The RMP Motion Controller APIs
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.
}
static void CheckErrors(RapidCodeObject rsiObject)
Check if the RapidCodeObject has any errors.
static void StartTheNetwork(MotionController controller)
Start the controller communication/network.
void HardwareNegLimitActionSet(RSIAction action)
Set the action that will occur when the Hardware Negative Limit Event triggers.
void HardwareNegLimitDurationSet(double seconds)
Set the duration required before the Hardware Negative Limit event triggers.
void HardwarePosLimitActionSet(RSIAction action)
Set the action that will occur when the Hardware Positive Limit Event triggers.
RSIAction HardwarePosLimitActionGet()
Get the action that will occur when the Hardware Positive Limit Event triggers.
void HardwarePosLimitTriggerStateSet(bool state)
sets the trigger state.
double HardwareNegLimitDurationGet()
Get the duration required before the Hardware Negative Limit event triggers.
bool HardwarePosLimitTriggerStateGet()
trigger state return.
void HardwarePosLimitDurationSet(double seconds)
Set the duration required before the Hardware Positive Limit event triggers.
bool HardwareNegLimitTriggerStateGet()
Trigger state return.
double HardwarePosLimitDurationGet()
Get the duration required before the Hardware Positive Limit event triggers.
RSIAction HardwareNegLimitActionGet()
Get the action that will occur when the Hardware Negative Limit Event triggers.
void HardwareNegLimitTriggerStateSet(bool state)
Sets the trigger state.
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Definition rsi.h:5664
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
void Delete(void)
Delete the MotionController and all its objects.
Represents the RMP soft motion controller. This class provides an interface to general controller con...
Definition rsi.h:762
Represents the error details thrown as an exception by all RapidCode classes. This class contains an ...
Definition rsi.h:105