
||||||
|
data += " f"+(feedrate.toFixed(2).toString())
|
||||||
}
|
}
|
||||||
|
|
||||||
if(data.indexOf("G90") == -1 && data.indexOf("G1 ") !== -1){
|
if(data.indexOf("G90") == -1 && data.indexOf("G1 ") !== -1){
|
||||||
|
|||||||
128
test/Robot.calculateSpeeds.test.js
Normal file
128
test/Robot.calculateSpeeds.test.js
Normal file
@@ -0,0 +1,128 @@
|
|||||||
|
const Robot = require('../robot/Robot');
|
||||||
|
const MotorPosition = require('../robot/RobotMotorPosition');
|
||||||
|
|
||||||
|
describe('Robot.calculateSpeeds (ToDo_6a)', () => {
|
||||||
|
|
||||||
|
beforeAll(() => {
|
||||||
|
jest.spyOn(console, 'log').mockImplementation(() => {});
|
||||||
|
});
|
||||||
|
afterAll(() => {
|
||||||
|
jest.restoreAllMocks();
|
||||||
|
});
|
||||||
|
|
||||||
|
function makeRobot() {
|
||||||
|
const robot = new Robot(250, 264, 100);
|
||||||
|
robot.useSpeedCalc = true;
|
||||||
|
robot.feedrate = 1000;
|
||||||
|
return robot;
|
||||||
|
}
|
||||||
|
|
||||||
|
test('erzeugt keine NaN-Werte (Property-Bug behoben) und setzt moveTime', () => {
|
||||||
|
const robot = makeRobot();
|
||||||
|
robot.xMotor = 10; robot.alpha = 1; robot.beta = 1;
|
||||||
|
robot.a = 0.5; robot.b = 0.5; robot.c = 0.5; robot.eMotor = 0.2;
|
||||||
|
|
||||||
|
const oldPos = new MotorPosition(0, 0, 0, 0, 0, 0, 0);
|
||||||
|
const newPos = new MotorPosition(10, 1, 1, 0.5, 0.5, 0.5, 0.2);
|
||||||
|
|
||||||
|
robot.calculateSpeeds(oldPos, newPos);
|
||||||
|
|
||||||
|
for (const k of ['x', 'y', 'z', 'a', 'b', 'c', 'e']) {
|
||||||
|
expect(Number.isFinite(robot.motorSpeeds[k])).toBe(true);
|
||||||
|
}
|
||||||
|
expect(robot.motorSpeeds.x).toBeGreaterThan(0);
|
||||||
|
expect(robot.lastMoveTime).toBeGreaterThan(0);
|
||||||
|
});
|
||||||
|
|
||||||
|
test('exakte Werte: motorSpeeds = Delta/Zeit, moveTime = Distanz/Feedrate', () => {
|
||||||
|
const robot = makeRobot();
|
||||||
|
// reine X-Motor-Bewegung um 30 mm
|
||||||
|
robot.xMotor = 30; robot.alpha = 0; robot.beta = 0;
|
||||||
|
|
||||||
|
const oldPos = new MotorPosition(0, 0, 0, 0, 0, 0, 0);
|
||||||
|
const newPos = new MotorPosition(30, 0, 0, 0, 0, 0, 0);
|
||||||
|
|
||||||
|
robot.calculateSpeeds(oldPos, newPos);
|
||||||
|
|
||||||
|
// Distanz = 30, feedrate = 1000 → moveTime = 0.03 min
|
||||||
|
expect(robot.lastMoveTime).toBeCloseTo(0.03, 6);
|
||||||
|
// motorSpeeds.x = 30 / 0.03 = 1000
|
||||||
|
expect(robot.motorSpeeds.x).toBeCloseTo(1000, 4);
|
||||||
|
// unbewegte Achsen → 0
|
||||||
|
expect(robot.motorSpeeds.y).toBeCloseTo(0, 6);
|
||||||
|
expect(robot.motorSpeeds.z).toBeCloseTo(0, 6);
|
||||||
|
});
|
||||||
|
|
||||||
|
test('Handgelenk-Zweig: xyz-Motoren unverändert, Handgelenk-Punkt bewegt sich', () => {
|
||||||
|
const robot = makeRobot();
|
||||||
|
robot.xMotor = 0; robot.alpha = 0; robot.beta = 0;
|
||||||
|
|
||||||
|
const oldPos = new MotorPosition(0, 0, 0, 0, 0, 0, 0);
|
||||||
|
oldPos.pX = 0; oldPos.pY = 0; oldPos.pZ = 0;
|
||||||
|
|
||||||
|
const newPos = new MotorPosition(0, 0, 0, 0, 0, 0, 0);
|
||||||
|
