Initial commit

2026-02-01 13:25:03 +01:00
commit b20d92535b
39 changed files with 6260 additions and 0 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1,12 @@
+# Node
+node_modules
+npm-debug.log
+yarn-debug.log
+yarn-error.log
+pnpm-debug.log
+coverage
+dist
+build
+.env
+.env.
+.DS_Store
--- a/CallCode.bat
+++ b/CallCode.bat
@@ -0,0 +1,2 @@
+code .
+exit
--- a/GCodeFiles/log.gcode
+++ b/GCodeFiles/log.gcode
@@ -0,0 +1,28 @@
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--- a/GCodeFiles/log_2025_09_24.gcode
+++ b/GCodeFiles/log_2025_09_24.gcode
@@ -0,0 +1,7 @@
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--- a/GCodeFiles/log_2025_10_04_08_00.gcode
+++ b/GCodeFiles/log_2025_10_04_08_00.gcode
@@ -0,0 +1,10 @@
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--- a/GCodeFiles/log_2025_10_04_10_19.gcode
+++ b/GCodeFiles/log_2025_10_04_10_19.gcode
@@ -0,0 +1,11 @@
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--- a/GCodeFiles/log_2025_10_04_10_25.gcode
+++ b/GCodeFiles/log_2025_10_04_10_25.gcode
@@ -0,0 +1,12 @@
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--- a/GCodeFiles/log_2025_10_04_10_41_Video.gcode
+++ b/GCodeFiles/log_2025_10_04_10_41_Video.gcode
@@ -0,0 +1,13 @@
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--- a/GCodeFiles/log_2025_10_04_11_08_Video_B.gcode
+++ b/GCodeFiles/log_2025_10_04_11_08_Video_B.gcode
@@ -0,0 +1,14 @@
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--- a/GCodeFiles/log_2025_10_04_15_VideoC.gcode
+++ b/GCodeFiles/log_2025_10_04_15_VideoC.gcode
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--- a/GCodeFiles/log_2025_10_05_Besteck_Spuehlmaschiene.gcode
+++ b/GCodeFiles/log_2025_10_05_Besteck_Spuehlmaschiene.gcode
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--- a/GCodeFiles/log_2025_10_26_gespeichertes_Programm_0.gcode
+++ b/GCodeFiles/log_2025_10_26_gespeichertes_Programm_0.gcode
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--- a/GCodeFiles/log_2025_10_29.gcode
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--- a/GCodeFiles/log_2025_11_03_remote_Rumspielen_2.gcode
+++ b/GCodeFiles/log_2025_11_03_remote_Rumspielen_2.gcode
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--- a/Logo.svg
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--- a/https/cert_abcd.cer
+++ b/https/cert_abcd.cer
@@ -0,0 +1,19 @@
+-----BEGIN CERTIFICATE-----
+MIIDGDCCAgCgAwIBAgIQIKm3TdMAErVIFuSUWmXD1TANBgkqhkiG9w0BAQsFADAU
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+-----END CERTIFICATE-----
--- a/https/cert_abcd.pfx
+++ b/https/cert_abcd.pfx
--- a/https/info.txt
+++ b/https/info.txt
@@ -0,0 +1,4 @@
+abcd
+
+
+SET OPENSSL_CONF="C:\Program Files (x86)\OpenSSL-Win32\bin\openssl.cfg"
--- a/https/key.pem
+++ b/https/key.pem
@@ -0,0 +1,27 @@
+-----BEGIN RSA PRIVATE KEY-----
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+-----END RSA PRIVATE KEY-----
--- a/https/localhost.key
+++ b/https/localhost.key
@@ -0,0 +1,30 @@
+-----BEGIN RSA PRIVATE KEY-----
+Proc-Type: 4,ENCRYPTED
+DEK-Info: AES-256-CBC,9FB898B8D313CB3A043B4F4E2F62C6D8
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+-----END RSA PRIVATE KEY-----
--- a/https/localhost.pem
+++ b/https/localhost.pem
@@ -0,0 +1,22 @@
+-----BEGIN CERTIFICATE-----
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+-----END CERTIFICATE-----
--- a/https/localhost2.key
+++ b/https/localhost2.key
@@ -0,0 +1,30 @@
+-----BEGIN RSA PRIVATE KEY-----
+Proc-Type: 4,ENCRYPTED
+DEK-Info: AES-256-CBC,FD72C71993563663BEF543276EED15FD
+
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+-----END RSA PRIVATE KEY-----
--- a/install.bat
+++ b/install.bat
@@ -0,0 +1,8 @@
+npm install config
+npm install os
+npm install --save express
+npm install wss
+npm init
+npm install socketcan
+npm install jest
+
--- a/package-lock.json
+++ b/package-lock.json
--- a/package.json
+++ b/package.json
@@ -0,0 +1,25 @@
+{
+  "name": "roboticsdriver_webservicetest",
+  "version": "1.0.0",
+  "description": "WebService is provieded here",
+  "main": "startRobot.js",
+  "scripts": {
+    "start": "node startRobot.js",
+    "test": "jest"
+  },
+  "author": "Ch Kendel",
+  "license": "ISC",
+  "dependencies": {
+    "config": "^3.3.12",
+    "express": "^4.18.2",
+    "jayson": "^4.1.0",
+    "jest": "^29.7.0",
+    "json-rpc-2.0": "^1.7.0",
+    "mock-socket": "^9.3.1",
+    "telnet-stream": "^1.1.0",
+    "wss": "^3.3.4"
+  },
+  "devDependencies": {
+    "jest-websocket-mock": "^2.5.0"
+  }
+}
--- a/robot/GCode.js
+++ b/robot/GCode.js
@@ -0,0 +1,318 @@
+/***
+ *      Receives GCode, processes it and moves the Data to the Roboter-Class
+ */
+const fs = require('fs');
+
+
+class GCode{
+
+    static fileName = "GCodeFiles/log.gcode";
+
+    static containsMCode(s){
+        return s.indexOf('M1') == 0
+    }
