Initial commit

2026-01-31 21:50:25 +01:00
commit c65f983229
1088 changed files with 452910 additions and 0 deletions
--- a/public/Robot.js
+++ b/public/Robot.js
@@ -0,0 +1,59 @@
+class RobotData{
+    constructor(l1, l2, l3) {
+
+        this.l1 = l1;   // Oberarm
+        this.l2 = l2;   // Unterarm
+        this.l3 = l3;   // Hand-Länge
+
+        // Plan-Koordinaten - XYZ FingerSpitze
+        this.x = 0;
+        this.y = 0;
+        this.z = 0;
+
+        // Plan-Koordinaten - HandRichtung
+        this.theta = 0.0; // Euler-Winkel zwischen Z-Achse und P - Breitengrad
+        this.phi = 0.0;   // Euler-Winkel zwischen X-Achse  - Laengengrad
+        this.psi = 0.0;   // Euler-Winkel: Drehung des Handgelenks abweichend vom Breitengrad
+
+         // Motor-Koordinaten - Schulter, Ellebogen, Hand-Dreher
+         this.xMotor = -70;
+         this.alpha = .4; // =Y Motor
+         this.beta = -.8; // =Z Motor = Winkel die der Unterarm unter der Y-Achse ist. 
+ 
+         // Motor-Winkel fuer's Handgelenk
+         this.a = 0.5;     // aMotor am Ellebogen
+         this.b = 0.5;     // bMotor Handgelenk-Knicker
+         this.c = 1.4;     // cMotor Hand-Dreher
+
+         this.e = 10;        // Hand-Öffnung
+
+         this.showFunctions = [];
+    }
+
+    receiveCoordinates(obj){
+        this.x  = obj.position.x;
+        this.y  = obj.position.y;
+        this.z  = obj.position.z;
+        
+        this.xMotor = obj.motorCounts.x;
+        this.alpha = obj.motorCounts.y;
+        this.beta = obj.motorCounts.z;
+        this.a = obj.motorCounts.a;
+        this.b = obj.motorCounts.b;
+        this.c = obj.motorCounts.c;
+
+        this.e = obj.motorCounts.e;
+
+        console.log("Received Coordinates " + this.xMotor+ ", "+ this.alpha+", "+this.beta);
+        
+    }
+    showRobot(){
+        
+        for(const oneFunction of this.showFunctions){
+            oneFunction(this);
+        }
+    }
+
+}
+
+robot = new RobotData(250,250,100)