SequencerDigitalOutput.cpp

/*  sequencerDigitalOutput.cpp
 
 Copyright(c) 1998-2009 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.
 
 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.
 
 For any questions regarding this sample code please visit our documentation at www.roboticsys.com
 
 
 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.
*/
 
 
#include "rsi.h"
 
#define SEQUENCER      0
#define TRIGGERS      100
#define BIT_MASK      RSIControlIOMaskUSER0_OUT
 
 
using namespace RSI::RapidCode::SynqNet;
 
 
void sequencerDigitalOutputMain()
{
  try
  {
 
    MotionController *controller ;
    Axis     *axis ;
    long controllerDigitalOutputAddr;
    long axisActualPositionAddr;
 
    // initialize RSI classes
    controller = MotionController::CreateFromBoard(0);
    axis = controller->AxisGet(0);
 
    IOPoint  *userOut;
 
    //userOut->CreateDigitalOutput( controller, 
    // get the host controller address for the controller digital outputs
    controllerDigitalOutputAddr = controller->AddressFromStringGet("SystemData.IO.HostOutput[0]", "c:\\mei\\xmp\\bin\\winnt\\stdmei.map");
 
    // get the host controller adddress for the axis' actual position
    axisActualPositionAddr = axis->AddressGet(RSIAxisAddressTypeACTUAL_POSITION);
 
 
    controller->SequencerEnableSet(SEQUENCER, true);
    
    // append trigger and I/O commands to Sequencer
    for(int i = 0; i < TRIGGERS; i++)
    {
      // wait for Actual Poisition to be exceeded
      controller->CommandWaitLong(SEQUENCER,
                        RSICommandOperatorGREATER_OR_EQUAL,
                        axisActualPositionAddr,
                        (i + 1) * 100 ); // incrementing the "trigger" position
      // turn bit on
      controller->CommandComputeLong(SEQUENCER,             
                        RSICommandOperatorOR,     
                        controllerDigitalOutputAddr,   // input to computation
                        controllerDigitalOutputAddr,   // output from computation written here
                        BIT_MASK );             
      // wait a while
      controller->CommandDelay(SEQUENCER, 0.50); //seconds
      
      // turn bit off
      controller->CommandComputeLong(SEQUENCER,             
                        RSICommandOperatorAND,      
                        controllerDigitalOutputAddr,   // input to computation
                        controllerDigitalOutputAddr,   // output from computation
                        ~(BIT_MASK) );
    
    }
 
    controller->SequencerStart(0);
 
    printf("press a key to stop and delete sequencer \n");
    // start the motion on the axis here now
    // wait for key press
    while(controller->OS->KeyGet(RSIWaitPOLL) < 0)
    {
      controller->OS->Sleep(1);
    }
 
    controller->SequencerStop(0);
    controller->SequencerEnableSet(0, false);
 
  }
  catch (RsiError *err)
  {
    printf("%s\n", err->text);
  }
}