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G92-Grad + E-Korrektur

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chk
2026-06-25 18:58:55 +02:00
parent 8deb7bb8a6
commit b96a538b89
18 changed files with 1369 additions and 34 deletions
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21
robot/GCode.js
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@@ -40,20 +40,25 @@ class GCode{
static getM114(robot){
// position = Workspace (x/y/z in mm, a/b/c als Euler-Winkel phi/theta/psi in rad,
// e = Greifer-Öffnung in mm).
// motorCounts = die 7 Motor-Slots, inkl. e = eMotor (abgeleiteter Greifer-Motorwert,
// NICHT die mm-Öffnung — die steht in position.e).
let text = '{"position":{ "x":'+robot.x+
', "y":'+robot.y+
', "z":'+robot.z+
', "a":' +robot.phi +
', "b":' +robot.theta +
', "c":' +robot.psi + '},' +
', "a":' +robot.phi +
', "b":' +robot.theta +
', "c":' +robot.psi +
', "e":' +(robot.e ?? 0) + '},' +
'"motorCounts":{ "x":'+ robot.xMotor +
', "y":'+ robot.alpha +
', "y":'+ robot.alpha +
', "z":'+ robot.beta +
', "a":'+ robot.a +
', "b":'+ robot.b +
', "a":'+ robot.a +
', "b":'+ robot.b +
', "c":'+ robot.c +
', "e":'+ (robot.e ?? 0) +
'}}';
', "e":'+ (robot.eMotor ?? 0) +
'}}';
return text;
}