Initial commit

2026-02-01 13:25:03 +01:00
commit b20d92535b
39 changed files with 6260 additions and 0 deletions
--- 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);
+});
+
+*/