axis-motion-velocity-via-analoginput.cs

/*  This sample demonstrates how to control axis velocity dynamically using an analog input value.
    The analog input value (0 to 65536 for a 16-bit input) is mapped to a velocity range.
    This was created using the EL3002 Analog Input module but works with many other modules.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
using System.Threading;
 
Console.WriteLine("📜 Axis Motion: Velocity via Analog Input");
 
// set sample config params
const double ACCELERATION  = 100;
const double MAX_VEL       = 10;
const double MAX_ANALOG    = 65536;  // 16-bit analog input
const int RUN_TIME_SECONDS = 20;     // how long to run the velocity control loop
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // check is network is started
    if (controller.NetworkStateGet() != RSINetworkState.RSINetworkStateOPERATIONAL)
    {
        Console.WriteLine("Network not started. Please start it before running this app.");
        return;
    }
 
    // get phantom axis
    Axis axis = controller.AxisGet(Constants.AXIS_1_INDEX);
    Helpers.CheckErrors(axis);
 
    // get node
    var node = controller.NetworkNodeGet(nodeNumber: 0);
    Helpers.CheckErrors(node);
 
    // configure axis
    Helpers.PhantomAxisReset(axis);
    axis.AmpEnableSet(true);
 
    // print sample info
    Console.WriteLine($"Max Speed = {MAX_VEL}");
    Console.WriteLine($"Running for {RUN_TIME_SECONDS} seconds...\n");
 
    // control velocity based on analog input
    var startTime = DateTime.Now;
 
    while ((DateTime.Now - startTime).TotalSeconds < RUN_TIME_SECONDS)
    {
        // get analog input value and normalize to 0.0 - 1.0
        double analogValue = node.AnalogInGet(analogChannel: 0);
        double normalizedValue = analogValue / MAX_ANALOG;
 
        /*
        ┌────────────────────────────────────────────────────┐
        │    Analog Input Value Maps Linearly to Velocity    │
        │                                                    │
        │  Analog:   0 ............................ 65,536   │
        │  Velocity: 0 ............................ MAX_VEL  │
        └────────────────────────────────────────────────────┘
        */
 
        // map analog input linearly to velocity (0 to MAX_VEL)
        double velocity = normalizedValue * MAX_VEL;
 
        axis.MoveVelocity(velocity, ACCELERATION);
 
        Thread.Sleep(1);  // prevent cpu spin
    }
 
    // cleanup
    Helpers.AbortMotionObject(axis);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}