+
+    static receiveMCode(robot, m){
+
+        m  = m.split(" ");
+        if(m[0] == "M1"){
+            m.forEach((s) => { 
+                if(s.includes("X")){ robot.xMotor += Number(s.substring(1, s.length));}
+                if(s.includes("x")){ robot.xMotor += Number(s.substring(1, s.length));}
+
+                
+                if(s.includes("Y")){ robot.alpha += Number(s.substring(1, s.length));}
+                if(s.includes("y")){ robot.alpha += Number(s.substring(1, s.length));}
+
+                
+                if(s.includes("Z")){ robot.beta += Number(s.substring(1, s.length));}
+                if(s.includes("z")){ robot.beta += Number(s.substring(1, s.length));}
+            })
+        }
+
+        console.log("Empfangene Motor-Position (" + robot.xMotor.toPrecision(3)+ ", "+ robot.alpha.toPrecision(3)+ ", "+ robot.beta.toPrecision(3)+ ", "+ robot.a.toPrecision(5) + ", "+ robot.b.toPrecision(5)+ ", "+ robot.c.toPrecision(5)+ ") ");
+        robot.sendCommand();
+    }
+
+    static containsCommand(s){
+        if(s.indexOf('M1 ') !== -1){return true;} // M1-Commands = G1-Command only for Motor-Coordinates
+        if(s.indexOf('G') !== 0){return false;}
+        if(s.indexOf('G90') ==  0){return true;}
+        if(s.indexOf('G91') ==  0){return true;}
+        if(s.indexOf('G28') !== -1){return true;}
+        if(s.indexOf('G1 ') !== -1){return true;}
+        return false;
+    }
+
+
+    static getM114(robot){
+        let text = '{"position":{    "x":'+robot.x+
+                                  ', "y":'+robot.y+
+                                  ', "z":'+robot.z+
+                                  ', "a":' +robot.phi + 
+                                  ', "b":' +robot.theta + 
+                                  ', "c":' +robot.psi + '},' +
+                    '"motorCounts":{ "x":'+ robot.xMotor +
+                                  ', "y":'+ robot.alpha + 
+                                  ', "z":'+ robot.beta +
+                                  ', "a":'+ robot.a + 
+                                  ', "b":'+ robot.b + 
+                                  ', "c":'+ robot.c +
+                                  ', "e":'+ 0.0 +
+                                  '}}'; 
+        return text;
+    }
+
+
+    static toPiMultiple(gCode){
+        if(gCode == undefined){return gCode;}
+
+        var multipleParameters = gCode.split(" ");
+        var newGString = ""; 
+        multipleParameters.forEach((paramet) => { 
+            if(paramet == undefined || !paramet || paramet.length === 0 || paramet == " " || paramet ==""){
+            
+            }
+            else if(['A', 'a', 'B', 'b', 'C', 'c','E','e'].includes(paramet.charAt(0)) )
+            {
+                var numberParameter = Number(paramet.substring(1, paramet.length))
+                newGString += " " + paramet[0] + String(numberParameter*Math.PI/180)
+            }
+            else{
+                newGString += " " + paramet;
+            }
+        });
+        return newGString.trim();
+    };
+
+    static receiveGCode(robot, g){
+
+        if(g == undefined) return;
+
+        var multipleCommands = g.split(" G");
+        var doProcessRest = false;
+        if(multipleCommands.length > 1){
+            doProcessRest = true;
+            g = multipleCommands[0];
+        }
+        //console.log("Command: " + g);
+
+        g = g.split(" ");
+
+        var calculateNew = true;
+        var calculateFromMotorCoordinates = false;
+
+        if(g[0] == "G90") {robot.moveRelative = false; calculateNew = false;}
+        else if(g[0] == "G91") {robot.moveRelative = true; calculateNew = false;}
+        else if(g[0] == "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;
+            }
+        else if(g[0] == "G1" && robot.moveRelative){
+            g.forEach((s) => { 
+                if(s.includes("X")){ robot.x += Number(s.substring(1, s.length));}
+                if(s.includes("x")){ robot.x += Number(s.substring(1, s.length));}
+                if(s.includes("Y")){ robot.y += Number(s.substring(1, s.length));}
+                if(s.includes("y")){ robot.y += Number(s.substring(1, s.length));}
+                if(s.includes("Z")){ robot.z += Number(s.substring(1, s.length));}
+                if(s.includes("z")){ robot.z += Number(s.substring(1, s.length));}
+
+                
+                // abc in 2Pi-Angles 
+                if(s.includes("A")){ robot.phi += Number(s.substring(1, s.length));}
+                if(s.includes("a")){ robot.phi += Number(s.substring(1, s.length));}
+                if(s.includes("B")){ robot.theta += Number(s.substring(1, s.length));}
+                if(s.includes("b")){ robot.theta += Number(s.substring(1, s.length));}
