PhantomAxis.cpp

 
#include "SampleAppsHelper.h" // Import our helper functions.
#include "rsi.h"              // Import our RapidCode Library.
 
using namespace RSI::RapidCode; // Import the RapidCode namespace
 
int main()
{
  const std::string SAMPLE_APP_NAME = "Axis Configuration: Phantom Axis";
 
  // Print a start message to indicate that the sample app has started
  SampleAppsHelper::PrintHeader(SAMPLE_APP_NAME);
 
  /* RAPIDCODE INITIALIZATION */
 
  // Create the controller
  MotionController::CreationParameters params = SampleAppsHelper::GetCreationParameters();
  MotionController *controller = MotionController::Create(&params);
 
  int exitCode = -1; // Set the exit code to an error value.
  try                // Ensure that the controller is deleted if an error occurs.
  {
    SampleAppsHelper::CheckErrors(controller);
 
    // Prepare the controller and axes as defined in SampleAppsHelper.h
    SampleAppsHelper::SetupController(controller);
 
    /* SAMPLE APP BODY */
 
    // Add an axis to the controller
    controller->AxisCountSet(SampleAppsConfig::AXIS_COUNT + 1);
    int axisIndex = SampleAppsConfig::AXIS_COUNT;
 
    // Get the axis
    Axis *axis = controller->AxisGet(axisIndex);
    SampleAppsHelper::CheckErrors(axis);
 
    // Configure the axis as a phantom axis
    // These limits are not meaningful for a Phantom Axis (e.g., a phantom axis has no actual position so a position error trigger is not necessary)
    // Therefore, you must set all of their actions to "NONE".
    axis->PositionSet(0);                                      // Set the position to 0
    axis->ErrorLimitActionSet(RSIAction::RSIActionNONE);       // Set Error Limit Action.
    axis->AmpFaultActionSet(RSIAction::RSIActionNONE);         // Set Amp Fault Action.
    axis->AmpFaultTriggerStateSet(1);                          // Set Amp Fault Trigger State.
    axis->HardwareNegLimitActionSet(RSIAction::RSIActionNONE); // Set Hardware Negative Limit Action.
    axis->HardwarePosLimitActionSet(RSIAction::RSIActionNONE); // Set Hardware Positive Limit Action.
    axis->SoftwareNegLimitActionSet(RSIAction::RSIActionNONE); // Set Software Negative Limit Action.
    axis->SoftwarePosLimitActionSet(RSIAction::RSIActionNONE); // Set Software Positive Limit Action.
    axis->HomeActionSet(RSIAction::RSIActionNONE);             // Set Home Action.
 
    // Reduce from max slightly, so XML to string serialization and deserialization works without throwing System.OverflowException
    const double positionToleranceMax = std::numeric_limits<double>::max() / 10.0;
    axis->PositionToleranceCoarseSet(positionToleranceMax); // Set Settling Coarse Position Tolerance to max value
 
    // Set Settling Fine Position Tolerance to max value (so Phantom axis will get immediate MotionDone when target is reached)
    axis->PositionToleranceFineSet(positionToleranceMax);
 
    axis->MotorTypeSet(RSIMotorType::RSIMotorTypePHANTOM); // Set the MotorType to phantom
 
    std::cout << "Phantom Axis created with index: " << axisIndex << std::endl;
 
    exitCode = 0; // Set the exit code to success.
  }
  catch (const std::exception &ex)
  {
    std::cerr << ex.what() << std::endl;
    exitCode = -1;
  }
  // Delete the controller as the program exits to ensure memory is deallocated in the correct order
  controller->Delete();
 
  // Print a message to indicate the sample app has finished and if it was successful or not
  SampleAppsHelper::PrintFooter(SAMPLE_APP_NAME, exitCode);
 
  return exitCode;
}