AxisSettling.cpp

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


static void PrintParameters(Axis *axis)
{
    printf("Fine Position Tolerance: %f  ", axis->PositionToleranceCoarseGet());       // Print fine position tolerance.
    printf("Coarse Position Tolerance: %f  ", axis->PositionToleranceCoarseGet());     // Print coarse position tolerance.
    printf("Velocity Tolerance: %f  ", axis->VelocityToleranceGet());                  // Print velocity tolerance.
    printf("Settling Time: %f   \n", axis->SettlingTimeGet());                         // Print settling time.
}

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

    const int AXIS_NUMBER = 0;                    // Specify which axis/motor to control.
    const int POSITION_TOLERANCE_FINE = 40;       // Specify the fine position tolerance.
    const int POSITION_TOLERANCE_COARSE = 5;      // Specify the coarse position tolerance.
    const int VELOCITY_TOLERANCE = 50;            // Specify the velocity tolerance.
    const int SETTLING_TIME = 10;                 // Specify the settling time.

    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 the axis->
        SampleAppsCPP::HelperFunctions::CheckErrors(axis);                   // [Helper Function] Check that the axis has been initialized correctly.

        printf("Settling Criteria Example\n");
        printf("\nOld Criteria\n");

        PrintParameters(axis);                                               // Print current axis settling parameters.

        axis->PositionToleranceFineSet(POSITION_TOLERANCE_FINE);             // Set fine position tolerance.
        axis->PositionToleranceCoarseSet(POSITION_TOLERANCE_COARSE);         // Set coarse position tolerance.
        axis->VelocityToleranceSet(VELOCITY_TOLERANCE);                      // Set velocity tolerance.
        axis->SettlingTimeSet(SETTLING_TIME);                                // Set settling time.

        printf("\nNew Criteria\n");

        PrintParameters(axis);                                               // Print current axis settling parameters.
    }
    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.
}