+                if(s.includes("C")){ robot.psi += Number(s.substring(1, s.length));}
+                if(s.includes("c")){ robot.psi += Number(s.substring(1, s.length));}
+
+                if(s.includes("E")){ robot.e += Number(s.substring(1, s.length));}
+                if(s.includes("e")){ robot.e += Number(s.substring(1, s.length));}
+            });
+        }
+        else if(g[0] == "M1" && robot.moveRelative){
+            calculateFromMotorCoordinates = true;
+            g.forEach((s) => { 
+                if(s.includes("X")){ robot.xMotor += Number(s.substring(1, s.length));}
+                if(s.includes("x")){ robot.xMotor += Number(s.substring(1, s.length));}
+                if(s.includes("Y")){ robot.alpha += Number(s.substring(1, s.length));}
+                if(s.includes("y")){ robot.alpha += Number(s.substring(1, s.length));}
+                if(s.includes("Z")){ robot.beta += Number(s.substring(1, s.length));}
+                if(s.includes("z")){ robot.beta += Number(s.substring(1, s.length));}
+
+                
+                if(s.includes("A")){ robot.a += Number(s.substring(1, s.length));}
+                if(s.includes("a")){ robot.a += Number(s.substring(1, s.length));}
+                if(s.includes("B")){ robot.b += Number(s.substring(1, s.length));}
+                if(s.includes("b")){ robot.b += Number(s.substring(1, s.length));}
+                if(s.includes("C")){ robot.c += Number(s.substring(1, s.length));}
+                if(s.includes("c")){ robot.c += Number(s.substring(1, s.length));}
+
+                if(s.includes("E")){ robot.e += Number(s.substring(1, s.length));}
+                if(s.includes("e")){ robot.e += Number(s.substring(1, s.length));}
+            });
+        }
+        // Absolute-Positioning
+        else if(g[0] == "G1" && !robot.moveRelative){
+            g.forEach((s) => { 
+                if(s.includes("X")){ robot.x = Number(s.substring(1, s.length));}
+                if(s.includes("x")){ robot.x = Number(s.substring(1, s.length));}
+                if(s.includes("Y")){ robot.y = Number(s.substring(1, s.length));}
+                if(s.includes("y")){ robot.y = Number(s.substring(1, s.length));}
+                if(s.includes("Z")){ robot.z = Number(s.substring(1, s.length));}
+                if(s.includes("z")){ robot.z = Number(s.substring(1, s.length));}
+
+                if(s.includes("A")){ robot.phi = Number(s.substring(1, s.length));}
+                if(s.includes("a")){ robot.phi = Number(s.substring(1, s.length));}
+                if(s.includes("B")){ robot.theta = Number(s.substring(1, s.length));}
+                if(s.includes("b")){ robot.theta = Number(s.substring(1, s.length));}
+                if(s.includes("C")){ robot.psi = Number(s.substring(1, s.length));}
+                if(s.includes("c")){ robot.psi = Number(s.substring(1, s.length));}
+
+                if(s.includes("E")){ robot.e = Number(s.substring(1, s.length));}
+                if(s.includes("e")){ robot.e = Number(s.substring(1, s.length));}
+            });
+        }
+        else if(g[0] == "M1" && !robot.moveRelative){
+            calculateFromMotorCoordinates = true;
+            g.forEach((s) => { 
+                if(s.includes("X")){ robot.xMotor = Number(s.substring(1, s.length));}
+                if(s.includes("x")){ robot.xMotor = Number(s.substring(1, s.length));}
+                if(s.includes("Y")){ robot.alpha = Number(s.substring(1, s.length));}
+                if(s.includes("y")){ robot.alpha = Number(s.substring(1, s.length));}
+                if(s.includes("Z")){ robot.beta = Number(s.substring(1, s.length));}
+                if(s.includes("z")){ robot.beta = Number(s.substring(1, s.length));}
+
+                if(s.includes("A")){ robot.a = Number(s.substring(1, s.length));}
+                if(s.includes("a")){ robot.a = Number(s.substring(1, s.length));}
+                if(s.includes("B")){ robot.b = Number(s.substring(1, s.length));}
+                if(s.includes("b")){ robot.b = Number(s.substring(1, s.length));}
+                if(s.includes("C")){ robot.c = Number(s.substring(1, s.length));}
+                if(s.includes("c")){ robot.c = Number(s.substring(1, s.length));}
+                
+                if(s.includes("E")){ robot.e = Number(s.substring(1, s.length));}
+                if(s.includes("e")){ robot.e = Number(s.substring(1, s.length));}
+            });
+        }
+
+
+        if(calculateNew && !calculateFromMotorCoordinates){  
+            robot.calculateAngles3D();  
+            robot.sendCommand();
+        }
+
+        if(calculateFromMotorCoordinates){
+            robot.calculatePositionFromMotorAngles();
+            robot.sendCommand();
+        }
+        
+
+        // verarbeitet alle weiteren Commands in dieser Zeile.
