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G92 ohne Senden

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ChK
2026-03-29 21:20:37 +02:00
parent a361d96802
commit ff96dfd8f1
8 changed files with 212 additions and 14 deletions
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28
robot/GCode.js
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@@ -39,6 +39,7 @@ class GCode{
if(s.indexOf('G') !== 0){return false;}
if(s.indexOf('G90') == 0){return true;}
if(s.indexOf('G91') == 0){return true;}
if(s.indexOf('G92') == 0){return true;} // G92 - Set Position
if(s.indexOf('G28') !== -1){return true;}
if(s.indexOf('G1 ') !== -1){return true;}
return false;
@@ -89,7 +90,7 @@ class GCode{
if(g == undefined) return;
console.log("GCode: Empfange GCode: " + g);
//console.log("GCode: Empfange GCode: " + g);
var multipleCommands = g.split(" G");
var doProcessRest = false;
@@ -202,7 +203,32 @@ class GCode{
if(s.includes("e")){ robot.e = Number(s.substring(1, s.length));}
});
}
if(g[0] == "G92"){ // G92 - Set Position
g.forEach((s) => {
if(s.includes("X")){ robot.xMotor = Number(s.substring(1, s.length));}
if(s.includes("x")){ robot.xMotor = Number(s.substring(1, s.length));}
if(s.includes("Y")){ robot.alpha = Number(s.substring(1, s.length));}
if(s.includes("y")){ robot.alpha = Number(s.substring(1, s.length));}
if(s.includes("Z")){ robot.beta = Number(s.substring(1, s.length));}
if(s.includes("z")){ robot.beta = Number(s.substring(1, s.length));}
if(s.includes("A")){ robot.a = Number(s.substring(1, s.length));}
if(s.includes("a")){ robot.a = Number(s.substring(1, s.length));}
if(s.includes("B")){ robot.b = Number(s.substring(1, s.length));}
if(s.includes("b")){ robot.b = Number(s.substring(1, s.length));}
if(s.includes("C")){ robot.c = Number(s.substring(1, s.length));}
if(s.includes("c")){ robot.c = Number(s.substring(1, s.length));}
if(s.includes("E")){ robot.e = Number(s.substring(1, s.length));}
if(s.includes("e")){ robot.e = Number(s.substring(1, s.length));}
});
robot.calculatePositionFromMotorAngles();
calculateNew = false;
// ToDo: Send Command to update Position of Robot, because G92 should
// set the current Position to the given Coordinates without moving the Robot.
}
if(calculateNew && !calculateFromMotorCoordinates){
robot.calculateAngles3D();

16
robot/TelnetSenderGRBL.js
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@@ -12,7 +12,6 @@ module.exports = class TelnetSenderGRBL{
* zAxisGrbl: ...
*/
constructor(urlGRBL = "grblesp.local", maxSpeedF = 5000, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z", aAxisGrbl = null, bAxisGrbl = null, cAxisGrbl = null, eAxisGrbl = null){
var socket = null;
this.tSocket = null;
this.receiver = null;
@@ -26,6 +25,12 @@ module.exports = class TelnetSenderGRBL{
this.cAxisGrbl = cAxisGrbl;
this.eAxisGrbl = eAxisGrbl;
if (urlGRBL === "test.test") {
this.tSocket = { written: "", write(txt){ this.written = txt; } };
this.isTestMode = true;
return;
}
new Promise((resolve, reject) => {
@@ -53,10 +58,10 @@ module.exports = class TelnetSenderGRBL{
}
moveTo(mOld, mNew){
this.translateAxisNames(mOld, mNew, "G1")
this.execCommand("G1", mOld, mNew)
}
translateAxisNames(mOld, mNew, strCommand = "G1"){
execCommand(strCommand = "G1", mOld, mNew ){
// The Hand-Turn is not 1:1 to the Hand-Lift °
var factorTurnLift = 1.2;
@@ -67,7 +72,7 @@ module.exports = class TelnetSenderGRBL{
// Hand-Open in mm
var handOpenInMM = 1.0
var data = strCommand;
var data = strCommand.toString("utf-8");
if(this.xAxisGrbl == "x"){
data += " x" + (mNew.x).toFixed(2).toString();
@@ -200,10 +205,9 @@ module.exports = class TelnetSenderGRBL{
data += " f"+(maxSpeedF.toFixed(2).toString())
console.log("" + this.urlGRBLstr + " receives: " + data.toString("utf-8"))
if(this.tSocket && data.toString("utf-8").length > 3){
if(!this.isTestMode){ console.log("" + this.urlGRBLstr + " gets the message: " + data.toString("utf-8"))}
this.tSocket.write( data.toString("utf-8") + "\r\n");
}
}

