ChK/appRobotDriver
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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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6
test/InfoServer.test.js
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@@ -204,7 +204,8 @@ describe('InfoServer', () => {
const httpsOptions = { key, cert, passphrase: 'abcd' };
const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
const robot = { x: 10, y: 20, z: 30, phi: 0.1, theta: 0.2, psi: 0.3, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0 };
// e = Greifer-Öffnung (mm) → position.e; eMotor = Greifer-Motorwert → motorCounts.e.
const robot = { x: 10, y: 20, z: 30, phi: 0.1, theta: 0.2, psi: 0.3, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0, e: 2.5, eMotor: 7 };
const senders = [];
server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
@@ -214,7 +215,8 @@ describe('InfoServer', () => {
expect(statusCode).toBe(200);
const json = JSON.parse(body);
expect(json.position).toEqual({ x: 10, y: 20, z: 30, a: 0.1, b: 0.2, c: 0.3 });
expect(json.position).toEqual({ x: 10, y: 20, z: 30, a: 0.1, b: 0.2, c: 0.3, e: 2.5 });
expect(json.motorCounts.e).toBe(7); // Motorwert (eMotor), nicht die mm-Öffnung
});
test('returns 404 for unknown endpoints', async () => {