newPos.pX = 4; newPos.pY = 0; newPos.pZ = 3; // Handgelenk-Distanz = 5
|
||||||
|
|
||||||
|
robot.calculateSpeeds(oldPos, newPos);
|
||||||
|
|
||||||
|
// xyz-Distanz ist 0 → der Handgelenk-Zweig greift: moveTime = 5 / 1000
|
||||||
|
expect(robot.lastMoveTime).toBeCloseTo(0.005, 6);
|
||||||
|
});
|
||||||
|
|
||||||
|
test('Finger-Zweig: nur e bewegt sich', () => {
|
||||||
|
const robot = makeRobot();
|
||||||
|
robot.eMotor = 2;
|
||||||
|
|
||||||
|
const oldPos = new MotorPosition(0, 0, 0, 0, 0, 0, 0);
|
||||||
|
const newPos = new MotorPosition(0, 0, 0, 0, 0, 0, 2);
|
||||||
|
|
||||||
|
robot.calculateSpeeds(oldPos, newPos);
|
||||||
|
|
||||||
|
expect(Number.isFinite(robot.motorSpeeds.e)).toBe(true);
|
||||||
|
expect(robot.lastMoveTime).toBeCloseTo(0.002, 6); // 2 / 1000
|
||||||
|
});
|
||||||
|
|
||||||
|
test('Guard: useSpeedCalc deaktiviert → keine Änderung (Legacy)', () => {
|
||||||
|
const robot = makeRobot();
|
||||||
|
robot.useSpeedCalc = false;
|
||||||
|
robot.xMotor = 10;
|
||||||
|
|
||||||
|
const oldPos = new MotorPosition(0, 0, 0, 0, 0, 0, 0);
|
||||||
|
const newPos = new MotorPosition(10, 0, 0, 0, 0, 0, 0);
|
||||||
|
|
||||||
|
robot.calculateSpeeds(oldPos, newPos);
|
||||||
|
|
||||||
|
expect(robot.motorSpeeds.x).toBe(0);
|
||||||
|
expect(robot.lastMoveTime).toBe(0);
|
||||||
|
});
|
||||||
|
|
||||||
|
test('Guard: feedrate <= 0 → keine Berechnung', () => {
|
||||||
|
const robot = makeRobot();
|
||||||
|
robot.feedrate = 0;
|
||||||
|
robot.xMotor = 10;
|
||||||
|
|
||||||
|
const oldPos = new MotorPosition(0, 0, 0, 0, 0, 0, 0);
|
||||||
|
const newPos = new MotorPosition(10, 0, 0, 0, 0, 0, 0);
|
||||||
|
|
||||||
|
robot.calculateSpeeds(oldPos, newPos);
|
||||||
|
|
||||||
|
expect(robot.motorSpeeds.x).toBe(0);
|
||||||
|
expect(robot.lastMoveTime).toBe(0);
|
||||||
|
});
|
||||||
|
|
||||||
|
test('Guard: fehlende Positionen → kein Fehler, keine Änderung', () => {
|
||||||
|
const robot = makeRobot();
|
||||||
|
expect(() => robot.calculateSpeeds(null, null)).not.toThrow();
|
||||||
|
expect(robot.motorSpeeds.x).toBe(0);
|
||||||
|
});
|
||||||
|
|
||||||
|
test('keine Bewegung (alle Distanzen 0) → moveTime bleibt 0', () => {
|
||||||
|
const robot = makeRobot();
|
||||||
|
const pos = new MotorPosition(5, 0.1, 0.2, 0, 0, 0, 0);
|
||||||
|
robot.xMotor = 5; robot.alpha = 0.1; robot.beta = 0.2;
|
||||||
|
|
||||||
|
robot.calculateSpeeds(pos, pos);
|
||||||
|
|
||||||
|
expect(robot.lastMoveTime).toBe(0);
|
||||||
|
});
|
||||||
|
});
|
||||||
72
test/RobotController.test.js
Normal file
72
test/RobotController.test.js
Normal file
@@ -0,0 +1,72 @@
|
|||||||
|
const RobotController = require('../robot/RobotController');
|
||||||
|
const createDummyRobot = require('./helpers/createDummyRobot');
|
||||||
|
|
||||||
|
describe('RobotController (ToDo_6)', () => {
|
||||||
|
|
||||||
|
test('applyCommand: G90 setzt Absolutmodus, ohne Bewegung', () => {
|
||||||
|
const robot = createDummyRobot();
|
||||||
|
robot.moveRelative = true;
|
||||||
|
|
||||||
|
