Flip B

server/server.js

@@ -14,6 +14,7 @@ import { runHoming, runHomingOffline } from './homingOrchestrator.js';
 import { fetchRobot, robotCachePath } from './robotConfig.js';
 import { sendGcode, isDriverConfigured } from './driverClient.js';
 import { buildG92 } from './buildG92.cjs';
+import { fkStateToDriverG92 } from './fkStateToDriverG92.cjs';
 
 const __filename = fileURLToPath(import.meta.url);
 const __dirname = path.dirname(__filename);
@@ -920,23 +921,6 @@ 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