+        if(doProcessRest){
+            multipleCommands.forEach((cmd) => {
+                if(cmd[0] != "G"){
+                    this.receiveGCode(robot, "G"+cmd);   
+                }
+            })
+        }
+        
+    }
+
+    //////////////////////////////////////////////////////////////////////////////////////////////////////////////77
+    // Commands for Files
+
+    static removeStringFromFile(fileName, stringToRemove) {
+        try {
+            const data = fs.readFileSync(fileName, 'utf8');
+            const modifiedData = data.replace(new RegExp(stringToRemove, 'g'), '');
+            fs.writeFileSync(fileName, modifiedData, 'utf8');
+        } catch (err) {
+            console.error('Error:', err);
+        }
+    }
+
+    static ContainsFilesCommand(message){
+        if(message.indexOf('FPoint') !== -1){return true;}  // Writes new Point (at end of file)
+        if(message.indexOf('FPlus') !== -1){return true;}   // go to Next Position in Log File
+        if(message.indexOf('FMinus') !== -1){return true;}  // go to Previous Position
+        if(message.indexOf('FFirst') !== -1){return true;}  // set Cursour to First Position of Log File
+        if(message.indexOf('FLast') !== -1){return true;}   // set Cursour to Last Position of Log File
+
+
+        if(message.indexOf('FShow') !== -1){return true;}   // Shows/Sends GCode-File
+        if(message.indexOf('FList') !== -1){return true;}   // Lists GCode-Files
+        if(message.indexOf('FLoad ') !== -1){return true;}  // Loads File into Log
+        if(message.indexOf('FSave ') !== -1){return true;}  // Saves Log to GCode-File
+        if(message.indexOf('FClear') !== -1){return true;}  // Clears default Log File
+
+        if(message.indexOf('M20') !== -1){return true;} // M20 - List SD Card-Contents // https://marlinfw.org/docs/gcode/M020.html
+        if(message.indexOf('M23') !== -1){return true;} // M23 - Select SD file
+        if(message.indexOf('M28') !== -1){return true;} // M28 - Start SD write // M28 [B1] filename
+        if(message.indexOf('M29') !== -1){return true;} // M29 - Stop SD write
+
+
+        return false;
+    }
+
+    static receiveFC(robot, message){
+
+        if(message.indexOf('FShow') !== -1){
+            try {
+                const data = fs.readFileSync(this.fileName, 'utf8');
+                const reply = "XYZ__FShow__XYZ" + data; // prepend header
+                return reply.replaceAll("G91 ","").replaceAll("G90 ","").replace(/\s?\bt\d+\b\s?/g, '').trim();
+
+            } catch (err) {
+                console.error('Error:', err);
+            }
+        }
+
+        if(message.indexOf('FPoint') !== -1){
+            
+            const secondsSinceEpoch = 10*Math.floor(Date.now() / 100);
+
+            var strGCode = String(`G90 G1 x${robot.x} y${robot.y} z${robot.z} a${(robot.phi*180/Math.PI).toFixed(2)} b${(robot.theta*180/Math.PI).toFixed(2)} c${(robot.psi*180/Math.PI).toFixed(2)} e${(robot.e*180/Math.PI).toFixed(2)} t${secondsSinceEpoch}  f1000` )
+            this.removeStringFromFile(this.fileName, ';!')
+            fs.appendFileSync(this.fileName, strGCode+ ';!'+ '\r\n', 'utf8');
+        }
+
+        if(message.indexOf('FMinus') !== -1 || message.indexOf('FPlus') !== -1){
+            let lines = fs.readFileSync(this.fileName, 'utf8').split('\r\n');
+
+            let lineChange = -1;
+
+            // Process lines
+            for (let i = 0; i < lines.length; i++) {
+                if (lines[i].indexOf(';!') !== -1) {
+                    if(message.indexOf('FMinus') !== -1 && i > 0){
+                        lines[i - 1] += ';!';
+                        lines[i] = lines[i].split(';!')[0];
+                        var gCodePi = this.toPiMultiple(lines[i-1]);
+                        this.receiveGCode(robot, gCodePi);
+                    }
+                    if(message.indexOf('FPlus') !== -1 && i < (lines.length-2) && lineChange == -1){
+                        lines[i + 1] += ';!';                        
+                        lines[i] = lines[i].split(';!')[0];
+                        lineChange = i+1;
+                        var gCodePi = this.toPiMultiple(lines[i+1]);
+                        this.receiveGCode(robot, gCodePi);
+                    }
+                }
+            }
+
+            // Write the updated content back
+            fs.writeFileSync(this.fileName, lines.join('\r\n'), 'utf8');
+
+        }
+        
+        return GCode.getM114(robot);
+    }
+}
+
+module.exports = GCode 
+
--- a/robot/PythonSender.js
+++ b/robot/PythonSender.js
@@ -0,0 +1,53 @@
+
+module.exports  = class PythonSender {
+    
+
+    constructor(p = 9875){
+        const WebSocket = require('ws');
+        
+
+        this.sockets = [];
+        this.server = new WebSocket.Server({port: p});
+  
+        this.server.on('connection', (socket) => this.connectThis(socket));
+    }
+
+    msgThis(msg){
+        console.log("message:" + msg.toString())
+        this.sockets.forEach(s => s.send(msg));
+    }
+
+    closeThis(socket){
+        console.log("Python Receiver is closing the connection");
+        this.sockets = this.sockets.filter(s => s !== socket);
+    }
+    connectThis(socket) {
+        console.log("Python Receiver is connected")
+        this.sockets.push(socket);
+      
+        // When you receive a message, send that message to every socket.
+        socket.on('message', (msg) => this.msgThis(msg));
+        
+    
+        // When a socket closes, or disconnects, remove it from the array.
