Compensator2D.cs

using RSI.RapidCode.dotNET;         // Import our RapidCode Library.
using RSI.RapidCode.dotNET.Enums;   // Import RapidCode enums
using System;

namespace SampleAppsCS
{
    class Compensator2D
    {
        static void Main(string[] args)
        {

            try
            {
                // Constants
                const int X_AXIS_NUM = 0;         // Specify which axis/motor to control.
                const int Y_AXIS_NUM = 1;          // Specify which axis/motor to control.
                const int Z_AXIS_NUM = 2;
                const int COMPENSATOR_NUM = 0;     // Specify The address number of your compensator
                const int USER_UNITS = 1048576;    // Specify your counts per unit / user units.            
                const int ACCELERATION = 2;        // Specify your acceleration.   -   units: Units/Sec^2
                const int DECELERATION = 2;        // Specify your deceleration.   -   units: Units/Sec^2

                const int X_MIN = 0;
                const int X_MAX = 50;
                const int X_DELTA = 10;
                const int Y_MIN = 0;
                const int Y_MAX = 50;
                const int Y_DELTA = 10;
                const int COMPENSATOR_X_POINTS = ((X_MAX - X_MIN) / X_DELTA) + 1;
                const int COMPENSATOR_Y_POINTS = ((Y_MAX - Y_MIN) / Y_DELTA) + 1;
                const int POINTS = (COMPENSATOR_X_POINTS) * (COMPENSATOR_Y_POINTS);

                // Compensator uses Axis COUNTS NOT user units
                double[] TABLE = new double[POINTS] {
                             0,      0,       0,      0,       0,       0,
                           100,    200,    -200,     10,     300,       0,
                           100,    200,    -500,    400,     500,       0,
                             0,      0,       0,      0,       0,       0,
                          -300,    300,    -300,   -300,    -300,       0,
                             0,      0,       0,      0,       0,       0,

                    };

                // Initialize RapidCode Objects
                MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);// Insert the path location of the RMP.rta (usually the RapidSetup folder) 
                SampleAppsCS.HelperFunctions.CheckErrors(controller);                                   // [Helper Function] Check that the controller has been initialize correctly.

                //Setup memory space for the compensator
                controller.CompensatorCountSet(1);
                controller.CompensatorPointCountSet(COMPENSATOR_NUM, TABLE.Length);

                SampleAppsCS.HelperFunctions.StartTheNetwork(controller);                               // [Helper Function] Initialize the network.            

                Axis x = controller.AxisGet(X_AXIS_NUM);                                        // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
                Axis y = controller.AxisGet(Y_AXIS_NUM);                                          // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
                Axis z = controller.AxisGet(Z_AXIS_NUM);                                          // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)

                SampleAppsCS.HelperFunctions.CheckErrors(x);                                     // [Helper Function] Check that the axis has been initialize correctly.
                SampleAppsCS.HelperFunctions.CheckErrors(y);                                      // [Helper Function] Check that the axis has been initialize correctly.
                SampleAppsCS.HelperFunctions.CheckErrors(z);                                      // [Helper Function] Check that the axis has been initialize correctly.

                // Prepair each axis
                x.UserUnitsSet(USER_UNITS);                                                      // Specify the counts per Unit.
                x.ErrorLimitTriggerValueSet(1);                                                  // Specify the position error limit trigger. (Learn more about this on our support page)
                x.Abort();                                                                       // If there is any motion happening, abort it.
                x.ClearFaults();                                                                 // Clear faults.

                // Prepair each axis
                y.UserUnitsSet(USER_UNITS);                                                      // Specify the counts per Unit.
                y.ErrorLimitTriggerValueSet(1);                                                  // Specify the position error limit trigger. (Learn more about this on our support page)
                y.Abort();                                                                       // If there is any motion happening, abort it.
                y.ClearFaults();
                // Home the axis so we are starting at 0 
                y.AmpEnableSet(false);                                                           // Enable the motor.

                z.UserUnitsSet(USER_UNITS);                                                      // Specify the counts per Unit.
                z.ErrorLimitTriggerValueSet(1);                                                  // Specify the position error limit trigger. (Learn more about this on our support page)
                z.DefaultAccelerationSet(ACCELERATION);
                z.DefaultDecelerationSet(DECELERATION);
                z.Abort();                                                                       // If there is any motion happening, abort it.
                z.ClearFaults();                                                                 // Clear faults.
                z.AmpEnableSet(true);                                                            // Enable the motor.


                // Initalize the Compensator
                controller.CompensatorConfigSet(COMPENSATOR_NUM, x, RSIAxisMasterType.RSIAxisMasterTypeAXIS_ACTUAL_POSITION, X_MIN, X_MAX, X_DELTA, y, RSIAxisMasterType.RSIAxisMasterTypeAXIS_ACTUAL_POSITION, Y_MIN, Y_MAX, Y_DELTA, z, RSICompensatorOutputType.RSICompensatorOutputTypeSINGLE, TABLE);

                Console.WriteLine("\nCompensator Configured\n");

                while (!Console.KeyAvailable)
                {
                    z.CompensationPositionGet();
                    Console.WriteLine("Compensator Output: " + z.CompensationPositionGet());
                }
            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);                                                       // If there are any exceptions/issues this will be printed out.
            }
            Console.WriteLine("\nPress Any Key To Exit");                                         // Allow time to read Console.
            Console.ReadKey();
        }
    }
}