AbsoluteMotion.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 

void AbsoluteMotionMain()
{
    using namespace RSI::RapidCode;

    const int AXIS_NUMBER = 0;                  // Specify which axis/motor to control.
    const int USER_UNITS = 1048576;             // Specify your counts per unit / user units.   (the motor used in this sample app has 1048576 encoder pulses per revolution)  
    const int POSITION = 10;                    // Specify which position to travel to.
    const int VELOCITY = 5;                     // Specify your velocity - units: Units/Sec     (it will do "10485760 counts/10 motor revolution per second)
    const int ACCELERATION = 10;                // Specify your acceleration - units: Units/Sec^2
    const int DECELERATION = 10;                // Specify your deceleration - units: Units/Sec^2

    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.

        Axis *axis = controller->AxisGet(AXIS_NUMBER);                          // initialize Axis class  
        SampleAppsCPP::HelperFunctions::CheckErrors(axis);                      // [Helper Function] Check that the axis has been initialize correctly. 

        axis->UserUnitsSet(USER_UNITS);                                         // Specify the counts per Unit.
        axis->PositionSet(0);                                                   // Make sure motor starts at position 0 everytime.
        axis->ErrorLimitTriggerValueSet(1);                                     // Set the position error trigger value
        axis->Abort();                                                          // If there is any motion happening, abort it.
        axis->ClearFaults();                                                    // Clear faults.
        axis->AmpEnableSet(true);                                               // Enable the motor.

        printf("Absolute Move\n\n");
        printf("Trapezoidal Profile: In Motion...\r");

        axis->MoveTrapezoidal(POSITION, VELOCITY, ACCELERATION, DECELERATION);  //Command simple trapezoidal motion

        axis->MotionDoneWait();                                                 // Wait for motion to be done.

        axis->AmpEnableSet(false);                                              // Disable the motor.

        printf("Trapezoidal Profile: Completed\n\n");
    }
    catch (RsiError const& err)
    {
        printf("%s\n", err.text);                                                  // If there are any exceptions/issues this will be printed out.
    }
    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.
}