SCurveMotion.cpp

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

    // Constants
    const int AXIS_NUMBER = 0;                    // Specify which axis/motor to control
    const int RELATIVE_POSITION = 100;            // Specify the position to travel to.
    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)
    const int VELOCITY = 10;                      // Specify your velocity.       -   units: Units/Sec    (it will do "1048576 counts / 1 motor revolution" per second)
    const int ACCELERATION = 10;                  // Specify your acceleration.   -   units: Units/Sec^2
    const int DECELERATION = 10;                  // Specify your deceleration.   -   units: Units/Sec^2
    const int JERK_PCT = 50;                      // Specify your jerk percent (0.0 to 100.0)

    // Insert the path location of the RMP.rta (usually the RapidSetup folder)  
    char rmpPath[] = "C:\\RSI\\X.X.X\\";

    // Initialize MotionController class.
    MotionController *controller = MotionController::CreateFromSoftware(/*rmpPath*/);
    SampleAppsCPP::HelperFunctions::CheckErrors(controller);

    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);                                        // Specify the counts per Unit.
        axis->ErrorLimitTriggerValueSet(1);                                    // Specify the position error limit trigger. (Learn more about this on our support page)
        axis->PositionSet(0);                                                  // Make sure motor starts at position 0 everytime.

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

        printf("SCurve Motion Example\n");
        printf("SCurve Profile: In Motion...\n");

        axis->MoveSCurve(RELATIVE_POSITION, VELOCITY, ACCELERATION, DECELERATION, JERK_PCT); // Command SCurve Motion
        axis->MotionDoneWait();                                                              // Wait for motion to finish

        printf("SCurve Profile: Completed\n");

        axis->AmpEnableSet(false);                                                           // Disable the motor
    }
    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.
}