215 lines
8.3 KiB
JavaScript
Executable File
215 lines
8.3 KiB
JavaScript
Executable File
const net = require("net");
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const { resolve } = require("path");
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const { TelnetSocket } = require("telnet-stream");
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module.exports = class TelnetSenderGRBL{
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/* urlGRBL: URL für den GCode Empfänger (MicroController, GRBL)
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* xAxisGrbl: Welche Achse soll ausgelesen werden? Welche Achse ist die GRBL-X-Achse
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* yAxisGrbl: ...
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* zAxisGrbl: ...
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*/
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constructor(urlGRBL = "grblesp.local", maxSpeedF = 5000, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z", aAxisGrbl = null, bAxisGrbl = null, cAxisGrbl = null, eAxisGrbl = null){
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var socket = null;
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this.tSocket = null;
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this.receiver = null;
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this.urlGRBLstr = urlGRBL;
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this.xAxisGrbl = xAxisGrbl;
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this.yAxisGrbl = yAxisGrbl;
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this.zAxisGrbl = zAxisGrbl;
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this.aAxisGrbl = aAxisGrbl;
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this.bAxisGrbl = bAxisGrbl;
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this.cAxisGrbl = cAxisGrbl;
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this.eAxisGrbl = eAxisGrbl;
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if (urlGRBL === "test.test") {
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this.tSocket = { written: "", write(txt){ this.written = txt; } };
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this.isTestMode = true;
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return;
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}
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new Promise((resolve, reject) => {
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socket = net.createConnection({port: 23, host: urlGRBL},() => {
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resolve(socket);
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})
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.on('error', reject);
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}).then( connection => {
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connection.on('data', data => {});
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}, error => {
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console.log("Telnet Connection Error on " + urlGRBL + ": " + error.toString());
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this.tSocket = null;
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});
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if(socket != null){
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this.tSocket = new TelnetSocket(socket);
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this.tSocket.on("close", function () {
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console.log("Telnet Closed " + urlGRBL);
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this.tSocket = null;
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});
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}
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console.log("🤖 TelnetSenderGRBL initialized with URL: " + urlGRBL);
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}
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moveTo(mOld, mNew){
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this.execCommand("G1", mOld, mNew)
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}
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execCommand(strCommand = "G1", mOld, mNew ){
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// The Hand-Turn is not 1:1 to the Hand-Lift °
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var factorTurnLift = 1.2;
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// The Hand-Open is not 1:1 to the Hand-Turn
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var factorOpenTurn = 1.92;
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// Hand-Open in mm
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var handOpenInMM = 1.0
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var data = strCommand.toString("utf-8");
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if(this.xAxisGrbl == "x"){
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data += " x" + (mNew.x).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "y"){
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data += " x" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "z"){
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data += " x" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "a"){
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// This is the case for the Ellbow, when the Motor is connected to the X-Port of the FluidNC
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data += " x" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "b"){
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data += " x" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "c"){
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// Runs correctly, substracts the "b" axis, uses the "c" axis to send to the x-Motor wich is in this case the hand-twist
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data += " x" + ((-1)*mNew.b * 180 / Math.PI + (mNew.c * 180 / Math.PI) ).toFixed(2).toString();
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}
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if(this.xAxisGrbl == "e"){
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//This is the case for the Hand, when the Open-Close Motor is connected to the X-Port of FluidNC
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var handUpDown = mNew.b * 180 * factorTurnLift / Math.PI ;
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var handTurn = mNew.c*180/Math.PI ;
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data += " x" + ((-1.0*(-1.0*(handUpDown) + handTurn) + mNew.e*handOpenInMM)).toFixed(2).toString();
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}
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if(this.yAxisGrbl == "x"){
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data += " y" + (mNew.x ).toFixed(2).toString();
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}
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if(this.yAxisGrbl == "y"){
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data += " y" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.yAxisGrbl == "z"){
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data += " y" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
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}
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if(this.yAxisGrbl == "a"){
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data += " y" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.yAxisGrbl == "b"){
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data += " y" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
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}
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if(this.yAxisGrbl == "c"){
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// This is the case if the hand-rotation-turner is connected to the FluidNC-Y
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var handUpDown = (mNew.b * 180 / Math.PI ) * factorTurnLift;
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var handTurn = ( mNew.c*180/Math.PI ) ;
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data += " y" + (-1.0*(handUpDown) + handTurn).toFixed(2).toString();
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}
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if(this.yAxisGrbl == "e"){
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data += " y" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.zAxisGrbl == "x"){
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data += " z" + (mNew.x).toFixed(2).toString();
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}
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if(this.zAxisGrbl == "y"){
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data += " z" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.zAxisGrbl == "z"){
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data += " z" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
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}
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if(this.zAxisGrbl == "a"){
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data += " z" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.zAxisGrbl == "b"){
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// This is the case of the Hand, when the Up-Down-Motor is connected to the FluidNC-Z
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data += " z" + ( mNew.b * 180 / Math.PI ).toFixed(2).toString();
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}
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if(this.zAxisGrbl == "c"){
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data += " z" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
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}
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if(this.zAxisGrbl == "e"){
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data += " z" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.aAxisGrbl == "x"){
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data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.aAxisGrbl == "y"){
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data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.aAxisGrbl == "z"){
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data += " a" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
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}
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if(this.aAxisGrbl == "a"){
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data += " a" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.aAxisGrbl == "b"){
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data += " a" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
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}
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if(this.aAxisGrbl == "c"){
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data += " a" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
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}
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if(this.aAxisGrbl == "e"){
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// ToDo Mai 2024
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data += " a" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.bAxisGrbl == "x"){
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data += " b" + (mNew.x).toFixed(2).toString();
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}
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if(this.bAxisGrbl == "y"){
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data += " b" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.bAxisGrbl == "z"){
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data += " b" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
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}
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if(this.bAxisGrbl == "a"){
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data += " b" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.bAxisGrbl == "b"){
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data += " b" + (mNew.b * 180 / Math.PI).toFixed(2).toString();
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}
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if(this.bAxisGrbl == "c"){
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data += " b" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
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}
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if(this.bAxisGrbl == "e"){
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data += " b" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
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}
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data += " f"+(maxSpeedF.toFixed(2).toString())
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if(this.tSocket && data.toString("utf-8").length > 3){
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if(!this.isTestMode){ console.log("" + this.urlGRBLstr + " gets the message: " + data.toString("utf-8"))}
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this.tSocket.write( data.toString("utf-8") + "\r\n");
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}
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}
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} |