void MovePT | ( | RSIMotionType | type, |
const double *const | position, | ||
const double *const | time, | ||
int32_t | pointCount, | ||
int32_t | emptyCount, | ||
bool | retain, | ||
bool | final | ||
) |
type | RSIMotionTypeBSPLINE, etc. RSIMotionType. |
*position | Array of positions (p) to move through. (positions are in the UserUnits for each Axis) Axis: [p0, p1, p2, ..., pn] MultiAxis, assuming the Axis mapping is J0, J1, J2: [J0p0, J1p0, J2p0, ..., J0pn, J1pn, J2pn] |
*time | Array of time durations for each point in seconds. Minimum value is your MotionController sample period. Values must be a multiple of the sample period. If each point should take one millisecond, your array would be: [0.001, 0.001, 0.001, etc.] |
pointCount | The number of position/time points. |
emptyCount | The minimimum number of position/time points which must be in the RMP firmware before causing an OUT_OF_FRAMES E-Stop action. The RapidCode library will buffer points to the RMP firmware automatically. Set this value high enough such that the duration of points are greater than the value of EStopTimeGet/Set(). Using a value of 0 or -1 will result in undefined motion behavior. |
retain | Points kept, or not kept (must be True if you attempt a negative feedrate to back up on path). |
final | True if this is the final streaming motion call, False if more streaming motion calls will occur before this call's points are finishes. |
Part of the Streaming Motion method group.