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Restore XYZAC joint readouts

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wangdequan
2026-09-10 06:04:42 +08:00
parent 17887c199a
commit 0a202e5841
5 changed files with 15 additions and 7 deletions
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2
web/react/src/XyzacTrtPanel.tsx
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@@ -24,7 +24,7 @@ export function XyzacManualPanel({ view }: { view: XyzacPanelView }) {
return <section className="xyzac-manual-summary" aria-label="XYZAC authoritative position">
<div className="xyzac-section-title"><strong>XYZAC authority</strong><span>{view.kinematics?.linear_units ?? "mm"} / {view.kinematics?.angular_units ?? "deg"}</span></div>
<div className="xyzac-position-grid">
{axes.map((axis) => <div key={axis}><b>{axis.toUpperCase()}</b><output>{pose ? Number(pose[axis] ?? Number.NaN).toFixed(axis === "a" || axis === "c" ? 3 : 4) : "-"}</output></div>)}
{axes.map((axis, index) => <div key={axis}><b>{axis.toUpperCase()}</b><output>{pose ? Number(pose[axis] ?? Number.NaN).toFixed(axis === "a" || axis === "c" ? 3 : 4) : "-"}</output><small>J{index} {view.joints.length === 5 ? Number(view.joints[index]).toFixed(4) : "-"}</small></div>)}
</div>
<div className="xyzac-offset-row"><span>Tool {view.kinematics ? Number(view.kinematics.offsets.tool_offset).toFixed(3) : "-"}</span><span>Y offset {view.kinematics ? Number(view.kinematics.offsets.y_offset).toFixed(3) : "-"}</span><span>Z offset {view.kinematics ? Number(view.kinematics.offsets.z_offset).toFixed(3) : "-"}</span></div>
</section>;