UserLimitStateAction.cpp

 @page       user-limit-state-action-cpp UserLimitStateAction.cpp

 @brief      User Limit State Action sample application.

 @details

This sample code shows how to configure the XMP controller's User Limits to compare an input bit to a specific pattern. If the pattern matches, then the specified output bit is activated and a User Event is generated to the host.

 @pre        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.

 @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.

 @copyright

Copyright © 1998-2021 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.

 @include UserLimitStateAction.cpp

//@example    UserLimitStateAction.cpp
//
//*  @page       user-limit-state-action-cpp UserLimitStateAction.cpp
//
//*  @brief      User Limit State Action sample application.
//
//*  @details
//This sample code shows how to configure the XMP controller's User Limits to compare an input bit to a specific pattern.
//If the pattern matches, then the specified output bit is activated and a User Event is generated to the host.
//
//*  @pre        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.
//
//*  @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.
//
//*  @copyright
//Copyright © 1998-2021 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.
//*
//*  @include UserLimitStateAction.cpp
//
//
//*/
//
//#include "rsi.h" // Import our RapidCode Library. 
//#include "SampleAppsHelper.h"                        // Import our SampleApp helper functions. 
//using namespace RSI::RapidCode;
//
//const int AXIS_NUMBER = 0;
//
//const int TRIGGER_AXIS_NUMBER = 1;
//const int USER_LIMIT = 0;
//
//const int CONDITION = 0;
//
//const RSIAction ACTION = RSIAction::RSIActionE_STOP_ABORT;
//
//void UserLimitStateActionMain()
//{
//    // RapidCode interface classes
//    MotionController   *controller;
//    Axis            *axis;
//    Axis         *triggerAxis;
//
//    uint64_t  axisStatusAddress;
//    int32_t  axisStatusMask;
//
//    try
//    {
//        SampleAppsHelper::StartTheNetwork(controller);            // [Helper Function] Initialize the network.
//
//        // Initialize MotionController class.
//        MotionController *controller = MotionController::CreateFromSoftware();
//        SampleAppsHelper::CheckErrors(controller);
//
//        // initialize Rsi Axis class
//        Axis *axis = controller->AxisGet(AXIS_NUMBER);
//        SampleAppsHelper::CheckErrors(axis);
//
//
//        // initialize Rsi Axis class (we will be waiting for this axis' state to become an error)
//        triggerAxis = controller->AxisGet(TRIGGER_AXIS_NUMBER);
//        SampleAppsHelper::CheckErrors(triggerAxis);
//
//
//        // get the trigger axis' status address
//        axisStatusAddress = triggerAxis->AddressGet(RSIAxisAddressType::RSIAxisAddressTypeSTATUS);
//
//        // ESTOP bit mask
//        axisStatusMask = (int32_t)RSIFirmwareStatus::RSIFirmwareStatusESTOP;
//
//
//        // configure user limit to evaluate another axis' status
//        controller->UserLimitConditionSet(USER_LIMIT,
//            CONDITION,
//            RSIUserLimitLogic::RSIUserLimitLogicEQ,
//            (long)axisStatusAddress,
//            axisStatusMask,
//            axisStatusMask
//        );
//
//        // enable the user limit, generate ESTOP_ABORT action when ESTOP occurs on triggerAxis
//        controller->UserLimitConfigSet(USER_LIMIT, RSIUserLimitTriggerType::RSIUserLimitTriggerTypeSINGLE_CONDITION,
//            ACTION, AXIS_NUMBER, 0.0);
//
//        printf("Waiting for the triggerAxis to have an ESTOP...\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(10);
//        }
//
//
//        // disable User Limit
//        controller->UserLimitDisable(USER_LIMIT);
//
//    }
//    catch (RsiError const& rsiError)
//    {
//        printf("Text:  %s\n", rsiError.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.
//}
//