module.exports = class RobotMotorPosition{


    constructor(x, y, z, a, b, c, e = 0.0){
        this.x = x;     // X-Motor
        this.y = y;     // Y-Motor
        this.z = z;
        
        this.a = a;     // A-Motor: Ellbow-LowerArm turner
        this.b = b;     // B-Motor: Hand up-down
        this.c = c;     // C-Motor: Hand twist

        this.e = e;     // Finger open

        // Handgelenk-Punkt-Koordinaten (für Speed-Berechnung)
        this.pX = 0;    // Handgelenk X-Position in mm
        this.pY = 0;    // Handgelenk Y-Position in mm
        this.pZ = 0;    // Handgelenk Z-Position in mm

        this.time = Date.now();

        this.xMotorChanged = false;
        this.yMotorChanged = false;
        this.zMotorChanged = false;
        this.aMotorChanged = false;
        this.bMotorChanged = false;
        this.cMotorChanged = false;
        this.eMotorChanged = false;

        // Geschwindigkeiten in Einheiten pro Minute
        this.speeds = {x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, e: 0};

        // Feedrate in mm/min
        this.feedrate = 0;

        // Bewegungszeit des Schritts in Minuten (für koordinierte Feedrate, ToDo_6a)
        this.moveTime = 0;

        // Speed-Regelung-Modus, vom Robot gesetzt: 'legacy' | 'correct'
        this.speedMode = 'legacy';
    }

}