DedicatedIO.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
using namespace RSI::RapidCode;

void DedicatedIOMain()
{
    // Constants
    const int AXIS_NUMBER = 0;                                                  // Specify the axis that will be used.

    printf("Dedicated Inputs:");
    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.

        printf("Axis %i:\n", AXIS_NUMBER);
        // Retrieve dedicated inputs with generic and specific function.
        printf("RSIMotorDedicatedInLIMIT_HW_NEG: %i and %i\n",
            axis->DedicatedInGet(RSIMotorDedicatedIn::RSIMotorDedicatedInLIMIT_HW_NEG),
            axis->NegativeLimitGet());

        printf("RSIMotorDedicatedInLIMIT_HW_POS: %i and %i\n",
            axis->DedicatedInGet(RSIMotorDedicatedIn::RSIMotorDedicatedInLIMIT_HW_POS),
            axis->PositiveLimitGet());

        printf("RSIMotorDedicatedInHOME: %i and %i\n",
            axis->DedicatedInGet(RSIMotorDedicatedIn::RSIMotorDedicatedInHOME),
            axis->HomeSwitchGet());

        printf("RSIMotorDedicatedInAMP_FAULT: %i and %i\n",
            axis->DedicatedInGet(RSIMotorDedicatedIn::RSIMotorDedicatedInAMP_FAULT),
            axis->AmpFaultGet());

        printf("RSIMotorDedicatedInAMP_ACTIVE: %i and %i\n",
            axis->DedicatedInGet(RSIMotorDedicatedIn::RSIMotorDedicatedInAMP_ACTIVE),
            axis->AmpEnableGet());
    }
    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.
}