PVTmotionMultiAxis.cpp
#include "rsi.h" // Import our RapidCode Library.
#include "HelperFunctions.h" // Import our SampleApp helper functions.
void PVTmotionMultiAxisMain()
{
using namespace RSI::RapidCode;
const int AXIS_X = (0);
const int AXIS_Y = (1);
const int POINTS = (3000); //total points used
const int AXIS_COUNT = (2); //two axis computation (X & Y)
const double TIME_SLICE = (0.01); //each point processed within 10ms
const int USER_UNITS = 1; // Specify USER UNITS
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.
SampleAppsCPP::HelperFunctions::CheckErrors(controller); // [Helper Function] Check that the axis has been initialize correctly.
try
{
SampleAppsCPP::HelperFunctions::StartTheNetwork(controller); // [Helper Function] Initialize the network.
controller->AxisCountSet(2); // Set the number of axis being used. A phantom axis will be created if for any axis not on the network. You may need to refresh rapid setup to see the phantom axis.
MultiAxis *multiAxisXY;
Axis *axisX = controller->AxisGet(AXIS_X); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
Axis *axisY = controller->AxisGet(AXIS_Y); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
SampleAppsCPP::HelperFunctions::CheckErrors(axisX); // [Helper Function] Check that the axis has been initialize correctly.
SampleAppsCPP::HelperFunctions::CheckErrors(axisY); // [Helper Function] Check that the axis has been initialize correctly.
axisX->UserUnitsSet(USER_UNITS); // Specify the counts per Unit.
axisY->UserUnitsSet(USER_UNITS); // Specify the counts per Unit.
// enable one MotionSupervisor for the MultiAxis
//controller->MotionCountSet(controller->AxisCountGet() + 1);
// Get Axis X and Y respectively.
axisX = controller->AxisGet(AXIS_X);
SampleAppsCPP::HelperFunctions::CheckErrors(axisX);
axisY = controller->AxisGet(AXIS_Y);
SampleAppsCPP::HelperFunctions::CheckErrors(axisY);
// Initialize a MultiAxis, using the last MotionSupervisor.
multiAxisXY = controller->MultiAxisGet(controller->MotionCountGet() - 1);
SampleAppsCPP::HelperFunctions::CheckErrors(multiAxisXY);
multiAxisXY->AxisAdd(axisX);
multiAxisXY->AxisAdd(axisY);
long radius = 1000; //radius of circle
double PI = 3.14159265358979323; //variable used in equation to convert degrees to radians
double degrees = 90.00 / (POINTS); //angle between each point. Used in the equation below.
double position[POINTS * AXIS_COUNT]; //defining size of position array
double vel[POINTS * AXIS_COUNT]; //defining size of velocity array
double time[POINTS]; //defining size of time array
for (int i = 0, x = 0, y = 1; i < POINTS; i++)
{
position[x] = (radius*cos((i + 1)*degrees*PI / 180.0));
position[y] = (radius*sin((i + 1)*degrees*PI / 180.0));
x = x + 2;
y = y + 2;
time[i] = TIME_SLICE;
}
for (int i = 0, x = 0, y = 1; i < (POINTS - 1); i++)
{
vel[x] = (position[x + 2] - position[x]) / TIME_SLICE;
vel[y] = (position[y + 2] - position[y]) / TIME_SLICE;
x = x + 2;
y = y + 2;
}
//Final two points (X Axis Final Vel, Y Axis Final Vel) need to be set to 0.
vel[(POINTS * 2) - 2] = 0; //X Axis
vel[(POINTS * 2) - 1] = 0; //Y Axis
multiAxisXY->Abort();
multiAxisXY->ClearFaults();
multiAxisXY->AmpEnableSet(true);
axisX->PositionSet(radius);
axisY->PositionSet(0);
multiAxisXY->MovePVT(position, vel, time, POINTS, -1, false, true);
multiAxisXY->MotionDoneWait();
}
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.
}