Add Robot_JoyIt driver

test/Robot.01_WristPoint.test.js

@@ -1,4 +1,3 @@
-
 const Robot = require('../robot/Robot.js');
 
 

test/Robot_JoyIt_01.test.js

@@ -0,0 +1,43 @@
+const Robot = require('../robot/Robot_JoyIt.js');
+
+
+
+test('Initialisiere den Robot', () => {
+  robot = new Robot(300,290,10)
+  expect(robot.x).toBe(0);
+});
+
+test('Handgelenk Position', () => {
+  robot = new Robot(300,300,30)
+
+  robot.x = 300 + robot.l3;
+  robot.y = 0;
+  robot.z = 0;    
+
+  robot.theta = 0;
+  robot.calculateAngles3D();
+  expect(Math.abs(robot.Hz)).toBeLessThanOrEqual(0.0001)
+  expect(Math.abs(robot.Hr - 300)).toBeLessThanOrEqual(0.0001)
+
+
+  robot.theta = Math.PI/4;
+  robot.calculateAngles3D();
+  expect(Math.abs(robot.Hz - robot.l3/Math.sqrt(2))).toBeLessThanOrEqual(0.0001)
+  expect(Math.abs(robot.r - robot.Hr - robot.l3/Math.sqrt(2))).toBeLessThanOrEqual(0.0001)
+
+});
+
+test('Winkel Oberarm/Unterarm Dreieckck', () => {
+
+  robot = new Robot(300,300,30)
+
+  robot.x = 150 + robot.l3;
+  robot.y = 0;
+  robot.z = 0;    
+
+  robot.theta = 0;
+  robot.calculateAngles3D();
+
+  console.log("alpha=", robot.alpha*180/Math.PI, " beta=", robot.beta*180/Math.PI);
+  console.log(robot);
+});