Initial commit

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