läuft mit Telnet

GCodeFiles/log.gcode

@@ -2,11 +2,11 @@ G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e0.00 t176148132360  f1000
 G90 G1 x-50 y300 z0 a131.25 b-90.00 c0.00 e0.00 t176148136260  f1000
 G90 G1 x-128.5 y410 z-11 a134.11 b-90.00 c9.74 e-57.30 t176148145060  f1000
 G90 G1 x-128.5 y410 z-11 a134.11 b-90.00 c9.74 e62.45 t176148148860  f1000
-G90 G1 x-128.5 y410 z35 a134.11 b-90.00 c9.74 e62.45 t176148149240  f1000
+G90 G1 x-128.5 y410 z35 a134.11 b-90.00 c9.74 e62.45 t176148149240  f1000;!
 G90 G1 x-128.5 y410 z35 a163.90 b-90.00 c9.74 e62.45 t176148149980  f1000
 G90 G1 x-128.5 y410 z35 a84.84 b-90.00 c9.74 e62.45 t176148150690  f1000
 G90 G1 x-128.5 y410 z-21 a84.84 b-88.85 c9.74 e62.45 t176148152270  f1000
-G90 G1 x-128.5 y410 z-21 a84.84 b-88.85 c9.74 e-59.59 t176148152820  f1000;!
+G90 G1 x-128.5 y410 z-21 a84.84 b-88.85 c9.74 e-59.59 t176148152820  f1000
 G90 G1 x-128.5 y410 z65 a84.84 b-88.85 c9.74 e-59.59 t176148159940  f1000
 G90 G1 x-47 y410 z65 a84.84 b-88.85 c9.74 e-59.59 t176148160630  f1000
 G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e-59.59 t176148160830  f1000
@@ -26,3 +26,10 @@ G90 G1 x-37 y369 z87.5 a90.00 b-90.00 c193.09 e-100.85 t176148250020  f1000
 G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e-100.85 t176148250630  f1000
 G90 G1 x0 y614 z0 a-90.00 b90.00 c0.00 e0.00 t176242679300  f1000
 G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e0.00 t176244052830  f1000
+G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e0.00 t177350160280  f1000
+G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e0.00 t177350160530  f1000
+G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e0.00 t177350160920  f1000
+G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e0.00 t177350161950  f1000
+G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e0.00 t177350162310  f1000
+G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e0.00 t177350162470  f1000
+G90 G1 x0 y300 z0 a90.00 b-90.00 c0.00 e0.00 t177350162630  f1000

robot/TelnetSenderGRBL.js

@@ -34,12 +34,7 @@ module.exports = class TelnetSenderGRBL{
             })
             .on('error', reject);
         }).then( connection => {
-            connection.on('data', data => {
+            connection.on('data', data => {});
-                //console.log("data from " + urlGRBL + " is: " + data);
-                //if(this.receiver && this.receiver != null){
-                //  this.receiver.send(buffer);
-                // }
-            });
         }, error => {   
             console.log("Telnet Connection Error on " + urlGRBL + ": " + error.toString());
             this.tSocket = null;