+        socket.on('close', () => this.closeThis(socket));
+    }
+
+    send(m){
+        if((this.sockets.length) > 0){
+            this.sockets.forEach( s => s.send(m));
+        }
+        else{ console.warn("No sockets connected. Can't send the Message.");}
+    }
+    /*
+ if(this.pythonSender != null){
+            var strJSON = CANCreator.cmdMovement(this.motorPositionOld, this.motorPosition);
+            if(strJSON != '{"message":"empty"}'){ 
+                this.pythonSender.send(strJSON);
+            }
+        }
+
+    */
+}
+
+
--- a/robot/Robot.js
+++ b/robot/Robot.js
@@ -0,0 +1,152 @@
+const MotorPosition = require('./RobotMotorPosition.js')
+const telnetSender = require('./TelnetSenderGRBL.js')
+
+class Robot{
+
+
+    constructor(l1, l2, l3) {
+        this.speedX = 200;  // mm/min 
+        this.speedY = 200;   
+        this.speedZ = 200;
+    
+        this.lastCommandSend = 0;
+
+        if(this.lastCommandSend == 0){ this.lastCommandSend = Date.now() };
+        this.doAnimate = false;
+
+        this.l1 = l1;   // Oberarm
+        this.l2 = l2;   // Unterarm
+        this.l3 = l3;   // Hand-Länge
+
+        // Plan-Koordinaten - XYZ FingerSpitze
+        this.x = 0;
+        this.y = 0;
+        this.z = 0;
+
+        // Plan-Koordinaten - HandRichtung
+        this.phi = 0.0;   // Euler-Winkel zwischen X-Achse  - Laengengrad
+        this.theta = -Math.PI/2; // Euler-Winkel zwischen Z-Achse und P - Breitengrad
+        this.psi = 0.0;   // Euler-Winkel: Drehung des Handgelenks abweichend vom Breitengrad
+
+        this.e = 0.0 // Finger-Distance
+
+        // Zwischen-Ergebnisse: Hand Punkt (nur für Tests sind die Public)
+        this.pX = 0.0;
+        this.pY = 0.0;
+        this.pZ = 0.0;
+
+        // Motor-Koordinaten - Schulter, Ellebogen, Hand-Dreher
+        this.xMotor = 0;
+        this.alpha = 0; // =Y Motor
+        this.beta = 0;  // =Z Motor = Winkel die der Unterarm unter der Y-Achse ist. 
+
+        // Motor-Winkel fuer's Handgelenk
+        this.a = 0;     // aMotor am Ellebogen
+        this.b = 0;     // bMotor Handgelenk-Knicker
+        this.c = 0;     // cMotor Hand-Dreher
+
+        this.eMotor = 0; // eMotor Finger-Distanz
+
+
+	    this.oldCommandTime = Date.now();
+        this.showFunctions = [];
+
+        this.savedPoints = [];
+        this.atPointNr = 0;
+        this.t = 0;         // TimeStamp of this Point
+
+        this.moveRelative = true;
+
+        this.pythonSender = null;
+        this.cmdReceivers = [];
+    }
+
+    createMotorPosition(){
+        this.motorPosition =  new MotorPosition(this.xMotor, this.alpha, this.beta, this.a, this.b, this.c, this.eMotor);
+    }
+
+    // Berechnet aus XYZ die Motor-Winkel für den GCode
+    calculateAngles3D(){
+
+        while(this.phi >  Math.PI){this.phi -= 2*Math.PI}
+        while(this.phi < -Math.PI){this.phi += 2*Math.PI}
+        while(this.theta >  Math.PI){this.theta -= 2*Math.PI}
+        while(this.theta < -Math.PI){this.theta += 2*Math.PI}
+
+        // Handgelenk-Punkt ausrechnen:
+        this.pX = this.x + this.l3*Math.sin(this.theta)*Math.cos(this.phi);
+        this.pY = this.y + this.l3*Math.sin(this.theta)*Math.sin(this.phi);
+        this.pZ = this.z + this.l3*Math.cos(this.theta);
+        
+        var pX = this.pX;
+        var pY = this.pY;
+        var pZ = this.pZ;
+
+        this.xMotor = pX;
+        // Ziel-Punkt ausrechnen ==> 2D Rechnung Arm
+        var r = Math.sqrt(pY * pY + pZ * pZ);
+
+        if (r > (this.l1 + this.l2)) { return; }
+        if (r == 0) { return; }
+        
+        var gamma = Math.asin(pZ / r);
+        var delta = Math.acos((this.l1 * this.l1 + this.l2 * this.l2 - r * r) / (2 * this.l1 * this.l2));
+        this.alpha = Math.acos((this.l1 * this.l1 + r * r - this.l2 * this.l2) / (2 * r * this.l1)) + gamma;
+        this.beta =  -Math.PI + (this.alpha + delta);
+        // Ende <== 2D Rechnung Arm
+        
+        // Richtung der Hand ausgerechnet
+        //          Arm = (0, cos(beta), sin(beta))      Punkt = (sin(theta)cos(phi), sin(theta)sin(phi), cos(theta))
+        //
+        // Unterarm muss gedreht werden. Aus der Y-Z-Ebene raus. Hin in die Ebene n x r
+        //          wobei n =  Unterarm x (P-O) ist
+        var nX = Math.cos(this.beta)*Math.cos(this.theta)  - Math.sin(this.theta)*Math.sin(this.phi)*Math.sin(this.beta);
+        var nY = Math.sin(this.beta)*Math.sin(this.theta)*Math.cos(this.phi);
+        var nZ = -1.0*Math.sin(this.theta)*Math.cos(this.phi)*Math.cos(this.beta);
+        var nBetrag = Math.sqrt(nX*nX + nY*nY + nZ*nZ);
+
+        var cosA = (nX)/nBetrag;
+        this.a = Math.acos(cosA) 
+        if(Math.cos(this.phi) > 0){this.a = -this.a}
+        if(Math.sin(this.theta) < 0) {this.a = -this.a}
+
+        
+        // Handgelenk-Knick-Winkel ist zwischen Arm und Punkt-O  
+        var cosB = Math.cos(this.beta)*Math.sin(this.theta)*Math.sin(this.phi) + Math.sin(this.beta)*Math.cos(this.theta);
+        this.b = Math.acos(cosB);    
+        
+
+        // Winkel zwischen  n und z muss rumgedreht werden.
