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Umbau 12: Robot-Kinematics als extends RobotBase

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This commit is contained in:
chk
2026-06-10 23:18:34 +02:00
parent d906b094b1
commit 9a0ecfefab
16 changed files with 169 additions and 74 deletions
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2
test/GCode.receiveGCode.G92.test.js
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@@ -1,5 +1,5 @@
// __tests__/Robot.inverseKinematics.test.js
const Robot = require('../robot/Robot.js');
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');
const GCode = require('../robot/GCode.js');
var TenetSender = require('../robot/TelnetSenderGRBL.js')

2
test/GCode.receiveList.test.js
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@@ -1,4 +1,4 @@
const Robot = require('../robot/Robot.js');
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');
const GCode = require('../robot/GCode.js');
describe("Robot Gcode receive", () => {

4
test/GCode.speed.test.js
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@@ -1,5 +1,5 @@
const GCode = require('../robot/GCode.js');
const Robot = require('../robot/Robot.js');
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');
const TelnetSender = require('../robot/TelnetSenderGRBL.js');
describe('GCode Speed Tests', () => {
@@ -50,7 +50,7 @@ describe('GCode Speed Tests', () => {
const L2 = 300;
const L3 = 20;
const Robot2 = require('../robot/Robot'); // neu geladen
const Robot2 = require('../robot/kinematics/Arm3SegmentLinearX'); // neu geladen
const robot = new Robot2(L1, L2, L3);
const telnetSender1 = new TelnetSender("test.test", 5000, "x", "y", "z");

2
test/GCode.test.js
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@@ -1,5 +1,5 @@
const GCode = require('../robot/GCode.js');
const Robot = require('../robot/Robot.js');
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');
var TenetSender = require('../robot/TelnetSenderGRBL.js')
test('G91 ist ein GCode Command', () => {

2
test/Robot.01_WristPoint.test.js
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@@ -1,5 +1,5 @@
const Robot = require('../robot/Robot.js');
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');

2
test/Robot.02_UpperArm.test.js
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@@ -1,4 +1,4 @@
const Robot = require('../robot/Robot.js');
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');
test('Grade ausgestreckt', () => {
robot = new Robot(300,290,10)

2
test/Robot.Kinematics.RoundTrip.test.js
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@@ -1,5 +1,5 @@
// __tests__/Robot.inverseKinematics.test.js
const Robot = require('../robot/Robot.js');
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');
describe("Robot Kinematics Roundtrip", () => {

2
test/Robot.Kinematics.RoundTripList.test.js
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@@ -1,4 +1,4 @@
const Robot = require('../robot/Robot.js');
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');
describe("Robot Kinematics Roundtrip (parametrisiert)", () => {

2
test/Robot.calculateSpeeds.test.js
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@@ -1,4 +1,4 @@
const Robot = require('../robot/Robot');
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');
const MotorPosition = require('../robot/RobotMotorPosition');
describe('Robot.calculateSpeeds (ToDo_6a)', () => {

2
test/Robot.changedFlags.test.js
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@@ -1,4 +1,4 @@
const Robot = require('../robot/Robot')
const Robot = require('../robot/kinematics/Arm3SegmentLinearX')
const MockCmdReceiver = require('./helpers/mockCmdReceiver')
describe('Robot.createMotorPosition - Changed Flags', () => {

2
test/Robot.sendCommand.test.js
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@@ -1,4 +1,4 @@
const Robot = require('../robot/Robot')
const Robot = require('../robot/kinematics/Arm3SegmentLinearX')
const GCode = require('../robot/GCode.js');
const MockCmdReceiver = require('./helpers/mockCmdReceiver')

2
test/Speed.coordination.test.js
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@@ -10,7 +10,7 @@
* 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 Robot = require('../robot/kinematics/Arm3SegmentLinearX');
const GCode = require('../robot/GCode');
const TelnetSender = require('../robot/TelnetSenderGRBL');