RobotController.applyCommand(robot, { command: 'G90', params: {} });
|
||||||
|
|
||||||
|
expect(robot.moveRelative).toBe(false);
|
||||||
|
expect(robot.calculateAngles3D).not.toHaveBeenCalled();
|
||||||
|
expect(robot.sendCommand).not.toHaveBeenCalled();
|
||||||
|
});
|
||||||
|
|
||||||
|
test('applyCommand: G1 absolut setzt Koordinaten und bewegt', () => {
|
||||||
|
const robot = createDummyRobot();
|
||||||
|
robot.moveRelative = false;
|
||||||
|
|
||||||
|
RobotController.applyCommand(robot, { command: 'G1', params: { X: 10, Y: 20, Z: 30 } });
|
||||||
|
|
||||||
|
expect(robot.x).toBe(10);
|
||||||
|
expect(robot.y).toBe(20);
|
||||||
|
expect(robot.z).toBe(30);
|
||||||
|
expect(robot.calculateAngles3D).toHaveBeenCalledTimes(1);
|
||||||
|
expect(robot.sendCommand).toHaveBeenCalledTimes(1);
|
||||||
|
});
|
||||||
|
|
||||||
|
test('applyCommand: G1 relativ addiert', () => {
|
||||||
|
const robot = createDummyRobot();
|
||||||
|
robot.moveRelative = true;
|
||||||
|
robot.x = 5;
|
||||||
|
|
||||||
|
RobotController.applyCommand(robot, { command: 'G1', params: { X: 2 } });
|
||||||
|
|
||||||
|
expect(robot.x).toBe(7);
|
||||||
|
});
|
||||||
|
|
||||||
|
test('applyCommand: M1 verändert Motorwerte und rechnet vorwärts', () => {
|
||||||
|
const robot = createDummyRobot();
|
||||||
|
robot.moveRelative = false;
|
||||||
|
|
||||||
|
RobotController.applyCommand(robot, { command: 'M1', params: { X: 1, Y: 2, Z: 3, A: 4, B: 5, C: 6 } });
|
||||||
|
|
||||||
|
expect(robot.xMotor).toBe(1);
|
||||||
|
expect(robot.alpha).toBe(2);
|
||||||
|
expect(robot.beta).toBe(3);
|
||||||
|
expect(robot.a).toBe(4);
|
||||||
|
expect(robot.calculatePositionFromMotorAngles).toHaveBeenCalled();
|
||||||
|
expect(robot.sendCommand).toHaveBeenCalled();
|
||||||
|
});
|
||||||
|
|
||||||
|
test('applyCommand: ungültiger Befehl wird ignoriert', () => {
|
||||||
|
const robot = createDummyRobot();
|
||||||
|
RobotController.applyCommand(robot, null);
|
||||||
|
RobotController.applyCommand(robot, { command: 'G99', params: {} });
|
||||||
|
expect(robot.sendCommand).not.toHaveBeenCalled();
|
||||||
|
});
|
||||||
|
|
||||||
|
test('receive: parst rohe Nachricht und wendet mehrere Befehle an', () => {
|
||||||
|
const robot = createDummyRobot();
|
||||||
|
robot.moveRelative = true;
|
||||||
|
|
||||||
|
RobotController.receive(robot, 'G90 G1 X12 Y34');
|
||||||
|
|
||||||
|
expect(robot.moveRelative).toBe(false);
|
||||||
|
expect(robot.x).toBe(12);
|
||||||
|
expect(robot.y).toBe(34);
|
||||||
|
expect(robot.sendCommand).toHaveBeenCalledTimes(1);
|
||||||
|
});
|
||||||
|
});
|
||||||
175
test/Sender.Telnet.speedMode.test.js
Normal file
175
test/Sender.Telnet.speedMode.test.js
Normal file
@@ -0,0 +1,175 @@
|
|||||||
|
const TelnetSender = require('../robot/TelnetSenderGRBL.js');
|
||||||
|
|
||||||
|
describe('TelnetSenderGRBL — ROBOT_SPEED_MODE (ToDo_6a)', () => {
|
||||||
|
|
||||||
|
beforeAll(() => {
|
||||||
|
jest.spyOn(console, 'log').mockImplementation(() => {});
|
||||||
|
});
|
||||||
|
afterAll(() => {
