MotionStreaming.cs

 
using RSI.RapidCode.dotNET; // Import our RapidCode Library.
using NUnit.Framework;
using System;
using System.Linq;
 
#if DOXYGEN // RSI internal documentation use only
using RSI.RapidCode;
#endif
 
[TestFixture]
[Category("Software")]
public class motionStreaming : SampleAppTestBase
  {
    [Test]
    public void PTmotion()
    {
 
      int points         = 3;                     // Specify the total number of streamed points.
      int emptyCount     = 2;                     // E-stop generated if there are this number or fewer frames loaded. (Typically for PT motion there are two frames per PT point)
      double[] positions = { 1.0, 0.5, 0.75 };    // Specify the positions that you want to reach. (it can be n number)
      double[] times     = { 0.2, 0.3, 0.1 };     // Specify the times in which you want to reach each position. (velocity and acceleration is calculated by the RMP)
 
      axis.MovePT(RSIMotionType.RSIMotionTypePT,  // Specify the type of PT Motion that you want to perform. (RSIMotionType.RSIMotionTypePT, RSIMotionType.RSIMotionTypeBSPLINE, RSIMotionType.RSIMotionTypeBSPLINE2)
                      positions,                  // Specify the positions that you want to reach. (it can be n number)
                      times,                      // Specify the times in which you want to reach each position. (velocity and acceleration is calculated by the RMP)
                      points,                     // Specify the total number of streamed points.
                      emptyCount,                 // E-stop generated if there are this number or fewer frames loaded. (Typically for PT motion there are two frames per PT point)
                      false,                      // Specify whether points are kept, or are not kept.
                      true);                      // Specify if this is the last MovePT. (If True, this is the final point. If False, more points expected.)
      
      axis.MotionDoneWait();                      // Wait for motion to be completed.      
 
      Assert.That(axis.CommandPositionGet(), Is.EqualTo(positions.Last()), "The command position should be equal to last position in the array");   
    }
 
    [Test, Timeout(Constants.MAX_TEST_TIME)]
    public void PVTmotion()
    {
      int points     = 3;                        // Specify the total number of streamed points. (Very Important!)
      int emptyCount = 2;                       // E-stop generated if there are this number or fewer frames loaded. (Typically for PVT motion there are two frames per PT point)
 
      double[] positions  = { 1.0, 0.5, 0.75 };  // Specify the positions that you want to reach. (it can be n number)
      double[] velocities = { 12.0, 10.0, 6.0 }; // Specify the velocities that you want to use to reach your position.
      double[] times      = { 0.1, 0.2, 0.1 };   // Specify the times in which you want to reach each position. (acceleration is calculated by the RMP)
 
      axis.MovePVT(positions,                    // Specify the positions that you want to reach. (it can be n number)
                   velocities,                   // Specify the velocities that you want to reach. (it can be n number)
                   times,                        // Specify the times in which you want to reach each position. (velocity and acceleration is calculated by the RMP)
                   points,                       // Specify the total number of streamed points.
                   emptyCount,                   // E-stop generated if there are this number or fewer frames loaded. (Typically for PVT motion there are two frames per PT point)
                   false,                        // Specify whether points are kept, or are not kept.
                   true);                        // Specify if this is the last MovePT. (If True, this is the final point. If False, more points expected.)
 
      axis.MotionDoneWait();                     // Wait for motion to be completed.  
 
