UserLimitDigitalInputAction.cpp

Attention

See the following Concept pages for a detailed explanation of this sample: User Limits.

Warning

This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

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

int UserLimitDigialInputAction::Run()
{
  /* CONSTANTS */
  // *NOTICE* The following constants must be configured before attempting to run with hardware.
 
  // Axis configuration parameters
  const int AXIS_COUNT = 1; // Specify how many axes we will be using in this sample.
  const int AXIS_NUMBER = 0; // Specify which axis/motor we will be controlling.
 
  const double USER_UNITS = 1048576; // Specify your counts per unit / user units. (the motor used in this example has 1048576 encoder pulses per revolution)
 
  const int IO_NODE_NUMBER = 0; // which SqNode to use for I/O?
  const int USER_LIMIT = 0; // which user limit to use?
  const int CONDITION = 0; // which condition to use (0 or 1)
  const int INPUT_BIT_NUMBER = 0; // which input bit?
 
  // To run with hardware, set the USE_HARDWARE flag to true AFTER you have configured the parameters above and taken proper safety precautions.
  USE_HARDWARE = false;
 
  /* SAMPLE APP BODY */
 
  // Initialize MotionController class.
  MotionController* controller = MotionController::CreateFromSoftware();
  SampleAppsHelper::CheckErrors(controller);
 
  // Setup the controller for the appropriate hardware configuration.
  if (USE_HARDWARE)
  {
    SampleAppsHelper::SetupControllerForHardware(controller);
  }
  else
  {
    std::cout << "This sample app cannot be run without hardware." << std::endl;
    return 0;
  }
 
  // RapidCode interface classes
  IO* io;
  IOPoint* digitalInput;
  try
  {
    // Create a new User Limit
    controller->UserLimitCountSet(1);
 
    // initialize the I/O class
    io = controller->IOGet(IO_NODE_NUMBER);
    SampleAppsHelper::CheckErrors(io);
 
    digitalInput = IOPoint::CreateDigitalInput(io, INPUT_BIT_NUMBER);
 
    auto addr = digitalInput->AddressGet();
    auto mask1 = digitalInput->MaskGet();
    auto mask2 = digitalInput->MaskGet();
 
    // configure user limit to evaluate input bit
    controller->UserLimitConditionSet(USER_LIMIT,
      CONDITION,
      RSIUserLimitLogic::RSIUserLimitLogicEQ,
      digitalInput->AddressGet(),
      digitalInput->MaskGet(),
      digitalInput->MaskGet());
 
    // enable the user limit, generate ESTOP_ABORT action when input is turned on
    controller->UserLimitConfigSet(USER_LIMIT, RSIUserLimitTriggerType::RSIUserLimitTriggerTypeSINGLE_CONDITION, RSIAction::RSIActionE_STOP_ABORT, AXIS_NUMBER, 0.0);
 
    printf("Waiting for the input bit to go high...\n");
    printf("\nPress Any Key To Exit.\n");
 
    // wait for user limit to trigger
    while (controller->OS->KeyGet((int32_t)RSIWait::RSIWaitPOLL) < 0)
    {
      printf("User Limit state is %d\r", controller->UserLimitStateGet(USER_LIMIT));
      controller->OS->Sleep(1);
    }
 
    // disable User Limit
    controller->UserLimitDisable(USER_LIMIT);
  }
  catch (RsiError const& rsiError)
  {
    printf("Text:  %s\n", rsiError.text);
    return -1;
  }
  controller->Delete(); // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
  return 0;
}