MultiaxisMotion.cpp

 
#include "rsi.h"                // Import our RapidCode Library. 
#include "HelperFunctions.h"    // Import our SampleApp helper functions. 
#include <conio.h>
 
using namespace RSI::RapidCode;
 
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;
 
/*This function will print all the results to the screen*/
void PrintResult(Axis *axisX, Axis *axisY)
{
    printf("Motion Done \n AxisX position->  Commanded: %f  \tActual: %f\n",
        axisX->CommandPositionGet(),
        axisX->ActualPositionGet());
 
    printf(" AxisY position->  Commanded: %f  \tActual: %f\n",
        axisY->CommandPositionGet(),
        axisY->ActualPositionGet());
}
 
void multiaxisMotionMain()
{
 
    // Create and initialize RsiController class 
    MotionController *controller = MotionController::CreateFromSoftware();
    HelperFunctions::CheckErrors(controller);
    try
    {
        // enable one MotionSupervisor for the MultiAxis
        controller->MotionCountSet(controller->AxisCountGet() + 1);
 
        // Get Axis X and Y respectively.
        Axis *axisX = controller->AxisGet(AXIS_X);
        HelperFunctions::CheckErrors(axisX);
        Axis *axisY = controller->AxisGet(AXIS_Y);
        HelperFunctions::CheckErrors(axisY);
 
 
        // Initialize a MultiAxis, using the last MotionSupervisor.
        MultiAxis *multiAxisXY = controller->MultiAxisGet(controller->MotionCountGet() - 1);
        HelperFunctions::CheckErrors(multiAxisXY);
        multiAxisXY->AxisAdd(axisX);
        multiAxisXY->AxisAdd(axisY);
 
        // make sure all axes are enabled and ready
        multiAxisXY->ClearFaults();
        multiAxisXY->AmpEnableSet(true);
 
        while (controller->OS->KeyGet((int32_t)RSIWait::RSIWaitPOLL) < 0)
        {
            // Set SYNC_START motion attribute mask.
            multiAxisXY->MotionAttributeMaskOnSet(RSIMotionAttrMask::RSIMotionAttrMaskSYNC_START);
            printf("\nMotionStart...");
 
            // Commanding motion using Syncpptart to start motion for both the axis at the same time.
            multiAxisXY->MoveSCurve(end_position, velocity, accel, decel, jerkPct);
            multiAxisXY->MotionDoneWait();
 
            // Calling function created on top.
            PrintResult(axisX, axisY);
 
            // Set SYNC_END motion attribute mask
            multiAxisXY->MotionAttributeMaskOnSet(RSIMotionAttrMask::RSIMotionAttrMaskSYNC_END);
            printf("\nMotionStart...");
 
            // Commanding motion using SyncEnd to end motion for both the axis at the same time.
            multiAxisXY->MoveSCurve(start_position, velocity, accel, decel, jerkPct);
 
            // while loop to keep motor spinning while motion not completed.
            multiAxisXY->MotionDoneWait();
            PrintResult(axisX, axisY);
        }
 
        printf("\nTrapezoidal Motion Done\n");
 
    }
    catch (RsiError const& err)
    {
        printf("\n%s\n", err.text);
    }
    controller->Delete();
 
}