118 lines
4.2 KiB
JavaScript
Executable File
118 lines
4.2 KiB
JavaScript
Executable File
// __tests__/Robot.inverseKinematics.test.js
|
|
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');
|
|
const GCode = require('../robot/GCode.js');
|
|
var TenetSender = require('../robot/TelnetSenderGRBL.js')
|
|
|
|
describe("Robot G92", () => {
|
|
|
|
beforeAll(() => {
|
|
jest.spyOn(console, 'log').mockImplementation(() => {})
|
|
})
|
|
|
|
afterAll(() => {
|
|
jest.restoreAllMocks()
|
|
})
|
|
|
|
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 = `M92 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);
|
|
|
|
|
|
});
|
|
|
|
// G92 y2.8 z131.0
|
|
test("ReadPosition -> G92() test ob nur bestimmte Achsen gesendet werden", () => {
|
|
|
|
// === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
|
|
const L1 = 300;
|
|
const L2 = 300;
|
|
const L3 = 20;
|
|
|
|
const robot = new Robot(L1, L2, L3)
|
|
|
|
var telnetSender1 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
|
|
var telnetSender2 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
|
|
var telnetSender3 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
|
|
|
|
robot.cmdReceivers.push(telnetSender1);
|
|
robot.cmdReceivers.push(telnetSender2);
|
|
robot.cmdReceivers.push(telnetSender3);
|
|
|
|
|
|
GCode.receiveGCode(robot,"M92 y0.049 z2.286");
|
|
|
|
//const strExpect1 = 'G92 x0.00 y2.81 z128.17\r\n';
|
|
const strExpect1 = 'G92 y2.81 z128.17\r\n'; // x soll eben nicht gesendet werden.
|
|
const strExpect2 = 'G92 y2.81 z128.17\r\n';
|
|
|
|
allowedValues = [strExpect1, strExpect2];
|
|
expect(allowedValues).toContain(telnetSender1.tSocket.written);
|
|
expect(telnetSender2.tSocket.written.length).toBe(0); // kein GCode für Ellbow
|
|
|
|
// ("Wenn nur G92 x3 gegeben wird, dann wird trotzdem auch y und z gesendet. schlecht." );
|
|
});
|
|
// G92 y2.8 z131.0
|
|
test("ReadPosition -> G92() test ob nur bestimmte Achsen gesendet werden", () => {
|
|
|
|
// === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
|
|
const L1 = 300;
|
|
const L2 = 300;
|
|
const L3 = 20;
|
|
|
|
const robot = new Robot(L1, L2, L3)
|
|
|
|
var telnetSender1 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
|
|
var telnetSender2 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
|
|
var telnetSender3 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
|
|
|
|
robot.cmdReceivers.push(telnetSender1);
|
|
robot.cmdReceivers.push(telnetSender2);
|
|
robot.cmdReceivers.push(telnetSender3);
|
|
|
|
|
|
GCode.receiveGCode(robot,"M92 a0.20");
|
|
|
|
|
|
expect(telnetSender1.tSocket.written.length).toBe(0); // kein GCode für XYZ
|
|
expect(telnetSender2.tSocket.written).toBe('G92 x11.46\r\n');
|
|
expect(telnetSender3.tSocket.written.length).toBe(0); // kein GCode für XYZ
|
|
|
|
// ("Wenn nur G92 x3 gegeben wird, dann wird trotzdem auch y und z gesendet. schlecht." );
|
|
});
|
|
});
|
|
|