VelocitySetByAnalogInputValue.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
#include <cmath>        // std::abs

void VelocitySetByAnalogInputValueMain()
{
    using namespace RSI::RapidCode;

    IO      *ioNode;                      // Declare what 'io' is.
    double  analogMaxValue = 65536;       // The analog inputs used are 16 bit wide.
    double  currentVelocity = 0;          // Used to update velocity based on analog input value.
    double  analogCurrentValue = 0;       // Used to store current analog input value.
    double  analogValuePrecentage = 0;    // analogCurrentValue/anlogMaxValue.
    double  velocityAbsoluteSum = 0;      // Absolute sum of min and max velocities.


    // CONSTANTS
    const int AXIS_NUMBER = 0;            // Specify which axis/motor to control.
    const int NODE_NUMBER = 0;            // Specify which IO Terminal/Node to control. 0 for RSI AKD DemoBench
    const int ANALOG_INPUT_0 = 0;         // Specify which Analog Input to read.
    const int MIN_VEL = -10;              // Specify Min Velocity.
    const int MAX_VEL = 10;               // Specify Max Velocity.
    const int ACC = 100;                  // Specify Acceleration/Deceleration value.
    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)  

    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.

        // CONSOLE OUT
        printf("\nVelocity Move Initialized.");
        printf("\nMax Speed = %d ", MAX_VEL);
        printf("\nMin Speed = %d ", MIN_VEL);
        printf("\n\nPress ENTER to update analog reading");
        printf("\nPress SPACEBAR+ENTER to exit.");

        // READY AXIS
        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->DefaultAccelerationSet(ACC);                                      // Set Acceleration.                                   
        axis->DefaultDecelerationSet(ACC);                                      // Set Deceleration.
        axis->Abort();                                                          // If there is any motion happening, abort it.
        axis->ClearFaults();                                                    // Clear faults.>
        axis->AmpEnableSet(true);                                               // Enable the motor.

        char input = 0;

        while (1) {
            input = getchar();

            velocityAbsoluteSum = std::abs(MIN_VEL) + std::abs(MAX_VEL);
            analogCurrentValue = (double)ioNode->AnalogInGet(ANALOG_INPUT_0);                             // Get analog in value.
            analogValuePrecentage = analogCurrentValue / analogMaxValue;                                  // Get percentage of analog voltage.

            /*
            *  REPRESENTATION OF ANALOG INPUT VALUE BASED ON DIGITAL OUTPUT VOLTAGE
            *
            *  AI Value     -->   0 ............ 32,769 ............ 65,536
            *  DO Voltage   -->   0 ........8 9 10   -10 -9 -8...... 0
            */

            if (analogValuePrecentage * 100 > 99 || analogValuePrecentage * 100 < 1)                        // If the Analog Input value is close to 0 or 65,536 then velocity is ZERO.
                currentVelocity = 0;

            else if (analogValuePrecentage * 100 < 50)                                                      // If the Analog Input value is less than 50% of 65,536 then velocity varies from 0 to 10.
                currentVelocity = velocityAbsoluteSum * analogValuePrecentage;

            else                                                                                            // If the Analog Input value is greater than 50% of 65,536 then velocity varies from 0 to -10.
                currentVelocity = -velocityAbsoluteSum + (velocityAbsoluteSum * analogValuePrecentage);

            axis->MoveVelocity(currentVelocity);                                                            // Update Velocity.

            if (input == ' ') {
                break;
            }
        }
        axis->Abort();                                                                                      // Abort Motion.
    }
    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.
}