axis-motion-streaming-pvt.cs

/*  Demonstrates PVT (Position-Velocity-Time) streaming motion.
    PVT motion requires position, velocity, and time arrays.
    The controller calculates acceleration for each segment.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Streaming Motion: PVT");
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // get axis
    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[] velocities = [12.0, 10.0, 6.0];  // velocities for each position
    double[] times = [0.1, 0.2, 0.1];         // time deltas (acceleration calculated by RMP)
 
    axis.AmpEnableSet(true);
 
    axis.MovePVT(positions,                   // positions to reach
                 velocities,                  // velocities for each position
                 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 MovePVT 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
}