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Update Buffer Points

Update Buffer Points sample application.

This application is designed to assist in managing the buffer in streaming motion. The behavior of continuing streaming motion (with the parameter final=false) will increment the MotionID (retrieved by calling MotionIdExecutingGet()). It will also reset the motion element ID to 0 (retrieved with MotionElementIdExecutingGet()).

The number sent points needs to be managed, somehow. This sample does so by using a fixed buffer size and keeping at least one buffer associated with a Motion ID queued. This should be changed as appropiate.

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 <cassert>
#include "rsi.h" // Import our RapidCode Library.
#include <cmath>
#include "SampleApps.h"
#include "SampleAppsHelper.h" // Import our SampleApp helper functions.
using namespace RSI::RapidCode; // Import the RapidCode namespace
int UpdateBufferPoints::Run()
{
/* CONSTANTS */
// *NOTICE* The following constants must be configured before attempting to run with hardware.
// Axis configuration parameters
const int AXIS_COUNT = 1; // number of axes
const int AXIS_NUMBER = 0; // axis number
const double USER_UNITS = 1048576; // counts per unit / user units (set as appropiate)
// Motion parameters
const double TIME_SLICE = 0.001; // 0.001s = 1ms
const int REVS = 2; // number of revolutions
const int RPS = 1; // revs / sec
const int TOTAL_POINTS = (int)(REVS / TIME_SLICE / RPS); // total number of points
const int BUFFER_SZ = 100; // Number of points to send in a buffer
const int EMPTY_CT = 10; // Number of points that remains in the beffer before an e-stop
// 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 */
// Initizalize the controller from software w/ multiple axes
MotionController* controller = MotionController::CreateFromSoftware();
// Setup the controller for the appropriate hardware configuration.
if (USE_HARDWARE)
{
}
else
{
SampleAppsHelper::SetupControllerForPhantoms(controller, AXIS_COUNT, { AXIS_NUMBER });
}
MultiAxis* multiAxis;
try
{
// add an additional axis for the multiaxis supervisor
controller->MotionCountSet(AXIS_COUNT + 1);
// create the multiaxis using the ID of the first free axis (0 indexed)
multiAxis = controller->MultiAxisGet(AXIS_COUNT);
// Get the axis and configure it
Axis* axis = controller->AxisGet(AXIS_NUMBER); // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
SampleAppsHelper::CheckErrors(axis); // [Helper Function] Check that the axis has been initialize correctly.
axis->PositionSet(0); // Make sure motor starts at position 0 everytime.
axis->UserUnitsSet(USER_UNITS); // Change your user units.
axis->ErrorLimitActionSet(RSIAction::RSIActionNONE); // Set Error Limit Action.
axis->Abort(); // If there is any motion happening, abort it.
axis->ClearFaults(); // Clear faults.>
multiAxis->AxisAdd(axis); // Add the axis to the multiaxis supervisor
// populate the positions and times
std::vector<double> positions, times;
for (int i = 0; i < TOTAL_POINTS; i += AXIS_COUNT)
{
positions.push_back(i * TIME_SLICE * RPS);
times.push_back(TIME_SLICE);
}
// prepare the controller (and drive)
multiAxis->Abort();
multiAxis->ClearFaults();
assert(multiAxis->StateGet() == RSIState::RSIStateIDLE);
multiAxis->AmpEnableSet(true);
// reset the motion ID to 0
multiAxis->MovePT(RSIMotionType::RSIMotionTypePT, &positions[0], &times[0], 1, -1, false, true);
multiAxis->MotionIdSet(0);
// Establish how to keep track of what blocks have been sent
int curMotionElementID = 0, curMotionID = 0, finalMotionID = 0;
int numPointsToSend = BUFFER_SZ;
int endOfLastSent = 0;
bool exitCondition = false;
// Set up a motion hold gate so we can start buffering blocks
const int motionHoldGate = 3;
controller->MotionHoldGateSet(motionHoldGate, true);
multiAxis->MotionHoldGateSet(motionHoldGate);
for (int i = 0; i < 2; ++i)
{
multiAxis->MovePT(RSIMotionType::RSIMotionTypePT, &positions[0] + endOfLastSent * AXIS_COUNT, &times[0] + endOfLastSent, numPointsToSend, EMPTY_CT, false, exitCondition);
endOfLastSent += numPointsToSend;
++finalMotionID;
}
// Set up the interrupt frequency period
controller->SyncInterruptPeriodSet(10); // this generates an interrupt every x cycles of a 1KHz sample rate
// With our timeslices of 1ms, this is 10*1ms=10ms
controller->SyncInterruptEnableSet(true);
controller->MotionHoldGateSet(motionHoldGate, false); // release the hold gate to start moving
while (!exitCondition)
{
int32_t sampleRecieved = controller->SyncInterruptWait(); // see above for timing
