Umbau 12: Robot-Kinematics als extends RobotBase

2026-06-10 23:18:29 +02:00
parent 9274b2c52a
commit d906b094b1
11 changed files with 837 additions and 385 deletions
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -26,6 +26,10 @@ services:
      - GRBL_BASE_IP=192.168.0.183
      - GRBL_ELLBOW_IP=192.168.0.202
      - GRBL_HAND_IP=192.168.0.250
+      # Austauschbare Kinematik (siehe doc/ToDo_12_InverseKinematikConfig_ROADMAP.md).
+      # Defaults entsprechen exakt dem bisherigen Verhalten.
+      - ROBOT_KINEMATICS=arm3segmentlinearx
+      - ROBOT_KINEMATICS_PARAMS={"l1": 250, "l2": 264, "l3": 100}
    ports:
      - "2096:2095"
      - "2098:2098"