#include "rsi.h"
#include "HelperFunctions.h"
#include <conio.h>
const int AXIS_X = 0;
const int AXIS_Y = 1;
const int AXIS_COUNT = (2);
long axisNumber[AXIS_COUNT] = { 0, 1, };
double start_position[2] = { 0 , 0 };
double end_position[2] = { 2000 , 6000 };
double velocity[2] = { 1000, 1000 };
double accel[2] = { 10000, 10000 };
double decel[2] = { 10000, 10000 };
double jerkPct[2] = { 0, 0 };
long index;
void PrintResult(
Axis *axisX,
Axis *axisY)
{
printf("Motion Done \n AxisX position-> Commanded: %f \tActual: %f\n",
printf(" AxisY position-> Commanded: %f \tActual: %f\n",
}
void multiaxisMotionMain()
{
try
{
while (controller->
OS->
KeyGet((int32_t)RSIWait::RSIWaitPOLL) < 0)
{
printf("\nMotionStart...");
multiAxisXY->
MoveSCurve(end_position, velocity, accel, decel, jerkPct);
PrintResult(axisX, axisY);
printf("\nMotionStart...");
multiAxisXY->
MoveSCurve(start_position, velocity, accel, decel, jerkPct);
PrintResult(axisX, axisY);
}
printf("\nTrapezoidal Motion Done\n");
}
{
printf(
"\n%s\n", err.
text);
}
}