FinalVelocity.cpp

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

    // Constants
    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 RELATIVE_POSITION = 50;           // Specify which position to travel to.
    const int VELOCITY = 10;                    // Specify your velocity - units: Units/Sec     (it will do "10485760 counts/10 motor revolution per second)
    const int ACCELERATION = 100;                // Specify your acceleration - units: Units/Sec^2
    const int DECELERATION = 100;                  // Specify your deceleration - units: Units/Sec^2
    const int JERK_PCT = 50;                    // Specify your jerk percent - units: Units/Sec^3
    const int FINAL_VELOCITY = 5;                // Specify your final velocity - units: Units/Sec

    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. (Use RapidSetup Tool to see what is your axis number)
        SampleAppsCPP::HelperFunctions::CheckErrors(axis);                               // [Helper Function] Check that the axis has been initialize correctly.

        axis->UserUnitsSet(USER_UNITS);                                                  // Specify the counts per unit. (every 1048576 counts my motor does one full turn) (varies per motor)
        axis->ErrorLimitTriggerValueSet(1);                                              // Specify the position error limit trigger value. (learn more about this on our support page)
        axis->PositionSet(0);                                                            // Ensure the motor starts at position 0 every time.

        axis->Abort();                                                                   // If there is any motion happening, abort it.
        axis->ClearFaults();                                                             // Clear any faults.
        axis->AmpEnableSet(true);                                                        // Enable the axis->

        printf("\nFinal Velocity Example");
        printf("\nSCurve Motion in progress...\n");

        axis->MoveSCurve(RELATIVE_POSITION,                                              // Command an SCurve move with a final velocity of FINAL_VELOCITY.
            VELOCITY,
            ACCELERATION,                                                                // Once the commanded position has been reached, the motor will begin
            DECELERATION,                                                                // spinning with a speed of FINAL_VELOCITY, and continue to spin at that
            JERK_PCT,                                                                    // velocity until stopped.
            FINAL_VELOCITY);

        controller->OS->Sleep(8000);                                                     // Motion should take 8 seconds to complete.


        printf("\nSCurve Motion Done\n");
        printf("\nMotor now spinning at a speed of %f revs/sec\n", axis->ActualVelocityGet());

        controller->OS->Sleep(2500);                                                     // Let the axis spin for 2.5 seconds before stopping.

        printf("\nMotor Stopped\n");
        axis->Abort();                                                                   // Stop the motion.
        axis->AmpEnableSet(false);                                                       // Disable the axis->
        axis->ClearFaults();                                                             // Clear any faults so the axis is ready to be used again.
    }
    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.
}