rttaskfunctions.cpp

Attention

See the following Concept pages for a detailed explanation of this sample: Real-Time Tasks.

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. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

 
#include "rttaskglobals.h"
 
#include <cstdlib>
#include <ctime>
 
#include <iostream>
 
using namespace RSI::RapidCode;
using namespace RSI::RapidCode::RealTimeTasks;
 
// This task initializes the global data and the random number generator
RSI_TASK(Initialize)
{
  data->counter = 0;
  data->average = 0;
 
  std::srand(std::time(nullptr));
}
 
// This task increments the counter in the global data
RSI_TASK(Increment)
{
  data->counter += 1;
}
 
// This task randomly moves the axis back and forth
RSI_TASK(RandomWalk)
{
  int random = std::rand() % 2;
  double step = random ? 0.05 : -0.025; // Randomly increment or decrement the average
  data->average += step;
  data->counter += 1;
 
  RTAxisGet(0)->MoveSCurve(data->average);
}
 
// This task reads the analog input value from the network node, scales it to 
// a value between 0 and 1, and stores it in the targetPosition variable
RSI_TASK(CalculateTarget)
{
  constexpr int NODE_INDEX = 0;         // The network node with the analog input
  constexpr int ANALOG_INDEX = 0;       // The index of the analog input to use
  constexpr int ANALOG_MAX = 65536;     // Max value of the analog input
  constexpr int ANALOG_ORIGIN = 42800;  // The value to treat as the "origin" of the analog input
 
  auto networkNode = RTNetworkNodeGet(NODE_INDEX);
  
  // Read the raw analog input value
  int32_t analogInVal = networkNode->AnalogInGet(ANALOG_INDEX);
 
  // Shift the value by the origin
  int32_t shiftedVal = analogInVal - ANALOG_ORIGIN;
 
  // Make sure the value is between 0 and ANALOG_MAX using modulo
  int32_t modVal = (shiftedVal + ANALOG_MAX) % ANALOG_MAX;
 
  // Scale the value to be between 0 and 1 and store it in targetPosition
  data->targetPosition = double(modVal) / ANALOG_MAX;
}
 
// This task moves the axis to the target position if it is not within the tolerance
// of the target position already.
RSI_TASK(FollowTarget)
{
  constexpr int AXIS_INDEX = 1;      // The index of the axis to move
  constexpr double TOLERANCE = 0.02; // The tolerance for the position difference
 
  auto axis = RTAxisGet(AXIS_INDEX);
  // Check if the axis is within the tolerance of the target position
  if (abs(axis->ActualPositionGet() - data->targetPosition) > TOLERANCE)
  {
    // Move the axis to the target position
    axis->MoveSCurve(data->targetPosition);
  }
}