PhantomAxis.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 

void PhantomAxisMain()
{
    using namespace RSI::RapidCode;

    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
    {
        controller->AxisCountSet(controller->AxisCountGet() + 1);                         // Configure one additional axis to be used for the phantom axis

        int axisNumber = controller->AxisCountGet() - 1;                                  // Set the axis number to the last axis on the network (subtract one because the axes are zero indexed)

        printf("\nPhantom Axis Example");

        printf("\nCreate Phantom Axis\n");

        Axis *phantomAxis = controller->AxisGet(axisNumber);                              // Initialize Axis class
        SampleAppsCPP::HelperFunctions::CheckErrors(phantomAxis);                         // [Helper Function] Check that the axis has been initialized correctly

        // These limits are not meaningful for a Phantom Axis (e.g., a phantom axis has no actual position so a position error trigger is not necessary)
        // Therefore, you must set all of their actions to "NONE".

        printf("\nSetting all limit actions to NONE...\n");

        phantomAxis->ErrorLimitActionSet(RSIAction::RSIActionNONE);                       // Set Error Limit Action.
        phantomAxis->HardwareNegLimitActionSet(RSIAction::RSIActionNONE);                 // Set Hardware Negative Limit Action.
        phantomAxis->HardwarePosLimitActionSet(RSIAction::RSIActionNONE);                 // Set Hardware Positive Limit Action.
        phantomAxis->HomeActionSet(RSIAction::RSIActionNONE);                             // Set Home Action.
        phantomAxis->SoftwareNegLimitActionSet(RSIAction::RSIActionNONE);                 // Set Software Negative Limit Action.
        phantomAxis->SoftwarePosLimitActionSet(RSIAction::RSIActionNONE);                 // Set Software Positive Limit Action.

        printf("\nComplete\n");

        printf("\nSetting MotorType...\n");

        phantomAxis->MotorTypeSet(RSIMotorType::RSIMotorTypePHANTOM);                     // Set the MotorType to phantom

        printf("\nComplete\n");

        printf("\nPhantom Axis created\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.
}