= ignorieren

robot/GCode.js

@@ -28,6 +28,7 @@ class GCode{
     }
 
     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;}
@@ -82,11 +83,17 @@ class GCode{
     static receiveGCode(robot, g){
 
         if(g == undefined) return;
+        if(g.length == 0) return;
 
         console.log("🔵 GCode.receiveGCode: Incoming command: " + g);
 
         g = g.toString("utf8");
 
+        if(g.startsWith("$J=")) {
+            // Handle $J= GCode for jogging
+            g = g.substring(3).trim(); // Remove "$J=" and trim whitespace        
+        }
+
         var multipleCommands = g.split(" G");
         var doProcessRest = false;
         if(multipleCommands.length > 1){