G92 ohne Senden

test/GCode_G92.test.js

@@ -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);
+
+
+    });
+});
+

test/Robot.Kinematics.RoundTrip.test.js

@@ -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", () => {

test/Robot.Kinematics.RoundTripList.test.js

@@ -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);

test/Sender.Telnet.test.js

@@ -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");
+    });
+
+});

test/Sender.WS.test.js

@@ -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");
+    });
+
+});