Recorder.cs

using RSI.RapidCode.dotNET;         // Import our RapidCode Library.
using System;


namespace SampleAppsCS
{
    class Recorder
    {
        static void Main(string[] args)
        {
            // Constants
            const int VALUES_PER_RECORD = 2;          // How many values to store in each record.  
            const int RECORD_PERIOD_SAMPLES = 1;      // How often to record data. (samples between consecutive records)
            const int RECORD_TIME = 5000;             // How long to record. (in milliseconds)

            ulong axis0ActualPositionAddress;         // It will be used to get the network address of Axis 0 - Actual Position.
            ulong ioAddress;                          // It will be used to get the network address of Drive 0 - Digital Inputs.

            // Initialize RapidCode Objects
            MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);    // Insert the path location of the RMP.rta (usually the RapidSetup folder) 
            SampleAppsCS.HelperFunctions.CheckErrors(controller);                                       // [Helper Function] Check that the controller has been initialized correctly.

            SampleAppsCS.HelperFunctions.StartTheNetwork(controller);                                   // [Helper Function] Initialize the network.

            try
            {
                // Get the host controller addresses for the values we want to record
                axis0ActualPositionAddress = controller.NetworkInputAddressGet(0);                      // Get the host address of axis 0 actual position.  (Use RapidSetup -.
                
                ioAddress = controller.NetworkInputAddressGet(3);                                       // Get the host address for the drive's inputs.     (Use RapidSetup -.
                               
                //uint firmwareioAddress    = controller.FirmwareAddressGet(ioAddress);           
                
                if (controller.RecorderEnabledGet() == true)                                            // Check if the recorder is running already. If it is, stop it.
                {
                    controller.RecorderStop();                                                          // Stop recording.
                    controller.RecorderReset();                                                         // Reset controller.
                }

                controller.RecorderCountSet(1);                                                         // Number of processed Recorders in the controller.
                controller.RecorderPeriodSet(RECORD_PERIOD_SAMPLES);                                    // Configure recorder to record every 'n' samples (Every 'n' ms)
                controller.RecorderCircularBufferSet(false);                                            // Do not use a circular buffer
                controller.RecorderDataCountSet(VALUES_PER_RECORD);                                     // Configure the number of values for each record. (how many things to record)
                controller.RecorderDataAddressSet(0, axis0ActualPositionAddress);                       // Configure the recoder to record values from this address (1st recorded address)
                controller.RecorderDataAddressSet(1, ioAddress);                                        // Configure the recoder to record values from this address (2nd recorded address)

                controller.RecorderStart();                                                             // Start recording.
                controller.OS.Sleep(RECORD_TIME);                                                       // Put this thread to sleep for some milliseconds.
                
                int recordsAvailable = controller.RecorderRecordCountGet();                             // find out how many records were recorded. (Get the number of records that are stored and ready for reading)

                Console.WriteLine("There are {0} Records available.\n", recordsAvailable);              // Print the number of records recorded.

                for (int i = 0; i < recordsAvailable; i++)                                              // Check every record recorded.
                {
                    controller.RecorderRecordDataRetrieve();                                            // Retrieve one record of recorded data.

                    UInt32 positionRecord = (UInt32)controller.RecorderRecordDataValueGet(0);           // Get the value from the 1st spicified address.
                    var digitalInputsValue = controller.RecorderRecordDataValueGet(1);                            // Get the value from the 2nd spicified address.

                    if ((digitalInputsValue & 0x00010000) == 0x00010000)                                // We are checking to see if the digital input 1 bit changes. If it does then we record the position when that input went high. 
                    {
                        i = recordsAvailable;                                                           // break from loop.
                        Console.WriteLine("Your encoder position was: " + positionRecord + " when the input triggered.");
                    }
                }

                controller.RecorderStop();                                                              // Stop recording.
                controller.RecorderReset();                                                             // Reset controller.
            }
            catch (RsiError e)
            {
                Console.WriteLine(e.Message);                                                           // If there are any exceptions/issues this will be printed out.
            }
            Console.WriteLine("\nPress Any Key To Exit");                                           // Allow time to read Console.
            Console.ReadKey();
        }
    }
}