UserLimitDigitalInputAction.cpp

 
#include "rsi.h"                // Import our RapidCode Library. 
#include "HelperFunctions.h"    // Import our SampleApp helper functions. 
 
using namespace RSI::RapidCode;
 
void UserLimitDigitalInputActionMain()
{
    const int IO_NODE_NUMBER   = 1; // which SqNode to use for I/O?
    const int AXIS_NUMBER      = 3; // which Axis number to abort?
    const int USER_LIMIT       = 0; // which user limit to use?
    const int CONDITION        = 0; // which condition to use (0 or 1)
    const int INPUT_BIT_NUMBER = 7; // which input bit?
    
    // RapidCode interface classes
    IO      *io;
    IOPoint *digitalInput;
 
    // Initialize MotionController class.
    MotionController *controller = MotionController::CreateFromSoftware();
    HelperFunctions::CheckErrors(controller);
   
    try
    {
        HelperFunctions::StartTheNetwork(controller); // [Helper Function] Initialize the network.
 
        // initialize the I/O class
        io = controller->IOGet(IO_NODE_NUMBER);
        HelperFunctions::CheckErrors(io);
 
        digitalInput = IOPoint::CreateDigitalInput(io, INPUT_BIT_NUMBER);
 
        // configure user limit to evaluate input bit
        controller->UserLimitConditionSet(USER_LIMIT,
            CONDITION,
            RSIUserLimitLogic::RSIUserLimitLogicEQ,
            digitalInput->AddressGet(),
            digitalInput->MaskGet(),
            digitalInput->MaskGet());
 
        // enable the user limit, generate ESTOP_ABORT action when input is turned on
        controller->UserLimitConfigSet(USER_LIMIT, RSIUserLimitTriggerType::RSIUserLimitTriggerTypeSINGLE_CONDITION, RSIAction::RSIActionE_STOP_ABORT, AXIS_NUMBER, 0.0);
 
        printf("Waiting for the input bit to go high...\n");
        printf("\nPress Any Key To Exit.\n");
 
        // wait for user limit to trigger
        while (controller->OS->KeyGet((int32_t)RSIWait::RSIWaitPOLL) < 0)
        {
            printf("User Limit state is %d\r", controller->UserLimitStateGet(USER_LIMIT));
            controller->OS->Sleep(1);
        }
 
        // disable User Limit
        controller->UserLimitDisable(USER_LIMIT);
    }
    catch (RsiError const& rsiError)
    {
        printf("Text:  %s\n", rsiError.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.
}