HardwareLimits.cpp

 
#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
void HardwareLimitsMain()
{
    using namespace RSI::RapidCode;
 
    // Constants
    const int AXIS_NUMBER = 0;                      // Specify which axis/motor we will be controlling.
    const bool ACTIVE_HIGH = true;                  // Constant for active high.
    const bool ACTIVE_LOW = false;                  // Constant for active low.
    const double HW_POS_DURATION_TIME = 0.01;       // Positive limit duration. (in seconds)
    const double HW_NEG_DURATION_TIME = 0.01;       // Negative limit duration. (in seconds)
 
    char rmpPath[] = "C:\\RSI\\X.X.X\\";            // Insert the path location of the RMP.rta (usually the RapidSetup folder)
    // Initialize MotionController class.
    MotionController   *controller = MotionController::CreateFromSoftware(/*rmpPath*/);   // NOTICE: Uncomment "rmpPath" if project directory is different than rapid setup directory.
    HelperFunctions::CheckErrors(controller);                              // [Helper Function] Check that the axis has been initialize correctly. 
 
    try
    {
        HelperFunctions::StartTheNetwork(controller);            // [Helper Function] Initialize the network.
 
        Axis *axis = controller->AxisGet(AXIS_NUMBER);                          // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
        HelperFunctions::CheckErrors(axis);                      // [Helper Function] Check that the axis has been initialize correctly.
 
        printf("Hardware Limits Example\n");
 
        // Change Hardware POSITIVE (+) Limit characteristicpp.
        axis->HardwarePosLimitActionSet(RSIAction::RSIActionE_STOP);                              // Set the positive limit action to E_STOP.
        printf("\nHardware Positive Limit Action set to %i", axis->HardwarePosLimitActionGet());
 
        axis->HardwarePosLimitTriggerStateSet(ACTIVE_HIGH);                                       // Set the positive limit trigger state to ACTIVE_HIGH.
        printf("\nHardware Positive Limit TriggerState set to %i", axis->HardwarePosLimitTriggerStateGet());
 
        axis->HardwarePosLimitDurationSet(HW_POS_DURATION_TIME);                                  // Set the positive limit duration to 0.01 seconds.
        printf("\nHardware Positive Limit Duration set to %f seconds", axis->HardwarePosLimitDurationGet());
 
        // Change Hardware NEGATIVE (-) Limit charateristicpp.
        axis->HardwareNegLimitActionSet(RSIAction::RSIActionE_STOP);                              // Set the negative limit action to E_STOP.
        printf("\nHardware Negative Limit Action set to %i", axis->HardwareNegLimitActionGet());
 
        axis->HardwareNegLimitTriggerStateSet(ACTIVE_LOW);                                        // Set the negative limit trigger state to ACTIVE_LOW.
        printf("\nHardware Negative Limit TriggerState set to %i", axis->HardwareNegLimitTriggerStateGet());
 
        axis->HardwareNegLimitDurationSet(HW_NEG_DURATION_TIME);                                  // Set the negative limit duration to 0.01 seconds.
        printf("\nHardware Negative Limit Duration set to %f seconds", axis->HardwareNegLimitDurationGet());
 
        printf("\nAll Hardware Limit characteristicpp set\n");
    }
    catch (RsiError const& err)
    {
        printf("\n%s\n", err.text);
    }
    controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
    system("pause");                                        // Allow time to read Console.
}