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kinematics

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PROFERIS - Mi³osz Stocki
2026-07-08 13:12:12 +02:00
parent 92820e8a15
commit cf71803fc4
3 changed files with 23 additions and 14 deletions
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web/js/sections/stepper-test.js
+2 -4
View File
@@ -197,11 +197,9 @@ async function moveToXY(targetX, targetY) {
const newSteps1 = IK.radToSteps(theta1);
const newSteps2 = IK.radToSteps(theta2);
const delta1 = newSteps1 - steps1;
const delta2 = newSteps2 - steps2;
const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`;
const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`;
const cmd1 = `X1:${newSteps1}`;
const cmd2 = `X2:${newSteps2}`;
if (BLE.isConnected()) {
try {
web/js/sequence-runner.js
+2 -4
View File
@@ -66,11 +66,9 @@ export default {
const newSteps1 = IK.radToSteps(res.theta1);
const newSteps2 = IK.radToSteps(res.theta2);
const delta1 = newSteps1 - steps1;
const delta2 = newSteps2 - steps2;
const cmd1 = `S1${delta1 >= 0 ? '+' : ''}${delta1}`;
const cmd2 = `S2${delta2 >= 0 ? '+' : ''}${delta2}`;
const cmd1 = `X1:${newSteps1}`;
const cmd2 = `X2:${newSteps2}`;
UI.log(`Seq step: ${label}`, 'info');