robot/WSSenderGrbl.js

@@ -0,0 +1,189 @@
+const net  = require("net");
+const { resolve } = require("path");
+const FluidNCClient = require("./fluidnc/FluidNCClient");
+
+
+
+
+module.exports = class TelnetSenderGRBL{
+
+    /*  urlGRBL:  URL für den GCode Empfänger (MicroController, GRBL)
+     *  xAxisGrbl: Welche Achse soll ausgelesen werden? Welche Achse ist die GRBL-X-Achse
+     *  yAxisGrbl: ...
+     *  zAxisGrbl: ... 
+     */
+    constructor(urlGRBL = "grblesp.local", maxSpeedF = 5000, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z", aAxisGrbl = null, bAxisGrbl = null, cAxisGrbl = null, eAxisGrbl = null){
+
+        var socket = null;
+        this.tSocket = null;
+        this.receiver = null;
+
+        this.urlGRBLstr = urlGRBL;
+        this.xAxisGrbl = xAxisGrbl;
+        this.yAxisGrbl = yAxisGrbl;
+        this.zAxisGrbl = zAxisGrbl;
+        this.aAxisGrbl = aAxisGrbl;
+        this.bAxisGrbl = bAxisGrbl;
+        this.cAxisGrbl = cAxisGrbl;
+        this.eAxisGrbl = eAxisGrbl;
+        
+        var fluidConfig = { host: urlGRBL, port: 80, reconnectDelay: 30000}
+
+        // Create FluidNC WebSocket client
+        const fluid = new FluidNCClient(fluidConfig);
+    }
+    
+    
+
+    moveTo(mOld, mNew){
+
+        // The Hand-Turn is not 1:1 to the Hand-Lift °     
+        var factorTurnLift = 1.2;
+
+        // The Hand-Open is not 1:1 to the Hand-Turn 
+        var factorOpenTurn = 1.92;
+
+        // Hand-Open in mm
+        var handOpenInMM = 1.0
+
+        var data = "G1" 
+
+        if(this.xAxisGrbl == "x"){
+            data += " x" + (mNew.x).toFixed(2).toString();
+        }
+        if(this.xAxisGrbl == "y"){
+            data += " x" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.xAxisGrbl == "z"){
+            data += " x" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
+        }
+        if(this.xAxisGrbl == "a"){
+            // This is the case for the Ellbow, when the Motor is connected to the X-Port of the FluidNC
+            data += " x" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.xAxisGrbl == "b"){ 
+            data += " x" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
+        }
+        if(this.xAxisGrbl == "c"){
+            // Runs correctly, substracts the "b" axis, uses the "c" axis to send to the x-Motor wich is in this case the hand-twist
+            data += " x" + ((-1)*mNew.b * 180 / Math.PI + (mNew.c * 180 / Math.PI) ).toFixed(2).toString();
+        }
+        if(this.xAxisGrbl == "e"){
+            //This is the case for the Hand, when the Open-Close Motor is connected to the X-Port of FluidNC
+            var handUpDown = mNew.b * 180 * factorTurnLift / Math.PI ;
+            var handTurn =   mNew.c*180/Math.PI  ;
+            data += " x" + ((-1.0*(-1.0*(handUpDown) + handTurn) + mNew.e*handOpenInMM)).toFixed(2).toString();
+        }
+
+        
+
+        if(this.yAxisGrbl == "x"){
+            data += " y" + (mNew.x ).toFixed(2).toString();
+        }
+        if(this.yAxisGrbl == "y"){
+            data += " y" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.yAxisGrbl == "z"){
+            data += " y" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
+        }
+        if(this.yAxisGrbl == "a"){
+            data += " y" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.yAxisGrbl == "b"){
+            data += " y" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
+        }
+        if(this.yAxisGrbl == "c"){
+            // This is the case if the hand-rotation-turner is connected to the FluidNC-Y
+            var handUpDown = (mNew.b * 180 / Math.PI ) * factorTurnLift;
+            var handTurn =  ( mNew.c*180/Math.PI ) ;
+            data += " y" + (-1.0*(handUpDown) + handTurn).toFixed(2).toString();
+        }
+        if(this.yAxisGrbl == "e"){
+            data += " y" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
+        }
+
+
+        if(this.zAxisGrbl == "x"){
+            data += " z" + (mNew.x).toFixed(2).toString();
+        }
+        if(this.zAxisGrbl == "y"){
+            data += " z" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.zAxisGrbl == "z"){
+            data += " z" + ((mNew.z * 180 / Math.PI)  - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
+        }
+        if(this.zAxisGrbl == "a"){
+            data += " z" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.zAxisGrbl == "b"){
+            // This is the case of the Hand, when the Up-Down-Motor is connected to the FluidNC-Z
+            data += " z" +  ( mNew.b * 180 / Math.PI ).toFixed(2).toString();
+        }
+        if(this.zAxisGrbl == "c"){
+            data += " z" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
+        }
+        if(this.zAxisGrbl == "e"){
+        
+            data += " z" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
+        }
+
+
+             
+        if(this.aAxisGrbl == "x"){
+            data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.aAxisGrbl == "y"){
+            data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.aAxisGrbl == "z"){
+            data += " a" + ((mNew.z * 180 / Math.PI)  - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
+        }
+        if(this.aAxisGrbl == "a"){
+            data += " a" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.aAxisGrbl == "b"){
+            data += " a" +  (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
+        }
+        if(this.aAxisGrbl == "c"){
+            data += " a" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
+        }
+        if(this.aAxisGrbl == "e"){
+            // ToDo Mai 2024
+            data += " a" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
+        }
+    
+        
+
+
+        if(this.bAxisGrbl == "x"){
+            data += " b" + (mNew.x).toFixed(2).toString();
+        }
+        if(this.bAxisGrbl == "y"){
+            data += " b" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.bAxisGrbl == "z"){
+            data += " b" + ((mNew.z * 180 / Math.PI)  - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
+        }
+        if(this.bAxisGrbl == "a"){
+            data += " b" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.bAxisGrbl == "b"){
+            data += " b" + (mNew.b * 180 / Math.PI).toFixed(2).toString();
+        }
+        if(this.bAxisGrbl == "c"){
+            data += " b" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
+        }
+        if(this.bAxisGrbl == "e"){
+            data += " b" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
+        }
+
+        data += " f"+(maxSpeedF.toFixed(2).toString())
+
+
+        console.log("" + this.urlGRBLstr + " receives: " + data.toString("utf-8"))
+    
+        if(this.tSocket && data.toString("utf-8").length > 3){
+            this.tSocket.write( data.toString("utf-8") + "\r\n"); 
+        }
+    } 
+}

