basic-template.cs

/*  This is a basic template you can use to get up and running quickly with RapidCode.
    It demonstrates simple controller and axis initialization, basic axis configuration,
    and how to enable an axis and prepare it for motion.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Basic Template");
 
// create rmp controller
var createParams = new MotionController.CreationParameters();
 
#if WINDOWS
    createParams.RmpPath  = Constants.RMP_WINDOWS_PATH;         // default is "C:\RSI\X.X.X"
    createParams.NodeName = Constants.RMP_NODE_NAME;            // default is "NodeA"
#elif LINUX
    createParams.RmpPath     = Constants.RMP_LINUX_PATH;        // default is root folder "/rsi/"
    createParams.NicPrimary  = Constants.RMP_NIC_PRIMARY;       // default is empty since we do not have a network by default
    createParams.CpuAffinity = Constants.RMP_CPU_AFFINITY;      // default is 0 since this is what our tests use
#endif
 
MotionController controller = MotionController.Create(createParams);
 
try
{
    Helpers.CheckErrors(controller);                            // ALWAYS check for errors after creating a RapidCode object
  
    // start the ethercat network
    //Helpers.NetworkStart(controller);                         // uncomment if using real (not phantom) axis. samples use phantoms by default
 
    // get your axis
    Axis axis = controller.AxisGet(Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);                                  // ALWAYS check for errors after creating a RapidCode object
 
    // specify the counts per unit/user units
    const int ENCODER_RESOLUTION_BITS = 0;                      // set this to your encoder resolution in bits (e.g., 20 bits = 1,048,576 counts/rev)
    double userUnits = Math.Pow(2, ENCODER_RESOLUTION_BITS);    // turn your encoder resolution into something more meaningful than raw counts. 
    axis.UserUnitsSet(userUnits);                               // they are often used to change counts to distance (cm, inch, etc), degree, full rotation, etc.
 
    // configure axis limits and error handling
    axis.ErrorLimitTriggerValueSet(1);                          // set position error limit trigger
    axis.PositionSet(0);                                        // make sure motor starts at position 0
    axis.Abort();                                               // abort any motion
    axis.ClearFaults();                                         // clear faults, resets to IDLE state
    axis.AmpEnableSet(true);                                    // enable the motor
 
    Console.WriteLine("Axis initialized and ready");
    Console.WriteLine($"User Units: {userUnits}");
    Console.WriteLine($"Current Position: {axis.CommandPositionGet()}");
    Console.WriteLine($"Amp Enabled: {axis.AmpEnableGet()}");
 
    //-----INSERT YOUR CODE HERE-----
 
 
    //-----INSERT YOUR CODE HERE-----
 
    axis.AmpEnableSet(false);                                   // disable the motor
}
catch (Exception e)
{
    Console.WriteLine($"Error: {e.Message}");
}
finally
{
    controller.Delete();                                        // delete the controller as the program exits to ensure memory is deallocated in the correct order
}