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Recognizion with multiple

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ChK
2026-03-19 20:29:49 +01:00
parent 30b7da16f1
commit ca8e87ef22
1 changed files with 72 additions and 13 deletions
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85
public/calculateActions.js
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@@ -50,7 +50,7 @@ async function readValues( data, headers, rows ){
}
async function calculateAngleFromPosition(row, axisY, axisZ, deltaYangle0, deltaZangle0 = 0) {
function calculateAngleFromPosition(row, axisY, axisZ, deltaYangle0, deltaZangle0 = 0) {
let y = parseFloat(row.y_mm);
let z = parseFloat(row.z_mm);
@@ -66,10 +66,26 @@ async function calculateAngleFromPosition(row, axisY, axisZ, deltaYangle0, delta
angleDeg = angleRad * (180 / Math.PI);
appendToAnalysis(`(yMotor = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad ) aus Position von ID = ${row.id}`);
return angleRad;
}
async function calculateAngleFromRollColumn(row, roll0 = 0, pitch0 = 0, yaw0 = 0) {
function calculateAngleFromRollColumn(row, roll0 = 0, pitch0 = 0, yaw0 = 0, strMotor = "yMotor") {
let roll = -parseFloat(row.roll_deg) + roll0;
appendToAnalysis(`(yMotor = ${roll.toFixed(2)}° = ${(roll * Math.PI / 180).toFixed(4)} rad) aus roll_deg von ID = ${row.id}`);
appendToAnalysis(`(${strMotor} = ${roll.toFixed(2)}° = ${(roll * Math.PI / 180).toFixed(4)} rad) aus roll_deg von ID = ${row.id}`);
return roll*Math.PI / 180;
}
function calculateAngleFromRelativePosition(row1, row2, strMotor = "zMotor") {
let y1 = parseFloat(row1.y_mm);
let z1 = parseFloat(row1.z_mm);
let y2 = parseFloat(row2.y_mm);
let z2 = parseFloat(row2.z_mm);
let dy = y1 - y2;
let dz = z1 - z2;
let angleRad = -Math.atan(dz/dy);
let angleDeg = angleRad * (180 / Math.PI);
appendToAnalysis(`(${strMotor} = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad) aus relativer Position von ID = ${row1.id} und ID = ${row2.id}`);
return angleRad;
}
async function calculate() {
@@ -92,21 +108,64 @@ async function calculate() {
}
const row243 = rows.find(r => r.id == 243)
// Oberarm:
var angleY = 0;
var angleZ = 0;
var angleYcount = 0;
var angleZcount = 0;
// 243 damit 35mm weiter außen (250+35) und 0mm höher als Schulterachse
const row243 = rows.find(r => r.id == 243 && r.seen_by == 3)
if(row243){
const angle = await calculateAngleFromPosition(row243, shoulderAxisY, shoulderAxisZ, 250+35, 0);
calculateAngleFromRollColumn(row243, 90, 0, 0);
angleY += await calculateAngleFromPosition(row243, shoulderAxisY, shoulderAxisZ, 250+35, 0);
angleY += await calculateAngleFromRollColumn(row243, 90, 0, 0);
angleYcount+=2;
}
const row229 = rows.find(r => r.id == 229)
const row229 = rows.find(r => r.id == 229 && r.seen_by == 3)
if(row229){
const angle = await calculateAngleFromPosition(row229, shoulderAxisY, shoulderAxisZ, 250, 35);
calculateAngleFromRollColumn(row229, 0, 0, 0);
angleY += await calculateAngleFromPosition(row229, shoulderAxisY, shoulderAxisZ, 250, 35);
angleY +=calculateAngleFromRollColumn(row229, 0, 0, 0);
angleYcount+=2;
}
console.log(angleY, angleYcount);
const row198 = rows.find(r => r.id == 198 && r.seen_by == 3)
if(row198){
angleY += await calculateAngleFromPosition(row198, shoulderAxisY, shoulderAxisZ, 165, 35);
//angleY +=calculateAngleFromRollColumn(row198, 180, 0, 0); // ist ungenau
angleYcount++;
}
const row203 = rows.find(r => r.id == 203)
if(row203){
const angle = await calculateAngleFromPosition(row203, shoulderAxisY, shoulderAxisZ, 165, 35);
calculateAngleFromRollColumn(row203, 0, 0, 0);
if(row198 && row229){
angleY += 3*(calculateAngleFromRelativePosition(row198, row229, "yMotor"));
angleYcount += 3;
}
// Unterarm:
// 218 und 219, wenn die sichtbar sind, ist auch die Schulter eindeutig definiert
const row218 = rows.find(r => r.id == 218 && r.seen_by == 3)
const row219 = rows.find(r => r.id == 219 && r.seen_by == 3)
if(row218 && row219){
const lowerArmAngle = calculateAngleFromRelativePosition(row218, row219, "zMotor");
angleZ += lowerArmAngle;
angleZcount++;
}
console.log("z", angleZ);
const row226 = rows.find(r => r.id == 226 && r.seen_by == 3)
if(row226){
angleZ += calculateAngleFromRollColumn(row226, 0, 0, 0, "zMotor");
angleZcount++;
}
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)`;
appendToAnalysis(`Suggestion: ${strActionOptionA}`);
// ToDo: Change
}
}