AxisMovePT.sq

 
// constants
uint32 AXIS = 0;
uint64 POINT_COUNT = 50;
int32  int32POINT_COUNT = POINT_COUNT;
double TIME_SLICE = 0.001; 
string START_POSITIONS = "start";
string MIDDLE_POSITIONS = "middle";
string FINAL_POSITIONS = "final";
string TIMES = "times";
 
void main()
{
  MakeArrays();
  Move();
  DestroyArrays();
  print("Exit ok");
}
 
void Move()
{
  enum motionType = 0; // RSIMotionTypePT (from rsiEnums.h)
  
  AxisAbort(AXIS);
  AxisClearFaults(AXIS);
  AxisAmpEnableSet(AXIS, true);
  AxisPositionSet(AXIS, 0);
  
  AxisMovePT(AXIS, motionType, START_POSITIONS, TIMES, int32POINT_COUNT, -1, false, false);
  AxisMovePT(AXIS, motionType, MIDDLE_POSITIONS, TIMES, int32POINT_COUNT, -1, false, false);
  AxisMovePT(AXIS, motionType, FINAL_POSITIONS, TIMES, int32POINT_COUNT, -1, false, true);
  AxisMotionDoneWait(AXIS);
}
 
void MakeArrays()
{
  array_create(START_POSITIONS, POINT_COUNT); 
  array_create(MIDDLE_POSITIONS, POINT_COUNT);
  array_create(FINAL_POSITIONS, POINT_COUNT);
  array_create(TIMES, POINT_COUNT);
  
  double start_first = 0.0;
  double middle_first = start_first + POINT_COUNT;
  double final_first = middle_first + POINT_COUNT;
 
  for(uint64 i = 0; i < POINT_COUNT; ++i)
  {
    array_set(TIMES, i, TIME_SLICE);
    array_set(START_POSITIONS, i, start_first + i);
    array_set(MIDDLE_POSITIONS, i, middle_first + i);
    array_set(FINAL_POSITIONS, i, final_first + i);
  }
}
 
void DestroyArrays()
{
  array_destroy(START_POSITIONS); 
  array_destroy(MIDDLE_POSITIONS);
  array_destroy(FINAL_POSITIONS);
  array_destroy(TIMES);
}