|
||||||
|
jest.restoreAllMocks();
|
||||||
|
});
|
||||||
|
|
||||||
|
function makeSender() {
|
||||||
|
const sender = new TelnetSender('test.test', 2300, 'x', 'y', 'z');
|
||||||
|
sender.tSocket = { written: '', write(txt) { this.written = txt; } };
|
||||||
|
return sender;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Gemeinsame Bewegungsdaten: x, alpha(=90°), beta bleibt
|
||||||
|
function makeMotion(extra) {
|
||||||
|
const mOld = { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, e: 0 };
|
||||||
|
const mNew = {
|
||||||
|
x: 12.34, y: Math.PI / 2, z: 0, a: 0, b: 0, c: 0, e: 0,
|
||||||
|
xMotorChanged: true, yMotorChanged: true, zMotorChanged: true,
|
||||||
|
feedrate: 999,
|
||||||
|
...extra
|
||||||
|
};
|
||||||
|
return { mOld, mNew };
|
||||||
|
}
|
||||||
|
|
||||||
|
test('legacy (Default): kartesische Feedrate, exakt wie bisher', () => {
|
||||||
|
const sender = makeSender();
|
||||||
|
const { mOld, mNew } = makeMotion({ speedMode: 'legacy' });
|
||||||
|
|
||||||
|
sender.execCommand('G1', mOld, mNew);
|
||||||
|
|
||||||
|
// Achsenwerte wie gehabt, Feedrate = mNew.feedrate
|
||||||
|
expect(sender.tSocket.written).toBe('G90 G1 x12.34 y90.00 z-90.00 f999.00\r\n');
|
||||||
|
});
|
||||||
|
|
||||||
|
test('ohne speedMode-Feld → ebenfalls Legacy-Verhalten', () => {
|
||||||
|
const sender = makeSender();
|
||||||
|
const { mOld, mNew } = makeMotion(); // kein speedMode
|
||||||
|
|
||||||
|
sender.execCommand('G1', mOld, mNew);
|
||||||
|
|
||||||
|
expect(sender.tSocket.written).toContain('f999.00');
|
||||||
|
});
|
||||||
|
|
||||||
|
test('correct: koordinierte Feedrate ersetzt die kartesische', () => {
|
||||||
|
const sender = makeSender();
|
||||||
|
const { mOld, mNew } = makeMotion({ speedMode: 'correct', moveTime: 0.5 });
|
||||||
|
|
||||||
|
const expectedF = sender.computeCoordinatedFeedrate(mOld, mNew);
|
||||||
|
|
||||||
|
sender.execCommand('G1', mOld, mNew);
|
||||||
|
|
||||||
|
// Achsenwerte identisch zu Legacy — nur die Feedrate unterscheidet sich
|
||||||
|
expect(sender.tSocket.written).toContain('x12.34 y90.00 z-90.00');
|
||||||
|
expect(sender.tSocket.written).toContain('f' + expectedF.toFixed(2));
|
||||||
|
// und sie ist NICHT die kartesische 999
|
||||||
|
expect(sender.tSocket.written).not.toContain('f999.00');
|
||||||
|
});
|
||||||
|
|
||||||
|
test('correct ohne moveTime → Fallback auf Legacy-Feedrate', () => {
|
||||||
|
const sender = makeSender();
|
||||||
|
const { mOld, mNew } = makeMotion({ speedMode: 'correct' }); // kein moveTime
|
||||||
|
|
||||||
|
sender.execCommand('G1', mOld, mNew);
|
||||||
|
|
||||||
|
expect(sender.tSocket.written).toContain('f999.00');
|
||||||
|
});
|
||||||
|
|
||||||
|
test('correct ohne Bewegung (alt == neu) → null → Fallback', () => {
|
||||||
|
const sender = makeSender();
|
||||||
|
const { mNew } = makeMotion({ speedMode: 'correct', moveTime: 0.5 });
|
||||||
|
|
||||||
|
// gleiche Position als alt UND neu → Strecke 0
|
||||||
|
expect(sender.computeCoordinatedFeedrate(mNew, mNew)).toBeNull();
