ChK/appRobotDriver
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Interrim G28 ohne e

Browse Source
This commit is contained in:
chk
2026-06-26 12:28:40 +02:00
parent 7639266170
commit 933a017e2e
7 changed files with 89 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
test/RobotConfig.test.js
View File

@@ -24,9 +24,11 @@ const FULL_ROBOT_JSON = {
hand: { ip: 'fluidNcHand.local', port: 5000, protocol: 'telnet', axes: ['c', 'e', 'b'] }
},
links: {
Arm1: { skeleton: { from: [0,0,0], to: [0,-250,0] } },
Arm2: { skeleton: { from: [0,0,0], to: [0,-250,0] } },
Ellbow: { skeleton: { from: [0,0,0], to: [90,0,0] } }
Arm1: { skeleton: { from: [0,0,0], to: [0,-250,0] } },
Arm2: { skeleton: { from: [0,0,0], to: [0,-250,0] } },
Ellbow: { skeleton: { from: [0,0,0], to: [90,0,0] } },
Hand: { skeleton: { from: [0,0,0], to: [0,-35,0] } },
FingerA: { skeleton: { from: [0,0,0], to: [0,-60,0] } }
}
};
@@ -45,8 +47,16 @@ describe('RobotConfig.load — Vollständige robot.json', () => {
expect(cfg.kinematics.l2).toBe(250);
});
test('l3 aus links.Ellbow.skeleton.to[0]', () => {
expect(cfg.kinematics.l3).toBe(90);
test('l3 aus Hand + Finger (Handgelenk → Fingerspitze), NICHT Ellbow-Versatz', () => {
expect(cfg.kinematics.l3).toBe(95); // |Hand.to[1]|=35 + |FingerA.to[1]|=60
});
test('kinematics.l1/l2/l3 explizit in robot.json überschreiben die links-Ableitung', () => {
const json = { ...FULL_ROBOT_JSON, kinematics: { type: 'arm3segmentlinearx', l1: 260, l2: 270, l3: 50 } };
const c = load(makeFs(JSON.stringify(json)), {}, log);
expect(c.kinematics.l1).toBe(260);
expect(c.kinematics.l2).toBe(270);
expect(c.kinematics.l3).toBe(50);
});
test('motion.defaultFeedrate aus robot.json', () => {