45 lines
1.3 KiB
JavaScript
Executable File
45 lines
1.3 KiB
JavaScript
Executable File
module.exports = class RobotMotorPosition{
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constructor(x, y, z, a, b, c, e = 0.0){
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this.x = x; // X-Motor
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this.y = y; // Y-Motor
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this.z = z;
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this.a = a; // A-Motor: Ellbow-LowerArm turner
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this.b = b; // B-Motor: Hand up-down
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this.c = c; // C-Motor: Hand twist
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this.e = e; // Finger open
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// Handgelenk-Punkt-Koordinaten (für Speed-Berechnung)
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this.pX = 0; // Handgelenk X-Position in mm
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this.pY = 0; // Handgelenk Y-Position in mm
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this.pZ = 0; // Handgelenk Z-Position in mm
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this.time = Date.now();
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this.xMotorChanged = false;
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this.yMotorChanged = false;
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this.zMotorChanged = false;
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this.aMotorChanged = false;
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this.bMotorChanged = false;
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this.cMotorChanged = false;
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this.eMotorChanged = false;
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// Geschwindigkeiten in Einheiten pro Minute
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this.speeds = {x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, e: 0};
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// Feedrate in mm/min
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this.feedrate = 0;
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// Bewegungszeit des Schritts in Minuten (für koordinierte Feedrate, ToDo_6a)
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this.moveTime = 0;
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// Speed-Regelung-Modus, vom Robot gesetzt: 'legacy' | 'correct'
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this.speedMode = 'legacy';
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}
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}
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