|
||||||
|
|
||||||
|
sender.execCommand('G1', mNew, mNew);
|
||||||
|
expect(sender.tSocket.written).toContain('f999.00');
|
||||||
|
});
|
||||||
|
|
||||||
|
test('computeCoordinatedFeedrate = Sender-Strecke / moveTime', () => {
|
||||||
|
const sender = makeSender();
|
||||||
|
const { mOld, mNew } = makeMotion({ speedMode: 'correct', moveTime: 0.5 });
|
||||||
|
|
||||||
|
// erwartete Strecke: x-Port=12.34, y-Port=90, z-Port=(0-90)=-90
|
||||||
|
const dist = Math.sqrt(12.34 ** 2 + 90 ** 2 + (-90) ** 2);
|
||||||
|
const expected = dist / 0.5;
|
||||||
|
|
||||||
|
expect(sender.computeCoordinatedFeedrate(mOld, mNew)).toBeCloseTo(expected, 4);
|
||||||
|
});
|
||||||
|
|
||||||
|
test('Hand-Sender (c,e,b) liefert im Korrekt-Modus koordinierte Feedrate', () => {
|
||||||
|
const hand = new TelnetSender('test.test', 5000, 'c', 'e', 'b');
|
||||||
|
hand.tSocket = { written: '', write(t) { this.written = t; } };
|
||||||
|
|
||||||
|
const mOld = { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, e: 0 };
|
||||||
|
const mNew = {
|
||||||
|
x: 0, y: 0, z: 0, a: 0, b: 0.5, c: 0.8, e: 0.3,
|
||||||
|
bMotorChanged: true, cMotorChanged: true, eMotorChanged: true,
|
||||||
|
feedrate: 1234, speedMode: 'correct', moveTime: 0.2
|
||||||
|
};
|
||||||
|
|
||||||
|
const expectedF = hand.computeCoordinatedFeedrate(mOld, mNew);
|
||||||
|
expect(expectedF).toBeGreaterThan(0);
|
||||||
|
|
||||||
|
hand.execCommand('G1', mOld, mNew);
|
||||||
|
expect(hand.tSocket.written).toContain('f' + expectedF.toFixed(2));
|
||||||
|
expect(hand.tSocket.written).not.toContain('f1234.00');
|
||||||
|
});
|
||||||
|
});
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Kreuzprobe: portValue() muss exakt das liefern, was der echte Sende-Pfad
|
||||||
|
* (execCommand, Legacy) an den jeweiligen GRBL-Port schreibt. Schützt die in
|
||||||
|
* portValue dupliziert gehaltenen Formeln gegen Drift.
|
||||||
|
*/
|
||||||
|
describe('TelnetSenderGRBL.portValue ↔ Sende-Pfad (Kreuzprobe)', () => {
|
||||||
|
|
||||||
|
beforeAll(() => {
|
||||||
|
jest.spyOn(console, 'log').mockImplementation(() => {});
|
||||||
|
});
|
||||||
|
afterAll(() => {
|
||||||
|
jest.restoreAllMocks();
|
||||||
|
});
|
||||||
|
|
||||||
|
const POS = { x: 1.1, y: 0.3, z: 0.7, a: 0.9, b: 1.3, c: 0.5, e: 0.4 };
|
||||||
|
|
||||||
|
function mNewAllChanged() {
|
||||||
|
return {
|
||||||
|
...POS,
|
||||||
|
xMotorChanged: true, yMotorChanged: true, zMotorChanged: true,
|
||||||
|
aMotorChanged: true, bMotorChanged: true, cMotorChanged: true, eMotorChanged: true,
|
||||||
|
feedrate: 100
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
function axisVal(line, axis) {
|
||||||
|
const m = line.match(new RegExp(axis + '(-?\\d+(?:\\.\\d+)?)'));
|
||||||
|
return m ? parseFloat(m[1]) : undefined;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Baut einen Sender, der genau EINEN GRBL-Port auf eine Roboter-Achse abbildet,
|
||||||
|
// führt execCommand aus und vergleicht den gesendeten Wert mit portValue().