17
robot/WSSenderGrbl.js
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@@ -26,6 +26,12 @@ module.exports = class TelnetSenderGRBL{
this.bAxisGrbl = bAxisGrbl;
this.cAxisGrbl = cAxisGrbl;
this.eAxisGrbl = eAxisGrbl;
if (urlGRBL === "test.test") {
this.tSocket = { written: "", write(txt){ this.written = txt; } };
this.isTestMode = true;
return;
}
var fluidConfig = { host: urlGRBL, port: 80, reconnectDelay: 30000}
@@ -36,6 +42,12 @@ module.exports = class TelnetSenderGRBL{
moveTo(mOld, mNew){
this.execCommand("G1", mOld, mNew)
}
execCommand(strCommand = "G1", mOld, mNew){
var data = strCommand.toString("utf-8");
// The Hand-Turn is not 1:1 to the Hand-Lift °
var factorTurnLift = 1.2;
@@ -46,7 +58,7 @@ module.exports = class TelnetSenderGRBL{
// Hand-Open in mm
var handOpenInMM = 1.0
var data = "G1"
if(this.xAxisGrbl == "x"){
data += " x" + (mNew.x).toFixed(2).toString();
@@ -179,10 +191,9 @@ module.exports = class TelnetSenderGRBL{
data += " f"+(maxSpeedF.toFixed(2).toString())
console.log("" + this.urlGRBLstr + " receives: " + data.toString("utf-8"))
if(this.tSocket && data.toString("utf-8").length > 3){
if(!this.isTestMode){ console.log("" + this.urlGRBLstr + " gets the message: " + data.toString("utf-8"))}
this.tSocket.write( data.toString("utf-8") + "\r\n");
}
}

48
test/GCode_G92.test.js Executable file
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@@ -0,0 +1,48 @@
// __tests__/Robot.inverseKinematics.test.js
const Robot = require('../robot/Robot.js');
const GCode = require('../robot/GCode.js');
describe("Robot G92", () => {
test("ReadPosition -> calculatePositionFromMotorAngles()", () => {
// === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
const L1 = 300;
const L2 = 200;
const L3 = 10;
const A = new Robot(L1, L2, L3)
// Beispiel-Eingabe
A.x = 0;
A.y = 310;
A.z = 0;
A.phi = -Math.PI/2;
A.theta = Math.PI/2;
A.psi = 0;
A.e = 0;
A.calculateAngles3D();
var strGCode = `G92 X${A.xMotor} Y${A.alpha} Z${A.beta} A${A.a} B${A.b} C${A.c}`
const T = new Robot(L1, L2, L3)
console.log("GCode: " + strGCode);
GCode.receiveGCode(T, strGCode);
const EPS = 0.01; // 1/1000 mm Genauigkeit
expect(T.xMotor).toBeCloseTo(A.xMotor, EPS);
expect(T.alpha).toBeCloseTo(A.alpha, EPS);
expect(T.beta).toBeCloseTo(A.beta, EPS);
expect(T.x).toBeCloseTo(A.x, EPS);
expect(T.y).toBeCloseTo(A.y, EPS);
expect(T.z).toBeCloseTo(A.z, EPS);
});
});

9
test/Robot.Kinematics.RoundTrip.test.js
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@@ -40,6 +40,9 @@ describe("Robot Kinematics Roundtrip", () => {
B.xMotor = motor.xMotor;
B.alpha = motor.alpha;
B.beta = motor.beta;
B.a = motor.a;
B.b = motor.b;
B.c = motor.c;
// Diese Funktion rekonstruiert nur x, y, z!
B.calculatePositionFromMotorAngles();
@@ -49,9 +52,9 @@ describe("Robot Kinematics Roundtrip", () => {
expect(B.pY).toBeCloseTo(A.pY, EPS);
expect(B.pZ).toBeCloseTo(A.pZ, EPS);
//expect(B.x).toBeCloseTo(A.x, EPS);
//expect(B.y).toBeCloseTo(A.y, EPS);
//expect(B.z).toBeCloseTo(A.z, EPS);
expect(B.x).toBeCloseTo(A.x, EPS);
expect(B.y).toBeCloseTo(A.y, EPS);
expect(B.z).toBeCloseTo(A.z, EPS);
});
test("calculateAngles3D() <-> calculatePositionFromMotorAngles() handgelenk 2", () => {

