Template sample application.
This application is designed to demonstrate simple Controller, Axis, MultiAxis, and I/O declaration. It can be a handy template for starting a RapidCode application.
- Precondition
- This sample code presumes that the user has set the tuning paramters(PID, PIV, etc.) prior to running this program so that the motor can rotate in a stable manner.
- Warning
- This is a sample program to assist in the integration of your motion controller with your application. It may not contain all of the logic and safety features that your application requires.
- Copyright
- Copyright © 1998-2019 by Robotic Systems Integration, Inc. All rights reserved. This software contains proprietary and confidential information of Robotic Systems Integration, Inc. (RSI) and its suppliers. Except as may be set forth in the license agreement under which this software is supplied, disclosure, reproduction, or use with controls other than those provided by RSI or suppliers for RSI is strictly prohibited without the prior express written consent of Robotic Systems Integration.
#include "rsi.h"
#include "HelperFunctions.h"
using namespace RSI::RapidCode;
const int AXIS_X = (0);
const int AXIS_Y = (1);
const int IO_NODE = (7);
void templateMain(int argc, char *argv[])
{
SampleAppsCPP::HelperFunctions::CheckErrors(controller);
try
{
axisX = controller->
AxisGet(AXIS_X);
SampleAppsCPP::HelperFunctions::CheckErrors(axisX);
axisY = controller->
AxisGet(AXIS_Y);
SampleAppsCPP::HelperFunctions::CheckErrors(axisY);
SampleAppsCPP::HelperFunctions::CheckErrors(multiAxisXY);
io = controller->
IOGet(IO_NODE);
}
{
printf(
"\n%s\n", err.
text);
}
system("pause");
}