+        var cosC = - nZ  / nBetrag;
+        this.c = Math.acos(cosC);
+        this.c += this.psi;
+
+        // a um 180° drehen
+        this.a += Math.PI;
+        while(this.a > Math.PI){this.a -= 2*Math.PI}
+        while(this.a < -Math.PI){this.a += 2*Math.PI}
+
+        this.eMotor = this.e - this.b - this.c;
+
+    }
+
+    calculatePositionFromMotorAngles(){
+        
+    }
+
+    sendCommand(){
+        if(this.motorPosition == null){this.createMotorPosition() }
+        this.motorPositionOld = this.motorPosition;
+        this.createMotorPosition()
+
+        console.log("Robot.sendCommand: neue RobotMotorPosition: 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));
+       
+        this.cmdReceivers.forEach(receiver => {
+            receiver.moveTo(this.motorPositionOld, this.motorPosition);
+        });
+    }
+}
+
+
+
+module.exports = Robot // Export class
--- a/robot/RobotMotorPosition.js
+++ b/robot/RobotMotorPosition.js
@@ -0,0 +1,19 @@
+module.exports = class RobotMotorPosition{
+
+
+    constructor(x, y, z, a, b, c, e = 0.0){
+        this.x = x;     // X-Motor
+        this.y = y;     // Y-Motor
+        this.z = z;
+        
+        this.a = a;     // A-Motor: Ellbow-LowerArm turner
+        this.b = b;     // B-Motor: Hand up-down
+        this.c = c;     // C-Motor: Hand twist
+
+        this.e = e;     // Finger open
+
+        this.time = Date.now();
+    }
+
+}
+
--- a/robot/TelnetSenderGRBL.js
+++ b/robot/TelnetSenderGRBL.js
@@ -0,0 +1,213 @@
+const net  = require("net");
+const { resolve } = require("path");
+const { TelnetSocket } = require("telnet-stream");
+
+
+
+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;
+        
+
+
+        new Promise((resolve, reject) => {
+            socket = net.createConnection({port: 23, host: urlGRBL},() => {
+                resolve(socket);
+            })
+            .on('error', reject);
+        }).then( connection => {
+            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;
+        }); 
+        
+
+        if(socket != null){
+            this.tSocket = new TelnetSocket(socket);
+       
+            this.tSocket.on("close", function () {
+                console.log("Telnet Closed " + urlGRBL);
+                this.tSocket = null;
+            }); 
+        }
+
+    }
+    
+    
+
+    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"); 
+        }
+    } 
+}
--- a/run.bat
+++ b/run.bat
@@ -0,0 +1 @@
+node startRobot.js
--- a/runTest.bat
+++ b/runTest.bat
@@ -0,0 +1 @@
+npm test
--- a/sendTest_Client.py
+++ b/sendTest_Client.py
@@ -0,0 +1,88 @@
+import websocket, json
+import time
+import can
+
+
+
+
+
+    
+def on_message(ws, message):
+    j = message
+    if(type(message) == str):
+        j = json.loads(message)
+
+    if(type(j) == list):
+        for x in j:
+            on_message(ws, x)
+    else:
+        print(j)
+        if 'id' not in j:
+            print("Message ohne ID empfangen. Wird ignoriert.")
+            return    
+        if 'cmd' not in j:
+            print("Message ohne CMD empfangen. Wird ignoriert.")
+            return    
+        
+        id = j['id']   # 0x01
+        cmd = j['cmd'] # 0xf6 # Speed Mode Command
+
+        if "data" in j:
+            dat = j["data"] # [0x02,0x80,0x02]
+            data = [cmd] + dat
+        else:
+            data = [cmd]
+        
+        dlc = len(data)+1
+        cr = id
+        for i in data:
+            cr += i
+        
+        CRC = cr & 0xFF
+
+        msg = can.Message(arbitration_id=id, dlc=dlc, data=data+[CRC], is_extended_id=False)
+
+        try:
+            bus.send(msg)
+            #print(f"CAN Message sent on {bus.channel_info}")
+
+        except can.CanError:
+            print("CAN Message NOT sent: " + str(can.CanError))
+            print("CAN Message NOT sent: " + str(can.CanError.error_code))
+
+        start_time = curtime = time.time()
+        while 1:
+            tdiff = start_time + 0.001 - curtime
+            if tdiff <= 0.:
+                break
+            msg = bus.recv(tdiff)
+            curtime = time.time()
+            if (msg is None):
+                continue
+
+            print("CAN Reply is received:")
+            print(msg)
+
+    
+def on_error(ws, error):
+    print("WebSocket Error:" +  error)
+
+def on_close(a, b, c):
+    print("### WebSocket closed ###")
+
+def on_open(ws):
+    print("WebSocket Connection open")
+
+
+if __name__ == "__main__":
+    
+    websocket.enableTrace(True)
+    ws = websocket.WebSocketApp("ws://01-KW-S0139:9875",
+                              on_message = on_message,
+                              on_error = on_error,
