ChK/appRobotDriver
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BugFixes

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chk
2026-06-14 06:35:18 +02:00
parent b19489d836
commit 87cbd51bd2
6 changed files with 112 additions and 2 deletions
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28
test/RobotController.test.js
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@@ -51,6 +51,34 @@ describe('RobotController (ToDo_6)', () => {
expect(robot.sendCommand).toHaveBeenCalled();
});
test('applyCommand: M92 setzt Motorwerte absolut und sendet G92', () => {
const robot = createDummyRobot();
robot.createMotorPosition = jest.fn();
RobotController.applyCommand(robot, { command: 'M92', params: { X: 5, Y: 0.5, A: 0.3 } });
expect(robot.createMotorPosition).toHaveBeenCalledTimes(1);
expect(robot.xMotor).toBe(5);
expect(robot.alpha).toBe(0.5);
expect(robot.a).toBe(0.3);
expect(robot.calculatePositionFromMotorAngles).toHaveBeenCalled();
expect(robot.sendCommand).toHaveBeenCalledWith('G92');
});
test('applyCommand: G92 verhält sich identisch zu M92 (Bug 3)', () => {
const robot = createDummyRobot();
robot.createMotorPosition = jest.fn();
RobotController.applyCommand(robot, { command: 'G92', params: { X: 5, Y: 0.5, A: 0.3 } });
expect(robot.createMotorPosition).toHaveBeenCalledTimes(1);
expect(robot.xMotor).toBe(5);
expect(robot.alpha).toBe(0.5);
expect(robot.a).toBe(0.3);
expect(robot.calculatePositionFromMotorAngles).toHaveBeenCalled();
expect(robot.sendCommand).toHaveBeenCalledWith('G92');
});
test('applyCommand: ungültiger Befehl wird ignoriert', () => {
const robot = createDummyRobot();
RobotController.applyCommand(robot, null);