2
test/Robot.Kinematics.RoundTripList.test.js
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@@ -65,7 +65,7 @@ describe("Robot Kinematics Roundtrip (parametrisiert)", () => {
B.calculatePositionFromMotorAngles();
const EPS = 2; // 10^-2 mm → realistisch bei trig
const EPS = 0.02; // 10^-2 mm → realistisch bei trig
try {
expect(B.pY).toBeCloseTo(A.pY, EPS);

53
test/Sender.Telnet.test.js Executable file
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@@ -0,0 +1,53 @@
var TenetSender = require('../robot/TelnetSenderGRBL.js')
describe("TelnetSenderGRBL.execCommand", () => {
test("writes correct G-code to mocked tSocket", () => {
// Create instance (will try real connection, but we override tSocket immediately)
const sender = new TenetSender(urlGRBL = "test.test", maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
// Mock tSocket.write
sender.tSocket = {
written: "",
write: function(txt) {
this.written = txt; // store what was written
}
};
// Provide some sample motion data
const mOld = { x: 0, y: 0, z: 0, a:0, b:0, c:0, e:0 }; // not used in your code
const mNew = { x: 12.34, y: Math.PI/2, z: 0, a:0, b:0, c:0, e:0 };
sender.execCommand("G1", mOld, mNew);
// ✅ verify output
expect(sender.tSocket.written).toBe("G1 x12.34 y90.00 z-90.00 f2300.00\r\n");
});
test("writes correct G-code G92 to mocked tSocket", () => {
// Create instance (will try real connection, but we override tSocket immediately)
const sender = new TenetSender(urlGRBL = "test.test", maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
// Mock tSocket.write
sender.tSocket = {
written: "",
write: function(txt) {
this.written = txt; // store what was written
}
};
// Provide some sample motion data
const mOld = { x: 0, y: 0, z: 0, a:0, b:0, c:0, e:0 }; // not used in your code
const mNew = { x: 12.34, y: 1.0, z: 2.0, a:0, b:0, c:0, e:0 };
sender.execCommand("G92", mOld, mNew);
// ✅ verify output
expect(sender.tSocket.written).toBe("G92 x12.34 y57.30 z57.30 f2300.00\r\n");
});
});

53
test/Sender.WS.test.js Executable file
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@@ -0,0 +1,53 @@
var Sender = require('../robot/WSSenderGrbl.js')
describe("WS-SenderGRBL.execCommand", () => {
test("writes correct G-code to mocked WS tSocket", () => {
// Create instance (will try real connection, but we override tSocket immediately)
const sender = new Sender(urlGRBL = "test.test", maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
// Mock tSocket.write
sender.tSocket = {
written: "",
write: function(txt) {
this.written = txt; // store what was written
}
};
// Provide some sample motion data
const mOld = { x: 0, y: 0, z: 0, a:0, b:0, c:0, e:0 }; // not used in your code
const mNew = { x: 12.34, y: 1.0, z: 2.0, a:0, b:0, c:0, e:0 };
sender.execCommand("G1", mOld, mNew);
// ✅ verify output
expect(sender.tSocket.written).toBe("G1 x12.34 y57.30 z57.30 f2300.00\r\n");
});
test("writes correct G-code G92 to mocked WS tSocket", () => {
// Create instance (will try real connection, but we override tSocket immediately)
const sender = new Sender(urlGRBL = "test.test", maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
// Mock tSocket.write
sender.tSocket = {
written: "",
write: function(txt) {
this.written = txt; // store what was written
}
};
// Provide some sample motion data
const mOld = { x: 0, y: 0, z: 0, a:0, b:0, c:0, e:0 }; // not used in your code
const mNew = { x: 12.34, y: 1.0, z: 2.0, a:0, b:0, c:0, e:0 };
sender.execCommand("G92", mOld, mNew);
// ✅ verify output
expect(sender.tSocket.written).toBe("G92 x12.34 y57.30 z57.30 f2300.00\r\n");
});
});