Motion.cs

 
using RSI.RapidCode.dotNET;         // Import our RapidCode Library.
using NUnit.Framework;
 
[TestFixture]
[Category("Software")]
public class Motion : SampleAppTestBase
  {
    [Test, Timeout(Constants.MAX_TEST_TIME)]
    public void AbsoluteMotion()
    {
      axis.MoveTrapezoidal(Constants.POSITION, Constants.VELOCITY, Constants.ACCELERATION, Constants.DECELERATION);// Command simple trapezoidal motion.
      axis.MotionDoneWait();// Wait for motion to be done
      
      Assert.That(axis.CommandPositionGet(), Is.EqualTo(Constants.POSITION), "The command position should be equal to POSITION");
    }
 
    [Test, Timeout(Constants.MAX_TEST_TIME)]
    public void SCurveMotion()
    {
      axis.MoveSCurve(Constants.POSITION); // Command SCurve Motion. This overload willuse default velocity, acceleration, deceleration, jerk values for the axis. See axis config to learn how to set those values.
      axis.MotionDoneWait();               // Wait for motion to finish
      
      Assert.That(axis.CommandPositionGet(), Is.EqualTo(Constants.POSITION), "The command position should be equal to POSITION");
    }
 
    [Test, Timeout(Constants.MAX_TEST_TIME)]
    public void FinalVelocity()
    {
      int finalVelocity = 5;
 
      axis.MoveSCurve(Constants.POSITION,     // Command an SCurve move with a final velocity of FINAL_VELOCITY.
                      Constants.VELOCITY,
                      Constants.ACCELERATION,
                      Constants.DECELERATION,
                      Constants.JERK_PERCENT,
                      finalVelocity);         // Once the commanded position has been reached, the motor will begin spinning with a speed of FINAL_VELOCITY, and continue to spin at that velocity until stopped.
 
      if (axis.CommandPositionGet() >= Constants.POSITION)
      {
        Assert.That(axis.CommandVelocityGet(), Is.EqualTo(finalVelocity), "The command velocity should be equal to FINAL_VELOCITY");
        TearDown();
 
      }
    }
 
    [Test, Timeout(Constants.MAX_TEST_TIME)]
    public void RelativeMotion()
    {
      axis.MoveRelative(Constants.POSITION, Constants.VELOCITY, Constants.ACCELERATION, Constants.DECELERATION, Constants.JERK_PERCENT);  // Command a relative to the current position
      axis.MotionDoneWait(); // Wait for motion to finish. (the motion should take 2.5 seconds)
 
      var cmdPositionAfterMove = axis.CommandPositionGet(); // The command position should be equal to Constants.POSITION
 
      // Move back to the start position by moving negative relative to current position
      axis.MoveRelative(-1 * Constants.POSITION, Constants.VELOCITY, Constants.ACCELERATION, Constants.DECELERATION, Constants.JERK_PERCENT);
      axis.MotionDoneWait();
      
      Assert.That(cmdPositionAfterMove, Is.EqualTo(Constants.POSITION), "The command position should be equal to POSITION");
    }
 
    [Test]
    public void MoveVelocity()
    {
      // Command a velocity move
      axis.MoveVelocity(Constants.VELOCITY, Constants.ACCELERATION); 
 
      if (axis.CommandPositionGet() >= Constants.POSITION)
      {
        Assert.That(axis.CommandVelocityGet(), Is.EqualTo(Constants.VELOCITY), "The command velocity should be equal to FINAL_VELOCITY");
        TearDown();
      }
    }
  }