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.
//}
//