PathMotion.cpp

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

void pathMotionMain()
{


    Axis                    *axisX;
    Axis                    *axisY;
    MultiAxis                  *multiAxisXY;

    const int AXIS_X = 0;
    const int AXIS_Y = 1;

    double line_A[2] = { 0, 1000 };
    double line_B[2] = { 1000,1000 };
    double line_C[2] = { 1000, 0 };
    double line_D[2] = { 0, 0 };

    double arc_center[2] = { 1000,1000 };
    // Create and initialize RsiController class 
    MotionController *controller = MotionController::CreateFromSoftware();
    SampleAppsCPP::HelperFunctions::CheckErrors(controller);
    try
    {
        SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);            // [Helper Function] Initialize the network.



        // enable one MotionSupervisor for the MultiAxis
        controller->MotionCountSet(controller->AxisCountGet() + 1);

        // Get Axis X and Y respectively.
        axisX = controller->AxisGet(AXIS_X);
        SampleAppsCPP::HelperFunctions::CheckErrors(axisX);

        axisY = controller->AxisGet(AXIS_Y);
        SampleAppsCPP::HelperFunctions::CheckErrors(axisY);

        // Initialize a MultiAxis, using the last MotionSupervisor.
        multiAxisXY = controller->MultiAxisGet(controller->MotionCountGet() - 1);
        SampleAppsCPP::HelperFunctions::CheckErrors(multiAxisXY);
        multiAxisXY->AxisAdd(axisX);
        multiAxisXY->AxisAdd(axisY);

        // make sure all axes are enabled and ready
        multiAxisXY->ClearFaults();
        multiAxisXY->AmpEnableSet(true);

        // set the trajectory info
        multiAxisXY->VectorVelocitySet(1000.0);
        multiAxisXY->VectorAccelerationSet(10000.0);
        multiAxisXY->VectorDecelerationSet(10000.0);

        // start path list
        double start_positions[2] = { axisX->CommandPositionGet(),axisY->CommandPositionGet() };
        multiAxisXY->PathListStart(start_positions);

        // turn on blending (smooth corners)
        multiAxisXY->PathBlendSet(true);

        // an X-Y circle
        multiAxisXY->PathArcAdd(arc_center, 360.0);

        // a rectangle
        multiAxisXY->PathLineAdd(line_A);
        multiAxisXY->PathLineAdd(line_B);
        multiAxisXY->PathLineAdd(line_C);
        multiAxisXY->PathLineAdd(line_D);

        // end path list
        multiAxisXY->PathListEnd();

        // execute the motion
        multiAxisXY->PathMotionStart();

        // wait for motion to complete
        multiAxisXY->MotionDoneWait();

    }
    catch (RsiError const& err)
    {
        printf("\n%s\n", err.text);
    }
    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.
}