curMotionID = multiAxis->MotionIdExecutingGet(); // this takes an unspecified amount of time (non-rtos) so this is going to be called sometime after the interrupt gets handled.
// There's an additional delay to retrieve the data as well.
curMotionElementID = multiAxis->MotionElementIdExecutingGet();
/*
Each MovePT assigns a new MotionID for each call to a move update (with the bufferred points)
Working under the assumption that each Buffer gets a new ID, send two (or several) smaller ones
and when the change in IDs is greater than some number, send a new one
*/
// change this logic to manage the number of buffered moves (and points) as appropiate
// generate points as appropiate
if (std::abs(finalMotionID - curMotionID) < 2)
{
// check end condition
if (TOTAL_POINTS <= (endOfLastSent + BUFFER_SZ))
{
numPointsToSend = TOTAL_POINTS - endOfLastSent; // send the remaining points
exitCondition = true;
}
multiAxis->MovePT(RSIMotionType::RSIMotionTypePT, &positions[0] + endOfLastSent * AXIS_COUNT, &times[0] + endOfLastSent, numPointsToSend, EMPTY_CT, false, exitCondition);
printf("MotionID %d\nEnd of Last Sent %d\nElement ID %d\nNum to Send %d\nIs Done %s\n===========================================\n\n",
curMotionID, endOfLastSent, curMotionElementID, numPointsToSend, exitCondition ? "yes" : "no");
endOfLastSent += numPointsToSend;
++finalMotionID;
}
}
printf("Updates Done. Waiting to finish motion.\n");
multiAxis->MotionDoneWait();
printf("Motion Complete. Final Motion ID: %d\tFinal Element ID %d\n", multiAxis->MotionIdExecutingGet(), multiAxis->MotionElementIdExecutingGet());
multiAxis->EStopAbort();
}
catch (RsiError const& err) {
printf("\n%s\n", err.text);
return -1;
}
controller->Delete();
return 0;
}
void UserUnitsSet(double countsPerUserUnit)
Sets the number of counts per User Unit.
void ErrorLimitActionSet(RSIAction action)
Set the action that will occur when the Error Limit Event triggers.
void PositionSet(double position)
Set the Command and Actual positions.
Represents a single axis of motion control. This class provides an interface for commanding motion,...
Definition rsi.h:5513
Axis * AxisGet(int32_t axisNumber)
AxisGet returns a pointer to an Axis object and initializes its internals.
void MotionCountSet(int32_t motionCount)
Set the number of processed Motion Supervisors in the controller.
void SyncInterruptEnableSet(bool enable)
Configure Sync (periodic) interrupts for the controller.
void SyncInterruptPeriodSet(uint32_t samples)
Configure the period for the Sync Interrupt on the controller.
void MotionHoldGateSet(int32_t gateNumber, bool hold)
Set the Motion Hold Gate.
void Delete(void)
Delete the MotionController and all its objects.
MultiAxis * MultiAxisGet(int32_t motionSupervisorNumber)
MultiAxisGet returns a pointer to a MultiAxis object and initializes its internals.
int32_t SyncInterruptWait()
Suspend the current thread until an interrupt arrives from the controller.
Represents the RMP soft motion controller. This class provides an interface to general controller con...
Definition rsi.h:794
uint16_t MotionElementIdExecutingGet()
void AxisAdd(Axis *axis)
Add an Axis to a MultiAxis group.
Represents multiple axes of motion control, allows you to map two or more Axis objects together for e...
Definition rsi.h:10208
void ClearFaults()
Clear all faults for an Axis or MultiAxis.
void AmpEnableSet(bool enable)
Enable all amplifiers.
void Abort()
Abort an axis.
int32_t MotionDoneWait()
Waits for a move to complete.
void MotionIdSet(uint16_t id)
Set the Motion identifier.
RSIState StateGet()
Get the Axis or MultiAxis state.
void MotionHoldGateSet(bool hold)
Set the Motion Hold Gate.
void MovePT(RSIMotionType type, const double *const position, const double *const time, int32_t pointCount, int32_t emptyCount, bool retain, bool final)
A move commanded by a list of position and time points.
void EStopAbort()
E-Stop, then abort an axis.
Represents the error details thrown as an exception by all RapidCode classes. This class contains an ...
Definition rsi.h:105
static void SetupControllerForHardware(MotionController *controller)
Sets up the controller for hardware use by resetting it and starting the network.
static void CheckErrors(RapidCodeObject *rsiObject)
Checks for errors in the given RapidCodeObject and throws an exception if any non-warning errors are ...
static void SetupControllerForPhantoms(MotionController *controller, int axisCount, std::vector< int > axisNums)
Sets up the controller for phantom axes, including configuring specified axes as phantom.