89 lines
2.7 KiB
JavaScript
Executable File
89 lines
2.7 KiB
JavaScript
Executable File
// __tests__/Robot.inverseKinematics.test.js
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const Robot = require('../robot/Robot.js');
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const GCode = require('../robot/GCode.js');
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var TenetSender = require('../robot/TelnetSenderGRBL.js')
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describe("Robot G92", () => {
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beforeAll(() => {
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jest.spyOn(console, 'log').mockImplementation(() => {})
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})
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afterAll(() => {
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jest.restoreAllMocks()
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})
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test("ReadPosition -> calculatePositionFromMotorAngles()", () => {
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// === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
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const L1 = 300;
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const L2 = 200;
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const L3 = 10;
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const A = new Robot(L1, L2, L3)
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// Beispiel-Eingabe
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A.x = 0;
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A.y = 310;
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A.z = 0;
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A.phi = -Math.PI/2;
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A.theta = Math.PI/2;
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A.psi = 0;
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A.e = 0;
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A.calculateAngles3D();
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var strGCode = `M92 X${A.xMotor} Y${A.alpha} Z${A.beta} A${A.a} B${A.b} C${A.c}`
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const T = new Robot(L1, L2, L3)
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console.log("GCode: " + strGCode);
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GCode.receiveGCode(T, strGCode);
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const EPS = 0.01; // 1/1000 mm Genauigkeit
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expect(T.xMotor).toBeCloseTo(A.xMotor, EPS);
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expect(T.alpha).toBeCloseTo(A.alpha, EPS);
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expect(T.beta).toBeCloseTo(A.beta, EPS);
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expect(T.x).toBeCloseTo(A.x, EPS);
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expect(T.y).toBeCloseTo(A.y, EPS);
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expect(T.z).toBeCloseTo(A.z, EPS);
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});
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// G92 y2.8 z131.0
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test("ReadPosition -> G92()", () => {
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// === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
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const L1 = 300;
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const L2 = 300;
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const L3 = 20;
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const robot = new Robot(L1, L2, L3)
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var telnetSender1 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
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var telnetSender2 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
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var telnetSender3 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
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robot.cmdReceivers.push(telnetSender1);
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robot.cmdReceivers.push(telnetSender2);
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robot.cmdReceivers.push(telnetSender3);
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GCode.receiveGCode(robot,"M92 y0.049 z2.286");
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const strExpect1 = 'G92 x0.00 y2.81 z128.17\r\n';
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const strExpect2 = 'G92 y2.81 z128.17\r\n';
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allowedValues = [strExpect1, strExpect2];
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expect(allowedValues).toContain(telnetSender1.tSocket.written);
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// ("Wenn nur G92 x3 gegeben wird, dann wird trotzdem auch y und z gesendet. schlecht." );
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});
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});
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