UserLimitGainChangeBasedOnPosition.cpp

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

// which axis to use?
const int AXIS_NUMBER = 0;

// which user limit to use?
const int USER_LIMIT = 0;

// which condition to use (0 or 1)
const int CONDITION = 0;

// which gain table
const int GAIN_TABLE = 0;


void UserLimitGainChangeBasedOnPositionMain()
{
    //RapidCode interface classes
    MotionController   *controller;
    Axis         *axis;

    try
    {
        SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);            // [Helper Function] Initialize the network.

        // initialize RsiController class
        MotionController *controller = MotionController::CreateFromSoftware();
        SampleAppsCPP::HelperFunctions::CheckErrors(controller);

        // initialize RsiAxis class
        Axis *axis = controller->AxisGet(AXIS_NUMBER);
        SampleAppsCPP::HelperFunctions::CheckErrors(axis);

        // this sample uses Interrupts
        controller->InterruptEnableSet(true);

        // set the command/actual position to zero
        axis->PositionSet(0);

        double Axis0TriggerPosition = 7500.0;
        double ProportionalGain = axis->FilterCoeffGet(RSIFilterGainPIDCoeffGAIN_PROPORTIONAL, GAIN_TABLE) * 0.65;

        // configure user limit to evaluate input bit
        controller->UserLimitConditionSet(USER_LIMIT,
            CONDITION,
            RSIUserLimitLogic::RSIUserLimitLogicGT,
            (long)axis->AddressGet(RSIAxisAddressTypeACTUAL_POSITION),
            Axis0TriggerPosition);

        // configure user limit to set OUTPUT_BIT_MASK high when limit is true
        // 64-bit output not supported
        //controller->UserLimitOutputSet(USER_LIMIT, 
        //                         0,
        //                         (uint64)*((uint64*)&ProportionalGain),
        //                         (long)axis->AddressGet(RSIAxisAddressType::RSIAxisAddressTypeFILTER_GAIN_KP)
        //                         true); 

        // set the configuration
        controller->UserLimitConfigSet(USER_LIMIT, RSIUserLimitTriggerType::RSIUserLimitTriggerTypeSINGLE_CONDITION,
            RSIAction::RSIActionNONE, 0, 0.0);

        axis->MoveVelocity(500, 500);

        printf("Waiting for axis0 to reach position specified....\n");

        // wait for user limit to trigger
        while (controller->InterruptWait(RSIWaitFOREVER) != RSIEventType::RSIEventTypeUSER_LIMIT)
        {
        }

        printf("Axis0 reached specified position. Proportional Gain for axis0 changed!\n");

        // disable User Limit
        controller->UserLimitDisable(USER_LIMIT);

        // stop velocity move
        axis->Stop();

    }
    catch (RsiError const& rsiError)
    {
        printf("Text:  %s\n", rsiError.text);
    }
    controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
    return;
}