SetupController()

static void SetupController ( MotionController * controller )

static

static void SetupController(MotionController *controller)
{
  // Set the axis and motion counts
  controller->AxisCountSet(SampleAppsConfig::AXIS_COUNT);
  controller->MotionCountSet(SampleAppsConfig::MOTION_COUNT);
  controller->MathBlockCountSet(SampleAppsConfig::MATH_BLOCK_COUNT);
  controller->UserLimitCountSet(SampleAppsConfig::USER_LIMIT_COUNT);
  controller->RecorderCountSet(SampleAppsConfig::RECORDER_COUNT);
 
  // Get the axis objects and check them for errors
  Axis *axisX = controller->AxisGet(SampleAppsConfig::AXIS_X_INDEX);
  CheckErrors(axisX);
 
  Axis *axisY = controller->AxisGet(SampleAppsConfig::AXIS_Y_INDEX);
  CheckErrors(axisY);
 
  // Check if we are using hardware or phantom axes
  if (SampleAppsConfig::USE_HARDWARE)
  {
    SampleAppsConfig::ConfigureHardwareAxes(controller, {axisX, axisY});
  }
  else
  {
    // Set the user units
    axisX->UserUnitsSet(SampleAppsConfig::AXIS_X_USER_UNITS);
    axisY->UserUnitsSet(SampleAppsConfig::AXIS_Y_USER_UNITS);
 
    // Configure them as phantoms
    ConfigurePhantomAxis(controller, SampleAppsConfig::AXIS_X_INDEX);
    ConfigurePhantomAxis(controller, SampleAppsConfig::AXIS_Y_INDEX);
  }
 
  // Clear Faults
  axisX->ClearFaults();
  axisY->ClearFaults();
 
  // Start or shutdown the network depending on the configuration
  if (SampleAppsConfig::USE_HARDWARE)
  {
    StartTheNetwork(controller);
  }
  else
  {
    if (controller->NetworkStateGet() != RSINetworkState::RSINetworkStateUNINITIALIZED &&
        controller->NetworkStateGet() != RSINetworkState::RSINetworkStateSHUTDOWN)
    {
      std::cout << "The Sample Apps are configured to use Phantom Axes, but the network is not in the UNINITIALIZED or SHUTDOWN state.\n";
      std::cout << "If you intended to run with hardware, then follow the steps in README.md and /include/SampleAppsHelper.h\n";
    }
    ShutdownTheNetwork(controller);
  }
}

Examples

AxisConfiguration.cpp, CalculateAccelerationFromVelocity.cpp, DifferenceOfPositionUserLimit.cpp, PhantomAxis.cpp, PointToPoint.cpp, and SampleAppsHelper.h.

Definition at line 337 of file SampleAppsHelper.h.