/**
 * fkStateToDriverG92.cjs
 * Rechnet einen internen Homing-FK-State in die G92-Driver-Konvention um
 * (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
 *
 * CommonJS, damit Jest (CJS) und der ESM-Server dieselbe Funktion nutzen.
 */

/**
 * @param {Record<string, number|null>} s  flacher FK-State {x,y,z,a,b[,c,e]}
 * @returns {Record<string, number>}       Driver-G92-State
 */
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;
}

module.exports = { fkStateToDriverG92 };