SetUserUnits.cpp

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

    // Constants
    const int    AXIS_NUMBER = 0;         // Specify which axis/motor to control.
    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) ("user unit = 1" means it will do one count out of the 1048576)  

    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.

        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(1);                                                  // SET YOUR USER UNITS!
        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.

        double currentUserUnits = axis->UserUnitsGet();                         // Verify that your user units were changed!

        printf("The axis current user unit is: %f\n", currentUserUnits);

        axis->UserUnitsSet(USER_UNITS);                                         // SET YOUR USER UNITS!
        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.

        currentUserUnits = axis->UserUnitsGet();                                // Verify that your user units were changed!

        printf("The axis current user unit is: %f\n", currentUserUnits);
    }
    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.
}