PTmotionWhileStopping.cpp

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

    // Constants
    const int AXIS_NUMBER = 0;         // Specify which axis/motor to control.
    const int POINTS = 1;              // Specify how many points per streaming motion method call.
    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)       

    double first[] = { 10.0 };         // specify the array with position(s) that will go in the first MovePT call.
    double second[] = { 20.0 };        // specify the array with position(s) that will go in the second MovePT call
    double third[] = { 7.0 };          // specify the array with position(s) that will go in the third MovePT call

    double time1[] = { 5.0 };          // specify the array with time(s) that will go in the first MovePT call.
    double time2[] = { 2.0 };          // specify the array with time(s) that will go in the second MovePT call.
    double time3[] = { 5.0 };          // specify the array with time(s) that will go in the third MovePT call.

    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);
        axis->ErrorLimitTriggerValueSet(1);                                                         // Specify the position error limit trigger. (Learn more about this on our support page)
        axis->PositionSet(0);

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

        axis->MovePT(RSIMotionType::RSIMotionTypePT, first, time1, POINTS, -1, false, false);       // Start motion and stream a point.
        axis->MovePT(RSIMotionType::RSIMotionTypePT, second, time2, POINTS, -1, false, false);      // Append a point.

        // After you stop a streaming motion, you can do 2 things. 
        // 1. You can either RESUME motion and continue to append. 
        // 2. Or you can DISCARD the points before the stop and start new motion.

        axis->Stop();                                                                               // Calling Stop() after streaming motion will put you in an STOPPED state.

        //axis->EStop();                                                                            // Calling EStop() after streaming motion will put you in an ERROR state. 
        // Therefore, you must ClearFaults() before taking any action.

        //axis->Abort();                                                                            // Calling Abort() after streaming motion will put you in an ERROR state and trigger an AmpEnable(false). 
        // Therefore, you must call AmpEnable(true) before taking action.

        axis->MotionDoneWait();                                                                     // Wait for axis to come to a stop.
        axis->Resume();                                                                             // Resume() is the key here. 
        // If you include Resume() you will append all next streaming points to the old ones.
        // If you do not include Resume() you will discard all previous points and start with new motion with the new points.

        axis->MovePT(RSIMotionType::RSIMotionTypePT, third, time3, POINTS, -1, false, true);        // Depending on whether you include Resume() or not this point will be appended or will be starting motion.
    }
    catch (RsiError const& err)
    {
        printf("\n%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.
}