robot/fluidnc/FluidNCClient.js

@@ -0,0 +1,60 @@
+const WebSocket = require("ws");
+const EventEmitter = require("events");
+
+class FluidNCClient extends EventEmitter {
+    constructor(cfg) {
+        super();
+
+        this.host = cfg.host;
+        this.port = cfg.port || 81;
+
+        this.ws = null;
+        this.reconnectDelay = 2000;
+
+        this.connect();
+    }
+
+    connect() {
+        const url = `ws://${this.host}:${this.port}`;
+        console.log("[FluidNC] Connecting to:", url);
+
+        this.ws = new WebSocket(url);
+
+        this.ws.on("open", () => {
+            console.log("[FluidNC] Connected (WS)");
+        });
+
+        this.ws.on("message", (msg) => {
+            this.emit("message", msg.toString());
+        });
+
+        this.ws.on("close", () => {
+            console.log("[FluidNC] Disconnected → retry");
+            setTimeout(() => this.connect(), this.reconnectDelay);
+        });
+
+        this.ws.on("error", (err) => {
+            console.log("[FluidNC] WS Error:", err.message);
+        });
+    }
+
+    sendLine(cmd) {
+        if (this.ws && this.ws.readyState === WebSocket.OPEN) {
+            this.ws.send(cmd + "\n");
+        }
+    }
+
+    requestStatus() {
+        this.sendLine("?");
+    }
+
+    sendGcode(cmd) {
+        this.sendLine(cmd);
+    }
+
+    onMessage(fn) {
+        this.on("message", fn);
+    }
+}
+
+module.exports = FluidNCClient;

startRobot.js

@@ -78,15 +78,17 @@ wss.on('connection', function connection(ws)
 var TenetSender = require('./robot/TelnetSenderGRBL.js')
 
 
-/*
-var telnetSender1 = null; //new TenetSender(urlGRBL = "fluidNcBase.local",   maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
-var telnetSender2 = null; // new TenetSender(urlGRBL = "fluidNcEllbow.local", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
-var telnetSender3 = null; // new TenetSender(urlGRBL = "fluidNcHand.local",   maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
-*/
 
-var telnetSender1 = new TenetSender(urlGRBL = "fluidNcBase.local",   maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
+const baseIP = process.env.GRBL_BASE_IP  ?? "fluidNcBase.local";
-var telnetSender2 = new TenetSender(urlGRBL = "fluidNcEllbow.local", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
+const elbowIP = process.env.GRBL_ELLBOW_IP ?? "fluidNcEllbow.local";
-var telnetSender3 = new TenetSender(urlGRBL = "fluidNcHand.local",   maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
+const handIP = process.env.GRBL_HAND_IP ?? "fluidNcHand.local";
+
+console.log(baseIP, elbowIP, handIP);
+
+
+var telnetSender1 = new TenetSender(urlGRBL = baseIP,   maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
+var telnetSender2 = new TenetSender(urlGRBL = elbowIP, maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
+var telnetSender3 = new TenetSender(urlGRBL = handIP,   maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
 
 
 setTimeout(function() {