PointToPointMultiaxisMotion.cpp

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

    // Constants
    const int X_AXIS = 0;                         // Specify which axis will be the x axis
    const int Y_AXIS = 1;                         // Specify which axis will be the y axis
    const int NUM_OF_AXES = 2;                    // Specify the number of axes (Make sure your axis count in RapidSetup is 2!)
    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)      

    // Parameters
    double positions1[] = { 100, 200 };           // The first set of positions to be moved to
    double positions2[] = { 300, 300 };           // The second set of positions to be moved to
    double velocities1[] = { 5, 10 };             // The velocity for the two axes for the first move- Units: units/sec (driver will execute 10 rotations per second)
    double velocities2[] = { 10, 5 };             // The velocity for the two axes for the second move
    double accelerations[] = { 10, 10 };          // The acceleration for the two axes
    double decelerations[] = { 10, 10 };          // The deceleration for the two axes
    double jerkPercent[] = { 50, 50 };            // The jerk percent for the two axes

    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.

        // initialize Axis class  
        Axis *axis0 = controller->AxisGet(X_AXIS);
        Axis *axis1 = controller->AxisGet(Y_AXIS);
        SampleAppsCPP::HelperFunctions::CheckErrors(axis0);             // [Helper Function] Check that the axis has been initialize correctly. 
        SampleAppsCPP::HelperFunctions::CheckErrors(axis1);             // [Helper Function] Check that the axis has been initialize correctly. 

        controller->AxisCountSet(NUM_OF_AXES);                          // Uncomment when using Phantom Axes.

        axis0 = controller->AxisGet(X_AXIS);                            // Initialize axis0->
        axis1 = controller->AxisGet(Y_AXIS);                            // Initialize axis1->

        SampleAppsCPP::HelperFunctions::CheckErrors(axis0);             // [Helper Function] Check that 'axis0->' has been initialized correctly
        SampleAppsCPP::HelperFunctions::CheckErrors(axis1);             // [Helper Function] Check that 'axis1->' has been initialized correctly

        controller->MotionCountSet(3);                                  // We will need a motion supervisor for every Axis object and MultiAxis object
        // In this application, we have two Axis objects and one MultiAxis object, so three motion supervisors are required
        MultiAxis *multi = controller->MultiAxisGet(NUM_OF_AXES);                  // Initialize a new MultiAxis object. MultiAxisGet takes a motion supervisor number as its argument.
        // This number is equal to the number of axes since motion supervisors are zero indexed (i.e., motion supervisors
        // 0 and 1 are used for axis0-> and axis1->, so motion supervisor 2 is available for our MultiAxis object).

        SampleAppsCPP::HelperFunctions::CheckErrors(multi);             // [Helper Function] Check that 'multi' has been initialized correctly

        multi->AxisRemoveAll();                                         // Remove all current axis if any. So we can add new ones

        multi->AxisAdd(axis0);                                          // Add axis0-> to the MultiAxis object
        multi->AxisAdd(axis1);                                          // Add axis1-> to the MultiAxis object


        axis0->UserUnitsSet(USER_UNITS);                                // Specify the counts per unit.
        axis0->ErrorLimitTriggerValueSet(1);                            // Specify the position error limit trigger. (Learn more about this on our support page)
        axis1->UserUnitsSet(USER_UNITS);
        axis1->ErrorLimitTriggerValueSet(1);

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

        axis0->PositionSet(0);                                         // Zero the position (in case the program is run multiple times)
        axis1->PositionSet(0);                                         // This negates homing, so only do it in test/sample code

        multi->ClearFaults();                                          // Clear any faults

        multi->AmpEnableSet(true);                                     // Enable the motor

        printf("MultiAxis Point-to-Point Motion Example\n");

        printf("\nBegin SCurve Motion\n");

        //axis0->ErrorLimitActionSet(RSIAction.RSIActionNONE);                                   // Uncomment when using Phantom Axes.
        axis1->ErrorLimitActionSet(RSIAction::RSIActionNONE);                                    // Uncomment when using Phantom Axes.

        multi->MoveSCurve(positions1, velocities1, accelerations, decelerations, jerkPercent);   // Move to the positions specified in positions1 using a trapezoidal motion profile
        multi->MotionDoneWait();                                                                 // Wait for motion to finish

        printf("\nSCurve Motion Complete\n");
        printf("\nBegin Trapezoidal Motion\n");

        multi->MoveTrapezoidal(positions2, velocities2, accelerations, decelerations);           // Move to the positions specified in positions2 using a SCurve motion profile
        multi->MotionDoneWait();                                                                 // Wait for the motion to finish

        multi->AmpEnableSet(false);                                                              // Disable the axes

        printf("\nTrapezoidal Motion Complete\n");
        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. 
}