Template.cpp

 
#include "rsi.h"             // Import our RapidCode Library. 
#include "SampleAppsHelper.h" // Import our SampleApp helper functions. 
 
using namespace RSI::RapidCode;                     // Import the RapidCode namespace

void TemplateMain(int argc, char *argv[])
{
    const int AXIS_X = (0);
    const int AXIS_Y = (1);
    const int IO_NODE = (7);
 
    Axis      *axisX;
    Axis      *axisY;
    MultiAxis *multiAxisXY;
    IO        *io;
 
    // Create and initialize RsiController class
    MotionController *controller = MotionController::CreateFromSoftware();
    SampleAppsHelper::CheckErrors(controller);
    try
    {
        // enable one MotionSupervisor for the MultiAxis
        controller->MotionCountSet(controller->AxisCountGet() + 1);
 
        // Get Axis X and Y respectively.
        axisX = controller->AxisGet(AXIS_X);
        SampleAppsHelper::CheckErrors(axisX);
 
        axisY = controller->AxisGet(AXIS_Y);
        SampleAppsHelper::CheckErrors(axisY);
 
        // Initialize a MultiAxis, using the last MotionSupervisor.
        multiAxisXY = controller->MultiAxisGet(controller->MotionCountGet() - 1);
        SampleAppsHelper::CheckErrors(multiAxisXY);
        multiAxisXY->AxisAdd(axisX);
        multiAxisXY->AxisAdd(axisY);
 
        // Initialize an IO.
        io = controller->IOGet(IO_NODE);
 
        // Insert your application code here.
    }
    catch (RsiError const& err)
    {
        printf("\n%s\n", err.text);
    }
    controller->Delete(); // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
    system("pause");      // Allow time to read Console.
}