ChK/xOld_appRoboticsDriver
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Kendel Christoph
2026-01-17 22:01:44 +01:00
parent d305b77ef8
commit b8fcd35629
1 changed files with 20 additions and 2 deletions
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22
test/Robot_JoyIt_01.test.js
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@@ -27,7 +27,7 @@ test('Handgelenk Position', () => {
});
test('Winkel Oberarm/Unterarm Dreieckck', () => {
test('Winkel Oberarm/Unterarm Dreieck', () => {
robot = new Robot(300,300,30)
@@ -38,6 +38,24 @@ test('Winkel Oberarm/Unterarm Dreieckck', () => {
robot.theta = 0;
robot.calculateAngles3D();
expect(Math.abs(robot.alpha*2 + robot.beta - Math.PI)).toBeLessThanOrEqual(0.0001)
});
test('Winkel Oberarm/Unterarm Dreieckck', () => {
robot = new Robot(300,300,30)
robot.x = robot.l1 + robot.l3;
robot.y = 0;
robot.z = robot.l2;
robot.theta = 0;
robot.calculateAngles3D();
expect(Math.abs(robot.alpha*2 + robot.beta - Math.PI)).toBeLessThanOrEqual(0.0001)
expect(Math.abs(robot.alpha - Math.PI/4)).toBeLessThanOrEqual(0.0001)
expect(Math.abs(robot.beta - Math.PI/2)).toBeLessThanOrEqual(0.0001)
console.log("alpha=", robot.alpha*180/Math.PI, " beta=", robot.beta*180/Math.PI);
console.log(robot);
});