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.
    HelperFunctions::CheckErrors(controller);                                           // [Helper Function] Check that the axis has been initialize correctly. 
 
    try
    {
        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)
        HelperFunctions::CheckErrors(axisX);                // [Helper Function] Check that the axis has been initialize correctly.
        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);
        HelperFunctions::CheckErrors(axisX);
 
        axisY = controller->AxisGet(AXIS_Y);
        HelperFunctions::CheckErrors(axisY);
 
        // Initialize a MultiAxis, using the last MotionSupervisor.
        multiAxisXY = controller->MultiAxisGet(controller->MotionCountGet() - 1);
        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.
}