|
||||||
|
function crossCheck(grblPort, robotAxis) {
|
||||||
|
const ctorArgs = ['test.test', 100, null, null, null, null, null];
|
||||||
|
// Position des Ports in der Konstruktor-Signatur: x=2,y=3,z=4,a=5,b=6
|
||||||
|
const idx = { x: 2, y: 3, z: 4, a: 5, b: 6 }[grblPort];
|
||||||
|
ctorArgs[idx] = robotAxis;
|
||||||
|
|
||||||
|
const sender = new TelnetSender(...ctorArgs);
|
||||||
|
sender.tSocket = { written: '', write(t) { this.written = t; } };
|
||||||
|
|
||||||
|
const mNew = mNewAllChanged();
|
||||||
|
const mOld = { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, e: 0 };
|
||||||
|
sender.execCommand('G1', mOld, mNew);
|
||||||
|
|
||||||
|
const emitted = axisVal(sender.tSocket.written, grblPort);
|
||||||
|
expect(emitted).toBeDefined();
|
||||||
|
expect(emitted).toBeCloseTo(sender.portValue(grblPort, robotAxis, mNew), 2);
|
||||||
|
}
|
||||||
|
|
||||||
|
// x-Port deckt alle sieben Roboter-Achsen ab (inkl. der kniffligen c/e-Formeln)
|
||||||
|
for (const r of ['x', 'y', 'z', 'a', 'b', 'c', 'e']) {
|
||||||
|
test(`x-Port ← robotAxis '${r}'`, () => crossCheck('x', r));
|
||||||
|
}
|
||||||
|
|
||||||
|
// Port-abhängige Formel-Varianten gezielt prüfen
|
||||||
|
test("y-Port ← 'c' (factorTurnLift-Variante)", () => crossCheck('y', 'c'));
|
||||||
|
test("z-Port ← 'c' (c+b+z-y-Variante)", () => crossCheck('z', 'c'));
|
||||||
|
test("z-Port ← 'b' (reines b, abweichend vom x-Port)", () => crossCheck('z', 'b'));
|
||||||
|
test("a-Port ← 'x' (Quirk: nutzt y)", () => crossCheck('a', 'x'));
|
||||||
|
});
|
||||||
102
test/Speed.coordination.test.js
Normal file
102
test/Speed.coordination.test.js
Normal file
@@ -0,0 +1,102 @@
|
|||||||
|
/**
|
||||||
|
* Integrationstest der Speed-Koordination (ToDo_6a).
|
||||||
|
*
|
||||||
|
* Kernaussage des Korrekt-Modus: Alle Controller müssen den Bewegungsschritt in
|
||||||
|
* DERSELBEN Zeit beenden. Dieser Test prüft genau das — komplett unabhängig von der
|
||||||
|
* internen Berechnung: er liest die tatsächlich gesendeten G-Code-Zeilen, rechnet aus
|
||||||
|
* den absoluten Achswerten die Strecke jedes Senders aus und teilt durch die gesendete
|
||||||
|
* Feedrate. Das Ergebnis (= Zeit) muss für jeden Sender gleich der robot-moveTime sein.
|
||||||
|
*
|
||||||
|
* Damit werden gleichzeitig abgesichert: moveTime-Propagation Robot→Sender, portValue
|
||||||
|
* gegen den echten Sende-Pfad, und die Feedrate-Auswahl im Korrekt-Modus.
|
||||||
|
*/
|
||||||
|
const Robot = require('../robot/Robot');
|
||||||
|
const GCode = require('../robot/GCode');
|
||||||
|
const TelnetSender = require('../robot/TelnetSenderGRBL');
|
||||||
|
|
||||||
|
function parseLine(line) {
|
||||||
|
const out = {};
|
||||||
|
const re = /([a-z])(-?\d+(?:\.\d+)?)/g;
|
||||||
|
let m;
|
||||||
|
while ((m = re.exec(line)) !== null) out[m[1]] = parseFloat(m[2]);
|
||||||
|
return out;
|
||||||
|
}
|
||||||
|
|
||||||
|
function makeSender(...args) {
|
||||||
|
const s = new TelnetSender(...args); // "test.test" → isTestMode
|
||||||
|
s.writes = [];
|
||||||
|
s.tSocket = { write(t) { s.writes.push(t); } };
|
||||||
|
return s;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Produktiv-Verkabelung wie in startRobot.js
|
||||||
|
function buildRobot(speedMode) {
|
||||||
|
const robot = new Robot(250, 264, 100);
