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Tests

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ChK
2026-03-30 20:33:15 +02:00
parent ca8e87ef22
commit 06cf2966ab
22 changed files with 5463 additions and 19 deletions
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93
public/calculateActions.js
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@@ -124,8 +124,8 @@ async function calculate() {
const row229 = rows.find(r => r.id == 229 && r.seen_by == 3)
if(row229){
angleY += await calculateAngleFromPosition(row229, shoulderAxisY, shoulderAxisZ, 250, 35);
angleY +=calculateAngleFromRollColumn(row229, 0, 0, 0);
angleYcount+=2;
//angleY +=calculateAngleFromRollColumn(row229, 0, 0, 0); // Roll ist extrem unzuverlässig
angleYcount+=1;
}
console.log(angleY, angleYcount);
const row198 = rows.find(r => r.id == 198 && r.seen_by == 3)
@@ -140,6 +140,13 @@ async function calculate() {
angleYcount += 3;
}
const row197 = rows.find(r => r.id == 197)
if(row197){
var angleDeg = 90 - row197.pitch_deg;
var angleRad = angleDeg * Math.PI / 180;
appendToAnalysis(`(yMotor = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad ) aus Pitch von ${row197.id}`);
}
// Unterarm:
// 218 und 219, wenn die sichtbar sind, ist auch die Schulter eindeutig definiert
@@ -161,15 +168,95 @@ async function calculate() {
console.log("z", angleZ);
if(angleYcount > 0 && angleYcount > 0){
// appendToAnalysis(`Suggestion: G92 y${(angleY/angleYcount).toFixed(3)} z${(angleZ/angleZcount).toFixed(3)} (Set to coordinats. Angles in rad)`);
strActionOptionA = `G92 y${(angleY*180/(angleYcount*Math.PI)).toFixed(1)} z${(angleZ*180/(Math.PI*angleZcount)).toFixed(1)} (Set Coord. Angles in deg)`;
strActionOptionB = `M92 y${(angleY/(angleYcount)).toFixed(3)} z${(angleZ/(angleZcount)).toFixed(3)} (Set Coord. Angles in rad)`;
appendToAnalysis(`Suggestion: ${strActionOptionA}`);
appendToAnalysis(`Suggestion: ${strActionOptionB}`);
// ToDo: Change
}
// Ellbow
const row242 = rows.find(r => r.id == 242 && r.seen_by == 3)
const row200 = rows.find(r => r.id == 200 && r.seen_by == 3)
const row204 = rows.find(r => r.id == 204 && r.seen_by == 3)
// Ellenbogen-Rotation aus x-Position 218 219
// dazu brauche ich genaue x-Position von 226
if(row226 || row229 || row198 || row243 || row242 || row200 || row200){
var x226 = 0;
var xCount = 0;
if(row226){
x226 += row226.x_mm * 5;
xCount += 5;
}
if(row229){
x226 += row229.x_mm + 90;
xCount += 1;
}
if(row198){
x226 += row198.x_mm + 90;
xCount += 1;
}
if(row243){
x226 += row243.x_mm + 90;
xCount += 1;
}
if(row242){
x226 += row242.x_mm + 90;
xCount += 1;
}
if(row200){
x226 += row200.x_mm + 154;
xCount += 1;
}
if(row204){
x226 += row204.x_mm + 160;
xCount += 1;
}
x226 = x226 / xCount;
appendToAnalysis(`Ellebogen x226=${x226}`)
// Wenn 218 und/oder 219 sicher gesehen wird, kann ich daraus x-pos bestimmen
if(row218 || row219){
var x219 = 0;
xCount = 0;
if(row218){
x219 += row218.x_mm;
xCount += 1;
}
if(row219){
x219 += row219.x_mm;
xCount += 1;
}
x219 = x219 / xCount;
appendToAnalysis(`Ellebogen x219=${x219}`)
var xDelta = x219 - x226;
if(Math.abs(xDelta) < 35){
appendToAnalysis(`Ellebogen xDelta / 35=${xDelta / 35}`)
var angleRad = Math.asin(xDelta / 35)
var angleDeg = 90 -angleRad*180/Math.PI;
appendToAnalysis(`(xEllbow = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad ) aus x von 218 bzw. 219`);
}
}
}
}
if (typeof module !== 'undefined') {
module.exports = {
calculateAngleFromPosition,
calculateAngleFromRollColumn,
calculateAngleFromRelativePosition,
calculate
};
}
// Export für Module, falls benötigt
// export { fetchCSV, calculate };