      Assert.That(axis.CommandPositionGet(), Is.EqualTo(positions.Last()), "The command position should be equal to last position in the array");
    }
 
    [Test, Timeout(Constants.MAX_TEST_TIME)]
    public void PVAJTmotion()
    {
      int points     = 3;                            // Specify the total number of streamed points. (Very Important!)
      int emptyCount = 2;                           // E-stop generated if there aren't at least this many points loaded. 
 
      double[] positions     = { 1.0, 0.5, 0.75 };   // Specify the positions that you want to reach. (it can be n number)
      double[] velocities    = { 10.0, 20.0, 40.0 }; // Specify the velocities that you want to use to reach your position.
      double[] accelerations = { 4, 4, 4 };          // Specify the accelerations that you want to use to reach your position.
      double[] jerks         = { 50, 50, 50 };       // Specify the jerks that you want to use in each move.
      double[] times         = { 0.4, 0.2, 0.1 };    // Specify the times in which you want to reach each position. 
 
      axis.MovePVAJT(positions,                      // Specify the positions that you want to reach. (it can be n number)
                  velocities,                        // Specify the velocities that you want to reach. (it can be n number)
                  accelerations,                     // Specify the accelerations that you want to use during every move. 
                  jerks,                             // Specify the jerks that you want to use during every move.
                  times,                             // Specify the times in which you want to reach each position. (velocity and acceleration is calculated by the RMP)
                  points,                            // Specify the total number of streamed points.
                  emptyCount,                        // E-stop generated if there are this number or fewer frames loaded. (Typically for PVAJT motion there are two frames per PVAJT point)
                  false,                             // Specify whether points are kept, or are not kept.
                  true);                             // Specify if this is the last MovePVAJT. (If True, this is the final point. If False, more points expected.)
 
      axis.MotionDoneWait();                         // Wait for motion to be completed.
      
      Assert.That(axis.CommandPositionGet(), Is.EqualTo(positions.Last()), "The command position should be equal to last position in the array");
    }
 
    [Test, Timeout(Constants.MAX_TEST_TIME)]
    public void PTmotionWhileStopping()
    {
      const int points      = 3;    // Specify how many points per streaming motion method call.
      const int emptyCount  = 2;    // E-stop generated if there aren't at least this many points loaded.
 
      double[] first   = { 0.1, 0.2, 0.3 };  // specify the array with position(s) that will go in the first MovePT call.
      double[] second  = { 0.4, 0.5, 0.6 };  // specify the array with position(s) that will go in the second MovePT call
      double[] third   = { 0.7, 0.8, 0.9 };  // specify the array with position(s) that will go in the third MovePT call
 
      double[] time1   = { 0.3, 0.3, 0.3 };  // specify the array with time(s) that will go in the first MovePT call.
      double[] time2   = { 0.2, 0.2, 0.2 };  // specify the array with time(s) that will go in the second MovePT call.
      double[] time3   = { 0.25, 0.25, 0.25 }; // specify the array with time(s) that will go in the third MovePT call.
 
      axis.MovePT(RSIMotionType.RSIMotionTypePT, first, time1, points, emptyCount, false, false);  // Start motion and stream a point.
      axis.MovePT(RSIMotionType.RSIMotionTypePT, second, time2, points, emptyCount, false, false); // Append a point.
 
      // After you Stop() a streaming motion, you can do 2 things. 
      // 1. You can either RESUME motion and continue to append. 
      // 2. Or you can DISCARD the points before the stop and start new motion.
 
      axis.Stop();                                                                       // Calling Stop() after streaming motion will put you in an STOPPED state.
 
      //axis.EStop();                                                                    // Calling EStop() after streaming motion will put you in an ERROR state. 
      // Therefore, you must ClearFaults() before taking any action.
 
      //axis.Abort();                                                                    // Calling Abort() after streaming motion will put you in an ERROR state and trigger an AmpEnable(false). 
      // Therefore, you must call AmpEnable(true) before taking action.
 
      axis.MotionDoneWait();                                                             // Wait for axis to come to a stop.
      axis.Resume();                                                                     // Resume() is the key here. 
                                                                                         // If you include Resume() you will append all next streaming points to the old ones.
                                                                                         // If you do not include Resume() you will discard all previous points and start with new motion with the new points.
 
      axis.MovePT(RSIMotionType.RSIMotionTypePT, third, time3, points, emptyCount, false, true); // Depending on whether you include Resume() or not this point will be appended or will be starting motion.
    }
  }