SetupController()

void SetupController	(	MotionController *	controller,
		int	numAxes = 0 )

  void SetupController(MotionController *controller, int numAxes = 0)
  {
    // Start or shutdown the network depending on the configuration
    if (USE_HARDWARE)
    {
      Helpers::NetworkStart(controller);
    }
    else if (controller->NetworkStateGet() != RSINetworkState::RSINetworkStateUNINITIALIZED &&
      controller->NetworkStateGet() != RSINetworkState::RSINetworkStateSHUTDOWN)
    {
      std::ostringstream message;    
      message << "The Sample Apps are configured to use Phantom Axes, but the network is not in the UNINITIALIZED or SHUTDOWN state.\n"
              << "If you intended to run with hardware, then follow the steps in README.md and /src/config.h\n"
              << "Otherwise, shutdown the network before running the sample apps with phantom axes.";
 
      throw std::runtime_error(message.str().c_str());
    }
 
    // Check if we are using hardware or phantom axes
    if (USE_HARDWARE)
    {
      // Let the user defined function configure the axes
      ConfigureHardwareAxes(controller);
      
      // Check that there are enough axes configured
      int axisCount = controller->AxisCountGet();
      if (axisCount < numAxes)
      {
        std::ostringstream message;
        message << "Error! Not enough axes configured. Expected " << numAxes << " axes but only found " << axisCount << " axes."
                << "Please configure the axes in the Config::ConfigureHardwareAxes function.";
        throw std::runtime_error(message.str().c_str());
      }
    }
    else
    {
      // Record the initial object counts to restore later
      initialAxisCount = controller->AxisCountGet();
      initialMotionCount = controller->MotionCountGet();
 
      // Add phantom axes for the sample app if needed
      if (numAxes > initialAxisCount)
      {
        controller->AxisCountSet(numAxes);
      }
      
      for (int i = 0; i < numAxes; i++)
      {
        ConfigurePhantomAxis(controller, i);
      }
    }
  }

[SetupController]

Examples

axis-configuration.cpp, calculate-acceleration-from-velocity.cpp, config.h, difference-of-position-user-limit.cpp, hello-rttasks.cpp, phantom-axis.cpp, point-to-point.cpp, random-walk.cpp, and starter-template.cpp.

Definition at line 134 of file config.h.