axis-motion-streaming-pt.cs

/*  Demonstrates PT (Position-Time) streaming motion.
    PT motion is the simplest streaming motion requiring only position and time arrays.
    The controller calculates velocity and acceleration for each segment.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Streaming Motion: PT");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
 
    // configure phantom axis
    Helpers.PhantomAxisReset(axis);
 
    int points = 3;                             // total number of streamed points
    int emptyCount = 2;                         // e-stop generated if there are this number or fewer frames loaded
 
    double[] positions = [1.0, 0.5, 0.75];      // positions to reach
    double[] times = [0.2, 0.3, 0.1];           // time deltas for each position (velocity and acceleration calculated by RMP)
 
    axis.AmpEnableSet(true);
    
    axis.MovePT(RSIMotionType.RSIMotionTypePT,  // type of PT motion (RSIMotionTypePT, RSIMotionTypeBSPLINE, RSIMotionTypeBSPLINE2)
                positions,                      // positions to reach
                times,                          // time deltas
                points,                         // total number of points
                emptyCount,                     // minimum frames before e-stop
                false,                          // whether points are kept
                true);                          // if this is the last MovePT call (true = final point, false = more points expected)
 
    axis.MotionDoneWait();                      // wait for motion to complete
 
    Console.WriteLine($"Final position: {axis.CommandPositionGet()}");
 
    // cleanup
    Helpers.AbortMotionObject(axis);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}