Memory

Memory sample application.

This sampple app demonstrates how to get/set controller memory.

Precondition

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.

 
#include "rsi.h"        // Import our RapidCode Library. 
#include "SampleAppsHelper.h" // Import our SampleApp helper functions. 
#include "SampleApps.h"
 
using namespace RSI::RapidCode;                     // Import the RapidCode namespace
 
int Memory::Run()
{
  /* CONSTANTS */
  // *NOTICE* The following constants must be configured before attempting to run with hardware.
 
  // Axis configuration parameters
  const int AXIS_COUNT = 1;           // Specify how many axes we will be using in this sample.
  const int AXIS_NUMBER = 0;            // Specify which axis/motor we will be controlling.
 
  // To run with hardware, set the USE_HARDWARE flag to true AFTER you have configured the parameters above and taken proper safety precautions.
  USE_HARDWARE = false;
 
  /* SAMPLE APP BODY*/
 
  Axis* axis;
  uint64_t addr;
 
  // Initialize MotionController class. (PCI board)
  MotionController* controller = MotionController::CreateFromSoftware();
  SampleAppsHelper::CheckErrors(controller);
 
  // Setup the controller for the appropriate hardware configuration.
  if (USE_HARDWARE)
  {
    SampleAppsHelper::SetupControllerForHardware(controller);
  }
  else
  {
    SampleAppsHelper::SetupControllerForPhantoms(controller, AXIS_COUNT, { AXIS_NUMBER });
  }
 
  // initialize Axis (0)
  axis = controller->AxisGet(AXIS_NUMBER);
  SampleAppsHelper::CheckErrors(axis);
 
  try
  {
    // get a controller host address for axis memory
    addr = axis->AddressGet(RSIAxisAddressType::RSIAxisAddressTypeACTUAL_POSITION);
    printf("Axis Host address is 0x%llx   Firmware Address is 0x%x\n", addr, controller->FirmwareAddressGet(addr));
    printf("Value is %lf\n", controller->MemoryDoubleGet(addr)); // ACTUAL_POSITION is a 64-bit double
  }
  catch (RsiError const& err)
  {
    printf("\n%s\n", err.text);
    return -1;
  }
 
  controller->Delete(); // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
  return 0;
}