ChK/appRobotHoming
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

G92 Angles according to Driver

Browse Source
This commit is contained in:
chk
2026-06-26 07:00:27 +02:00
parent 33dcbe72bf
commit dba2744687
1 changed files with 18 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
server/server.js
View File

@@ -913,6 +913,23 @@ app.post('/api/homing/run', async (req, res) => {
if (!res.writableEnded) res.end();
});
/**
* Konvertiert den FK-State (von 4b_revolute_angle.py / 5_pose_estimation.py)
* in die G92-Driver-Konvention (appRobotDriver/doc/Info_G92.md).
*
* Unterschiede:
* b: FK b=0 = gerade Hand; Driver B=180° = gerade Hand → B = 180 − b
* c: FK c=0 = neutral Roll; Driver C=90° = neutral → C = c + 90
* z: 4b misst Ellbogen RELATIV zu Arm1; Driver braucht absoluten Winkel → Z = y + z
*/
function fkStateToDriverG92(s) {
const d = { ...s };
if (d.b != null) d.b = 180 - d.b;
if (d.c != null) d.c = d.c + 90;
if (d.z != null && d.y != null) d.z = d.y + d.z;
return d;
}
/**
* POST /api/homing/send-state
* Baut aus { state: { x, y, z, a, b[, c, e] } } ein G92 und sendet es als
@@ -929,7 +946,7 @@ app.post('/api/homing/send-state', async (req, res) => {
if (!isDriverConfigured())
return res.status(501).json({ error: 'DRIVER_WS_URL ist nicht konfiguriert' });
const gcode = buildG92(state);
const gcode = buildG92(fkStateToDriverG92(state));
const result = await sendGcode(gcode);
if (!result.ok)
return res.status(502).json({ error: `Robot-Fehler: ${result.error}`, gcode });