ChK/appRobotDriver
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G92 ohne Senden

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This commit is contained in:
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();