+                              on_close = on_close)
+    ws.on_open = on_open
+    
+    with can.interface.Bus(channel='can0', bustype='socketcan') as bus:
+    
+        ws.run_forever()
--- a/startRobot.js
+++ b/startRobot.js
@@ -0,0 +1,114 @@
+const fs = require('fs');
+const https = require('https');
+const WebSocket = require('ws');
+
+
+const Robot = require('./robot/Robot.js')
+const GCode = require('./robot/GCode.js')
+                        // 238 + 1 + 25 = 264
+let robot = new Robot(250,264,100); //(300,290,10);
+
+
+const httpsOptions = {
+  "enable": true,
+  'key': fs.readFileSync('https/localhost.key'),
+  'cert':  fs.readFileSync('https/localhost.pem'),
+  "passphrase":   "abcd" 
+}
+
+server = https.createServer(httpsOptions, (req, res) => {;});
+
+const wss = new WebSocket.Server({ server });
+
+// Input Connection for WebService
+wss.on('connection', function connection(ws) 
+{
+  console.log("WebServer for Input is connected");
+
+  ws.on('message', function incoming(message) 
+  {
+    if(message == "Ping"){
+      wss.clients.forEach(function (client) 
+      {
+        if (client.readyState == WebSocket.OPEN) 
+        {
+            client.send( message );
+        }
+      });
+    }
+
+    if(GCode.containsCommand(message)){
+      GCode.receiveGCode(robot,message);
+      reply = GCode.getM114(robot);
+      wss.clients.forEach(function (client) 
+      {
+        if (client.readyState == WebSocket.OPEN) 
+        {
+            client.send( reply );
+        }
+      });
+    }
+
+    if(GCode.ContainsFilesCommand(message)){
+      reply = GCode.receiveFC(robot, message);
+      wss.clients.forEach(function (client) 
+      {
+        if (client.readyState == WebSocket.OPEN) 
+        {
+            client.send( reply );
+        }
+      });
+    }
+    
+    // Request for Status
+    if(message == "M114"){
+      reply = GCode.getM114(robot);
+      wss.clients.forEach(function (client) 
+      {
+        if (client.readyState == WebSocket.OPEN) 
+        {
+            client.send( reply );
+        }
+      });
+    }
+  });
+});
+
+
+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");
+var telnetSender2 = new TenetSender(urlGRBL = "fluidNcEllbow.local", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
+var telnetSender3 = new TenetSender(urlGRBL = "fluidNcHand.local",   maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
+
+
+setTimeout(function() {
+  if(telnetSender1?.tSocket != null) { robot.cmdReceivers.push(telnetSender1); console.log("Socket 1 added");}
+  else{ console.log("Socket 1 is not connected"); console.log(telnetSender1?.tSocket);}
+  
+  if(telnetSender2?.tSocket != null) { robot.cmdReceivers.push(telnetSender2); console.log("Socket 2 added");}
+  else{ console.log("Socket 2 is not connected"); console.log(telnetSender2?.tSocket);}
+
+  if(telnetSender3?.tSocket != null) { robot.cmdReceivers.push(telnetSender3); console.log("Socket 3 added");}
+  else{ console.log("Socket 3 is not connected"); console.log(telnetSender3?.tSocket);}
+}, 8000);
+
+setTimeout(function(){
+  if(robot.cmdReceivers.length == 0){
+    console.log("Kein GRBL Command-Receiver gefunden. Verwende reines Test-Setting.")
+  }
+},8002)
+
+console.log("Works with FluidNc Base");
+
+
+port = 2095
+server.listen(port);
+console.log("Listen on Port: https://localhost:" + port.toString()+ "/")
--- a/test/GCode.test.js
+++ b/test/GCode.test.js
@@ -0,0 +1,15 @@
+const GCode = require('../robot/GCode.js');
+
+
+test('G91 ist ein GCode Command', () => {
+    var x = GCode.containsCommand("G91") ;
+    expect(x).toBe(true);
+  });
+
+test('G28 ist ein GCode Command', () => {
+    var x = GCode.containsCommand("G28") ;
+    expect(x).toBe(true);
+});
+
+
+
--- a/test/GCodeFileOperation.test.js
+++ b/test/GCodeFileOperation.test.js
@@ -0,0 +1,6 @@
+const GCode = require('../robot/GCode.js');
+
+test('GCode - FPoint', () => {
+    var x = GCode.ContainsFilesCommand("FPoint") ;
+    expect(x).toBe(true);
+});
--- a/test/PythonSender_01.test.js
+++ b/test/PythonSender_01.test.js
@@ -0,0 +1,20 @@
+var PythonSender = require('../robot/PythonSender.js');
+
+
+test('Initialisiere den WS', () => {
+    var p = new PythonSender();
+    p.server.close();
+  });
+
+test('Connect to WS', ()=> {
+  var p = new PythonSender(9991);
+
+  const WebSocket = require('ws');
+
+  //w = new WebSocket("ws://localhost:9991")
+
+  console.log(p.sockets)
+  p.server.close();
+})
+
+
--- a/test/Robot.01_WristPoint.test.js
+++ b/test/Robot.01_WristPoint.test.js
@@ -0,0 +1,144 @@
+
+const Robot = require('../robot/Robot.js');
+
+
+
+test('Initialisiere den Robot', () => {
+  robot = new Robot(300,290,10)
