Initial commit

test/GCode.test.js

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+const GCode = require('../robot/GCode.js');
+
+
+test('G91 ist ein GCode Command', () => {
+    var x = GCode.containsCommand("G91") ;
+    expect(x).toBe(true);
+  });
+
+test('G28 ist ein GCode Command', () => {
+    var x = GCode.containsCommand("G28") ;
+    expect(x).toBe(true);
+});
+
+
+

test/GCodeFileOperation.test.js

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+const GCode = require('../robot/GCode.js');
+
+test('GCode - FPoint', () => {
+    var x = GCode.ContainsFilesCommand("FPoint") ;
+    expect(x).toBe(true);
+});

test/PythonSender_01.test.js

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+var PythonSender = require('../robot/PythonSender.js');
+
+
+test('Initialisiere den WS', () => {
+    var p = new PythonSender();
+    p.server.close();
+  });
+
+test('Connect to WS', ()=> {
+  var p = new PythonSender(9991);
+
+  const WebSocket = require('ws');
+
+  //w = new WebSocket("ws://localhost:9991")
+
+  console.log(p.sockets)
+  p.server.close();
+})
+
+

test/Robot.01_WristPoint.test.js

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+
+const Robot = require('../robot/Robot.js');
+
+
+
+test('Initialisiere den Robot', () => {
+  robot = new Robot(300,290,10)
+  expect(robot.x).toBe(0);
+});
+
+
+test('3D Handgelenk Punkt prüfen 1', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 600;
+  robot.z = 0;
+  robot.phi = -Math.PI/2;
+  robot.theta = Math.PI/2;
+
+  robot.calculateAngles3D();
+
+  // console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
+  expect(Math.abs(robot.pX)).toBeLessThanOrEqual(0.0001)
+  expect(Math.abs(robot.pY)).toBe(590)
+  expect(Math.abs(robot.pZ)).toBeLessThanOrEqual(0.0001)
+});
+
+test('3D Handgelenk Punkt prüfen 2', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 400;
+  robot.z = 0;
+  robot.phi = -Math.PI/2;
+  robot.theta = Math.PI/2;
+
+  robot.calculateAngles3D();
+
+  // console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
+  expect(Math.abs(robot.pX)).toBeLessThanOrEqual(0.0001)
+  expect(Math.abs(robot.pY)).toBe(390)
+  expect(Math.abs(robot.pZ)).toBeLessThanOrEqual(0.0001)
+});
+
+test('3D Handgelenk Punkt prüfen 3', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 400;
+  robot.z = 0;
+  robot.phi = -Math.PI/2;
+  robot.theta = 0;
+
+  robot.calculateAngles3D();
+
+  // console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
+  expect(Math.abs(robot.pX)).toBeLessThanOrEqual(0.0001)
+  expect(Math.abs(robot.pY)).toBe(400)
+  expect(Math.abs(robot.pZ)).toBe(10)
+});
+
+test('3D Handgelenk Punkt prüfen 4', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 400;
+  robot.z = 0;
+  robot.phi = 0;
+  robot.theta = Math.PI/2;
+
+  robot.calculateAngles3D();
+
+  // console.log("p = " + robot.pX.toString() +", "+robot.pY.toString() +", "+robot.pZ.toString() );
+  expect(robot.pX).toBe(10)
+  expect(robot.pY).toBe(400)
+  expect(Math.abs(robot.pZ)).toBeLessThanOrEqual(0.0001)
+});
+
+/** 
+// Griff mit ausgetrecktem Arm
+test('3D Angles AlphaBeta', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 600;
+  robot.z = 0;
+  robot.phi = -Math.PI / 2;
+  robot.theta = 0;
+
+  robot.calculateAngles3D();
+
+  expect(robot.alpha).toBe(0);
+  expect(robot.beta).toBe(0);
+  expect(robot.a).toBe(0);
+  expect(robot.b).toBe(0);
+  expect(robot.c).toBe(0);
+});
+
+// Griff mit minimal gewinkeltem Arm
+test('3D Angles AlphaBeta with slight angle', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 550;
+  robot.z = 0;
+  robot.phi = -Math.PI / 2;
+  robot.theta = 0;
+
+  robot.calculateAngles3D();
+
+  expect(robot.alpha).not.toBe(0);
+  expect(robot.beta).not.toBe(0);
+  expect(Math.abs(robot.a  % (Math.PI/2))).toBe(0);
+  expect(robot.b).not.toBe(0);
+  console.log(robot.b);
+  expect(Math.abs(robot.c % (Math.PI/2))).toBe(0);
+});
+
+*/
+
+/*
+// Griff mit gewinkeltem Arm
+test('3D Angles AlphaBeta', () => {
+  robot = new Robot(300,290,10)
+
+  robot.x = 0 ;
+  robot.y = 300;
+  robot.z = 0;
+  robot.phi = -Math.PI / 2;
+  robot.theta = Math.PI/3;
+
+  robot.calculateAngles3D();
+
+  console.log("alpha = " + robot.alpha.toString());
+  console.log("beta  = " + robot.beta.toString());
+  console.log("a = " + robot.a.toString());
+  console.log("b = " + robot.b.toString());
+  console.log("c = " + robot.c.toString());
+  expect(robot.alpha).toBe(Math.PI/3);
+  expect(robot.beta).toBe(-Math.PI/3);
+});
+
+*/

test/Robot.02_UpperArm.test.js

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+const Robot = require('../robot/Robot.js');
+
+test('Grade ausgestreckt', () => {
+    robot = new Robot(300,290,10)
+  
+    robot.x = 0 ;
+    robot.y = 600;
+    robot.z = 0;
+    robot.phi = -Math.PI/2;
+    robot.theta = Math.PI/2;
+
+    
+    robot.calculateAngles3D();
+
+    expect(robot.pX).toBeLessThanOrEqual(0.00001)
+    expect(robot.pY).toBe(590)
+    expect(robot.pZ).toBeLessThanOrEqual(0.00001)
+
+    expect(robot.alpha).toBeLessThanOrEqual(0.00001)
+    expect(robot.beta).toBeLessThanOrEqual(0.00001)
+});
+
+test('Grade gewinkelt', () => {
+    robot = new Robot(300,290,10)
+  
+    robot.x = 0 ;
+    robot.y = 300;
+    robot.z = 0;
+    robot.phi = -Math.PI/2;
+    robot.theta = Math.PI/2 - Math.PI/3;
+
+    
+    robot.calculateAngles3D();
+
+    expect(robot.pX).toBeLessThanOrEqual(0.00001)
+    expect(robot.pZ).toBe(10 * Math.cos(robot.theta))
+
+    expect(robot.alpha - Math.PI/3).toBeLessThanOrEqual(0.00002)
+    expect(robot.beta + Math.PI/3).toBeLessThanOrEqual(0.00002)
+});
+
+test('schräg gewinkelt 1', () => {
+    robot = new Robot(300,300,10)
+  
+    robot.x = 0 ;
+    robot.y = 310;
+    robot.z = 0;
+    robot.phi = 0;
+    robot.theta = Math.PI/2;
+
+    
+    robot.calculateAngles3D();
+
+    expect(robot.pX).toBe(10);
+    expect(robot.pZ).toBeLessThanOrEqual(0.001);
+
+    expect(robot.alpha - Math.PI/3).toBeLessThanOrEqual(0.02);
+    expect(robot.beta + Math.PI/3).toBeLessThanOrEqual(0.02);
+});