aufräumen

public/index.html

@@ -20,9 +20,6 @@
 
       <div class="controls">
         <button data-cmd="HOME">HOME</button>
-        <button data-cmd="STOP">STOP</button>
-        <button data-cmd="STATUS">STATUS</button>
-        <button data-cmd="RESET">RESET</button>
         <button data-cmd="PING">PING</button>
 
         <input
@@ -35,7 +32,7 @@
           GCodeMotor
         </button>
 
-        <button id="btn-calculate">Calculate Actions</button>
+        <button id="btn-calculate">Read Position from Markers</button>
       </div>
     </div>
 

test/calculateAngles4.synthesized.a.test.js

@@ -1,55 +0,0 @@
-const { calculate } = require('../public/calculateAngles');
-
-
-
-function foundMarkers(y, robot, a=0, translate=[0,0,0]){
-    
-    const alphaPi = y * Math.PI / 180;
-
-    const pos20 = [0,Math.sin(alphaPi)*10,Math.cos(alphaPi)*10]
-    
-    m = {"markers": [
-        {"id": 20, "position_mm": pos20 }
-    ]}
-
-    return m
-}
-
-robot = {
-    "Elements":["Base", "Arm1"],
-    "ElementLength":{"Arm1":250, "Joint1": 89.5, "Arm2":250, "Finger1":100, "Finger2":100},
-    "Joints":{
-        "jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[-89.5,0,0], "originSource":[null, "test", "test"]},
-        "jointC":{"name":"Ellbow","type":"revolute","axis":[1,0,0],"parent":"Arm1","child":"Joint1", "origin":[-89.5, -250, 0]},
-        "jointD":{"name":"EllbowTwist","type":"revolute","axis":[0,1,0],"parent":"Joint1","child":"Arm2", "origin":[0, -250, 0]}
-    },
-    "Marker":[
-        {"id":20, "on":"Arm1", "relPos":[0,0,10]},
-        {"id":40, "on":"Arm2", "relPos":[0,200,35]},
-        {"id":41, "on":"Arm2", "relPos":[0,160,35]}
-    ],
-    "recognized":{"x":null, "y":null, "z":null}
-}
-
-
-
-function normalizeAngleDeg(angle) {
-  return ((angle % 360) + 360) % 360;
-}
-
-
-describe('calculateAngles minimal test', () => {
-  it('should run calculate() artificially created robot & testData', async () => {
-  
-
-            var result =  calculate(foundMarkers(45, robot), robot);
-
-            expect(result).toBeDefined();
-            expect(robot.recognized.y).toBeDefined();
-            expect(robot.recognized.y).toBeCloseTo(45,2);
-         
-  })
-
-
-
-});

test/script.app.test.js

@@ -1,11 +0,0 @@
-
-
-const Robot = require('../public/calculateActions.js');
-
-
-
-test('Initialisiere den Robot', () => {
-  
-    expect(1).toBeCloseTo(1,0.002);
-  
-});