Basics

Basic template you can use to get up and running quick.

This application is designed to demonstrate simple Controller, Axis, MultiAxis, and I/O declaration. It can be a handy template for starting a RapidCode application.

Precondition

This sample code presumes that the user has set the tuning paramters(PID, PIV, etc.) prior to running this program so that the motor can rotate in a stable manner.

Warning

This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

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The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

 
#include "rsi.h"             // Import our RapidCode Library. 
#include "HelperFunctionsCpp.h" // Import our SampleApp helper functions. 
 
using namespace RSI::RapidCode;
 
void TemplateMain(int argc, char *argv[])
{
    const int AXIS_X = (0);
    const int AXIS_Y = (1);
    const int IO_NODE = (7);
 
    Axis      *axisX;
    Axis      *axisY;
    MultiAxis *multiAxisXY;
    IO        *io;
 
    // Create and initialize RsiController class
    MotionController *controller = MotionController::CreateFromSoftware();
    HelperFunctionsCpp::CheckErrors(controller);
    try
    {
        // enable one MotionSupervisor for the MultiAxis
        controller->MotionCountSet(controller->AxisCountGet() + 1);
 
        // Get Axis X and Y respectively.
        axisX = controller->AxisGet(AXIS_X);
        HelperFunctionsCpp::CheckErrors(axisX);
 
        axisY = controller->AxisGet(AXIS_Y);
        HelperFunctionsCpp::CheckErrors(axisY);
 
        // Initialize a MultiAxis, using the last MotionSupervisor.
        multiAxisXY = controller->MultiAxisGet(controller->MotionCountGet() - 1);
        HelperFunctionsCpp::CheckErrors(multiAxisXY);
        multiAxisXY->AxisAdd(axisX);
        multiAxisXY->AxisAdd(axisY);
 
        // Initialize an IO.
        io = controller->IOGet(IO_NODE);
 
        // Insert your application code here.
    }
    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.
}