Gearing.cpp

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

void GearingMain()
{
    // RapidCode objects
    // Declare what 'controller' is
    Axis *master;                            // Declare what 'master' is
    Axis *slave;                             // Declare what 'slave' is

    // Constants
    const int    MASTER_AXIS = 0;            // Specify which axis will be the master axis
    const int    SLAVE_AXIS = 1;             // Specify which axis will be the slave axis
    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    POSITION1 = 50;             // Specify the position to travel to.
    const int    POSITION2 = 0;              // Specify the position to travel to.
    const double VELOCITY = 10;              // Specify your velocity - units: units/sec     (it will do (1048576*10)counts/10-revolutions every 1 second.)
    const double ACCELERATION = 100;         // Specify your acceleration - units: units/sec^2
    const double DECELERATION = 100;         // Specify your deceleration - units: units/sec^2
    const double JERK_PERCENT = 50;          // Specify your jerk percentage
    
    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.
        controller->AxisCountSet(2);                                                      // Set the number of axis being used. A phantom axis will be created if for any axis not on the network. You may need to refresh rapid setup to see the phantom axis.

        Axis *master = controller->AxisGet(MASTER_AXIS);                                  // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
        Axis *slave = controller->AxisGet(SLAVE_AXIS);                                    // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
        SampleAppsCPP::HelperFunctions::CheckErrors(master);                              // [Helper Function] Check that the axis has been initialize correctly.
        SampleAppsCPP::HelperFunctions::CheckErrors(slave);                               // [Helper Function] Check that the axis has been initialize correctly.

        master->UserUnitsSet(USER_UNITS);                                                 // Specify the counts per Unit.
        master->ErrorLimitTriggerValueSet(1);                                             // Specify the position error limit trigger. (Learn more about this on our support page)
        slave->UserUnitsSet(USER_UNITS);
        slave->ErrorLimitTriggerValueSet(1);
        slave->ErrorLimitActionSet(RSIAction::RSIActionNONE);                             // If NOT using a Phantom Axis, switch to RSIActionABORT

        master->Abort();                                                                  // If there is any motion happening, abort it.
        slave->Abort();

        master->ClearFaults();                                                            // Clear faults.>
        slave->ClearFaults();

        master->AmpEnableSet(true);                                                       // Enable the motor.
        slave->AmpEnableSet(true);

        master->PositionSet(0);                                                           // Zero the position (in case the program is run multiple times)
        slave->PositionSet(0);                                                            // this negates homing, so only do it in test/sample code.

        printf("Gearing Example");

        int numerator = 2;                                                                // Specify the numerator of the gearing ratio.
        int denominator = 1;                                                              // Specify the denominator of the gearing ratio.

        // Configure the 'slave' axis to be a slave to the 'master' axis at a ratio of 2:1, that is,
        // for every rotation of the master axis, the slave axis will rotate twice.
        slave->GearingEnable(master,
            RSIAxisMasterType::RSIAxisMasterTypeAXIS_COMMAND_POSITION,    // If NOT using a Phantom Axis, switch to RSIAxisMasterTypeAXIS_ACTUAL_POSITION
            numerator,
            denominator);

        printf("\nTesting for Gearing Ratio %i/%i\n", numerator, denominator);

        master->MoveSCurve(POSITION1,
            VELOCITY,
            ACCELERATION,
            DECELERATION,
            JERK_PERCENT);                                                              // Perform a S-curve motion on the master axis->

        master->MotionDoneWait();                                                       // Wait for motion to finish.

        // Test changing the gearing ratio to -1:1, that is,
        // for every rotation of the master axis, the slave axis will rotate once in the opposite direction
        numerator = -1;
        denominator = 1;

        slave->GearingRatioChange(numerator, denominator);                              // Change the electronic gearing ratio

        printf("\nTesting for Gearing Ratio %i/%i\n", numerator, denominator);

        master->MoveSCurve(POSITION2,                                                   // New Position.
            VELOCITY,
            ACCELERATION,
            DECELERATION,
            JERK_PERCENT);                                                              // Perform a S-curve motion on the master axis again.

        master->MotionDoneWait();                                                       // Wait for motion to finish.

        printf("\nDisable Gearing\n");

        slave->GearingDisable();                                                        // Disable gearing on the slave->
        master->AmpEnableSet(true);                                                     // Disable the motor.
        slave->AmpEnableSet(true);

        printf("\nTest Complete\n");
    }
    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.
}