#include "rsi.h"
#include "HelperFunctions.h"
using namespace RSI::RapidCode;
#pragma region GantryDeclares
int linearAxisNumber = 0;
int yawAxisNumber = 1;
int defaultEncoderNumerator = 0;
int defaultEncoderDenominator = 0;
int gantryEncoderNumerator = 1;
int gantryEncoderDenominator = 2;
double x1PrimaryCoeff = 1.0;
double x2PrimaryCoeff = 1.0;
double x1SecondaryCoeff = 1.0;
double x2SecondaryCoeff = -1.0;
double defaultPrimaryCoeff = 1.0;
double defaultSecondaryCoeff = 0.0;
uint64 x1EncoderAddress;
uint64 x2EncoderAddress;
uint64 x1FilterPrimaryPointerAddress;
uint64 x1FilterSecondaryPointerAddress;
uint64 x2FilterPrimaryPointerAddress;
uint64 x2FilterSecondaryPointerAddress;
uint64 x1FilterPrimaryCoefficientAddress;
uint64 x1FilterSecondaryCoefficientAddress;
uint64 x2FilterPrimaryCoefficientAddress;
uint64 x2FilterSecondaryCoefficientAddress;
uint64 x1AxisLinkAddress;
uint64 x2AxisLinkAddress;
#pragma endregion
#pragma region GantryMethods
void ReadAddressesFromMotionController()
{
}
void SetupEncoderMixing(bool enableGantry)
{
if (enableGantry)
{
}
else
{
}
}
void SetupFilterMixing(bool enableGantry)
{
if (enableGantry)
{
mc->
MemoryDoubleSet(x1FilterSecondaryCoefficientAddress, x1SecondaryCoeff);
mc->
MemoryDoubleSet(x2FilterSecondaryCoefficientAddress, x2SecondaryCoeff);
}
else
{
mc->
MemoryDoubleSet(x1FilterPrimaryCoefficientAddress, defaultPrimaryCoeff);
mc->
MemoryDoubleSet(x1FilterSecondaryCoefficientAddress, defaultSecondaryCoeff);
mc->
MemoryDoubleSet(x2FilterPrimaryCoefficientAddress, defaultPrimaryCoeff);
mc->
MemoryDoubleSet(x2FilterSecondaryCoefficientAddress, defaultSecondaryCoeff);
}
}
void GantryEnable(bool enable)
{
ReadAddressesFromMotionController();
SetupEncoderMixing(enable);
SetupFilterMixing(enable);
}
#pragma endregion
void gantryMain()
{
SampleAppsCPP::HelperFunctions::CheckErrors(mc);
linearAxis = mc->
AxisGet(linearAxisNumber);
SampleAppsCPP::HelperFunctions::CheckErrors(linearAxis);
yawAxis = mc->
AxisGet(yawAxisNumber);
SampleAppsCPP::HelperFunctions::CheckErrors(yawAxis);
ReadAddressesFromMotionController();
GantryEnable(true);
GantryEnable(false);
}