|
||||||
|
robot.speedMode = speedMode;
|
||||||
|
robot.useSpeedCalc = (speedMode === 'correct');
|
||||||
|
robot.moveRelative = false; // M1 absolut
|
||||||
|
|
||||||
|
const base = makeSender('test.test', 2300, 'x', 'y', 'z');
|
||||||
|
const elbow = makeSender('test.test', 5000, 'a', null, null);
|
||||||
|
const hand = makeSender('test.test', 5000, 'c', 'e', 'b');
|
||||||
|
robot.cmdReceivers.push(base, elbow, hand);
|
||||||
|
|
||||||
|
return { robot, base, elbow, hand };
|
||||||
|
}
|
||||||
|
|
||||||
|
// drei absolute Motor-Stellungen; Schritt 0 = Warmup (erster Aufruf → Fallback)
|
||||||
|
function runMoves(robot) {
|
||||||
|
GCode.receiveGCode(robot, 'M1 X5 Y0.10 Z0.20 A0.30 B0.40 C0.50'); // 0 warmup
|
||||||
|
GCode.receiveGCode(robot, 'M1 X10 Y0.20 Z0.30 A0.40 B0.50 C0.60'); // 1 baseline
|
||||||
|
GCode.receiveGCode(robot, 'M1 X22 Y0.45 Z0.50 A0.65 B0.85 C0.90'); // 2 gemessen
|
||||||
|
}
|
||||||
|
|
||||||
|
describe('Speed-Koordination (ToDo_6a)', () => {
|
||||||
|
beforeAll(() => { jest.spyOn(console, 'log').mockImplementation(() => {}); });
|
||||||
|
afterAll(() => { jest.restoreAllMocks(); });
|
||||||
|
|
||||||
|
test('correct: alle Sender beenden den Schritt in gleicher Zeit (= moveTime)', () => {
|
||||||
|
const { robot, base, elbow, hand } = buildRobot('correct');
|
||||||
|
runMoves(robot);
|
||||||
|
|
||||||
|
const moveTime = robot.motorPosition.moveTime;
|
||||||
|
expect(moveTime).toBeGreaterThan(0);
|
||||||
|
|
||||||
|
for (const s of [base, elbow, hand]) {
|
||||||
|
const v1 = parseLine(s.writes[1]); // baseline
|
||||||
|
const v2 = parseLine(s.writes[2]); // gemessen
|
||||||
|
const axes = Object.keys(v2).filter(k => k !== 'f');
|
||||||
|
|
||||||
|
let sumSq = 0;
|
||||||
|
for (const ax of axes) sumSq += (v2[ax] - v1[ax]) ** 2;
|
||||||
|
const dist = Math.sqrt(sumSq);
|
||||||
|
|
||||||
|
const time = dist / v2.f; // unabhängig aus Output berechnet
|
||||||
|
// jeder Controller braucht dieselbe Zeit (Rundung auf 2 Dezimalen → 2% Toleranz)
|
||||||
|
expect(Math.abs(time - moveTime) / moveTime).toBeLessThan(0.02);
|
||||||
|
}
|
||||||
|
});
|
||||||
|
|
||||||
|
test('correct: die Sender bekommen UNTERSCHIEDLICHE Feedrates', () => {
|
||||||
|
const { robot, base, elbow, hand } = buildRobot('correct');
|
||||||
|
runMoves(robot);
|
||||||
|
|
||||||
|
const fBase = parseLine(base.writes[2]).f;
|
||||||
|
const fElbow = parseLine(elbow.writes[2]).f;
|
||||||
|
const fHand = parseLine(hand.writes[2]).f;
|
||||||
|
|
||||||
|
// Genau das ist der Unterschied zu legacy: nicht alle gleich.
|
||||||
|
expect(fBase).not.toBeCloseTo(fElbow, 2);
|
||||||
|
expect(fBase).not.toBeCloseTo(fHand, 2);
|
||||||
|
});
|
||||||
|
|
||||||
|
test('legacy (Kontrast): alle Sender bekommen dieselbe kartesische Feedrate', () => {
|
||||||
|
const { robot, base, elbow, hand } = buildRobot('legacy');
|
||||||
|
runMoves(robot);
|
||||||
|
|
||||||
|
// robot.feedrate ist 1000 (kein F in M1) → alle Sender f1000.00
|
||||||
|
expect(parseLine(base.writes[2]).f).toBeCloseTo(1000, 2);
|
||||||
|
expect(parseLine(elbow.writes[2]).f).toBeCloseTo(1000, 2);
|
||||||
|
expect(parseLine(hand.writes[2]).f).toBeCloseTo(1000, 2);
|
||||||
|
});
|
||||||
|
});
|
||||||
Reference in New Issue
Block a user