-

agv_app/static/js/setting.js

@@ -857,13 +857,51 @@ createApp({
         body: JSON.stringify({ joint: 'J' + (idx + 1), angle: val })
       })
     },
-    async applyAngles() {
+    async applyAngles(angles = null) {
+      const targetAngles = angles || this.angleInputs
       await fetch(API + '/api/arm/set_angles', {
         method: 'POST',
         headers: { 'Content-Type': 'application/json' },
-        body: JSON.stringify({ angles: this.angleInputs, speed: 500 })
+        body: JSON.stringify({ angles: targetAngles, speed: 500 })
       })
     },
+    },
+    async invertAngles() {
+      // 每个角度取反：10 → -10, -10 → 10
+      const inverted = this.angleInputs.map(a => -a)
+      
+      // 🔍 角度范围检查（myCobot 630 限位）
+      const limits = [
+        [-180, 180],  // J1
+        [-90, 90],     // J2
+        [-90, 90],     // J3
+        [-180, 180],   // J4
+        [-90, 90],     // J5
+        [-180, 180]    // J6
+      ]
+      const outOfRange = []
+      for (let i = 0; i < 6; i++) {
+        if (inverted[i] < limits[i][0] || inverted[i] > limits[i][1]) {
+          outOfRange.push('J' + (i+1) + '=' + inverted[i].toFixed(1) + '° (范围: ' + limits[i][0] + '~' + limits[i][1] + '°)')
+        }
+      }
+      if (outOfRange.length > 0) {
+        alert('⚠️ 角度超出范围:\n' + outOfRange.join('\n'))
+        return  // 不执行反转
+      }
+      
+      // 应用到机械臂
+      try {
+        await this.applyAngles(inverted)
+        this.angleInputs = inverted  // 只有在成功后才更新显示
+        alert('✅ 角度已反转并应用')
+      } catch (e) {
+        alert('❌ 应用失败: ' + e.message)
+      }
+      
+      // 等待2秒让机械臂到位，然后刷新显示
+      setTimeout(() => this.refreshAngles(), 2000)
+    },
     jogStart(idx, dir) {
       const joint = 'J' + (idx + 1)
       fetch(API + '/api/arm/jog', {