+  expect(robot.x).toBe(0);
+});
+
+
+test('3D Handgelenk Punkt prüfen 1', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 600;
+  robot.z = 0;
+  robot.phi = -Math.PI/2;
+  robot.theta = Math.PI/2;
+
+  robot.calculateAngles3D();
+
+  // console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
+  expect(Math.abs(robot.pX)).toBeLessThanOrEqual(0.0001)
+  expect(Math.abs(robot.pY)).toBe(590)
+  expect(Math.abs(robot.pZ)).toBeLessThanOrEqual(0.0001)
+});
+
+test('3D Handgelenk Punkt prüfen 2', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 400;
+  robot.z = 0;
+  robot.phi = -Math.PI/2;
+  robot.theta = Math.PI/2;
+
+  robot.calculateAngles3D();
+
+  // console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
+  expect(Math.abs(robot.pX)).toBeLessThanOrEqual(0.0001)
+  expect(Math.abs(robot.pY)).toBe(390)
+  expect(Math.abs(robot.pZ)).toBeLessThanOrEqual(0.0001)
+});
+
+test('3D Handgelenk Punkt prüfen 3', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 400;
+  robot.z = 0;
+  robot.phi = -Math.PI/2;
+  robot.theta = 0;
+
+  robot.calculateAngles3D();
+
+  // console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
+  expect(Math.abs(robot.pX)).toBeLessThanOrEqual(0.0001)
+  expect(Math.abs(robot.pY)).toBe(400)
+  expect(Math.abs(robot.pZ)).toBe(10)
+});
+
+test('3D Handgelenk Punkt prüfen 4', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 400;
+  robot.z = 0;
+  robot.phi = 0;
+  robot.theta = Math.PI/2;
+
+  robot.calculateAngles3D();
+
+  // console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
+  expect(robot.pX).toBe(10)
+  expect(robot.pY).toBe(400)
+  expect(Math.abs(robot.pZ)).toBeLessThanOrEqual(0.0001)
+});
+
+/** 
+// Griff mit ausgetrecktem Arm
+test('3D Angles AlphaBeta', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 600;
+  robot.z = 0;
+  robot.phi = -Math.PI / 2;
+  robot.theta = 0;
+
+  robot.calculateAngles3D();
+
+  expect(robot.alpha).toBe(0);
+  expect(robot.beta).toBe(0);
+  expect(robot.a).toBe(0);
+  expect(robot.b).toBe(0);
+  expect(robot.c).toBe(0);
+});
+
+// Griff mit minimal gewinkeltem Arm
+test('3D Angles AlphaBeta with slight angle', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 550;
+  robot.z = 0;
+  robot.phi = -Math.PI / 2;
+  robot.theta = 0;
+
+  robot.calculateAngles3D();
+
+  expect(robot.alpha).not.toBe(0);
+  expect(robot.beta).not.toBe(0);
+  expect(Math.abs(robot.a  % (Math.PI/2))).toBe(0);
+  expect(robot.b).not.toBe(0);
+  console.log(robot.b);
+  expect(Math.abs(robot.c % (Math.PI/2))).toBe(0);
+});
+
+*/
+
+/*
+// Griff mit gewinkeltem Arm
+test('3D Angles AlphaBeta', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 300;
+  robot.z = 0;
+  robot.phi = -Math.PI / 2;
+  robot.theta = Math.PI/3;
+
+  robot.calculateAngles3D();
+
+  console.log("alpha = " + robot.alpha.toString());
+  console.log("beta  = " + robot.beta.toString());
+  console.log("a = " + robot.a.toString());
+  console.log("b = " + robot.b.toString());
+  console.log("c = " + robot.c.toString());
+  expect(robot.alpha).toBe(Math.PI/3);
+  expect(robot.beta).toBe(-Math.PI/3);
+});
+
+*/
--- a/test/Robot.02_UpperArm.test.js
+++ b/test/Robot.02_UpperArm.test.js
@@ -0,0 +1,59 @@
+const Robot = require('../robot/Robot.js');
+
+test('Grade ausgestreckt', () => {
+    robot = new Robot(300,290,10)
+  
+    robot.x = 0 ;
+    robot.y = 600;
+    robot.z = 0;
+    robot.phi = -Math.PI/2;
+    robot.theta = Math.PI/2;
+
+    
+    robot.calculateAngles3D();
+
+    expect(robot.pX).toBeLessThanOrEqual(0.00001)
+    expect(robot.pY).toBe(590)
+    expect(robot.pZ).toBeLessThanOrEqual(0.00001)
+
+    expect(robot.alpha).toBeLessThanOrEqual(0.00001)
+    expect(robot.beta).toBeLessThanOrEqual(0.00001)
+});
+
+test('Grade gewinkelt', () => {
+    robot = new Robot(300,290,10)
+  
+    robot.x = 0 ;
+    robot.y = 300;
+    robot.z = 0;
+    robot.phi = -Math.PI/2;
+    robot.theta = Math.PI/2 - Math.PI/3;
+
+    
+    robot.calculateAngles3D();
+
+    expect(robot.pX).toBeLessThanOrEqual(0.00001)
+    expect(robot.pZ).toBe(10 * Math.cos(robot.theta))
+
+    expect(robot.alpha - Math.PI/3).toBeLessThanOrEqual(0.00002)
+    expect(robot.beta + Math.PI/3).toBeLessThanOrEqual(0.00002)
+});
+
+test('schräg gewinkelt 1', () => {
+    robot = new Robot(300,300,10)
+  
+    robot.x = 0 ;
+    robot.y = 310;
+    robot.z = 0;
+    robot.phi = 0;
+    robot.theta = Math.PI/2;
+
+    
+    robot.calculateAngles3D();
+
+    expect(robot.pX).toBe(10);
+    expect(robot.pZ).toBeLessThanOrEqual(0.001);
+
+    expect(robot.alpha - Math.PI/3).toBeLessThanOrEqual(0.02);
+    expect(robot.beta + Math.PI/3).toBeLessThanOrEqual(0.02);
+});