multiaxisMotion.cpp

Map two axis together using the MultiAxis class and move them in a synchronized motion.

/*  multiaxisMotion.cpp

 Copyright(c) 1998-2009 by Robotic Systems Integration, Inc. All rights reserved.
 This software contains proprietary and confidential information of Robotic 
 Systems Integration, Inc. (RSI) and its suppliers. Except as may be set forth 
 in the license agreement under which this software is supplied, disclosure, 
 reproduction, or use with controls other than those provided by RSI or suppliers
 for RSI is strictly prohibited without the prior express written consent of 
 Robotic Systems Integration.

 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.

 We have created arrays for start_position, end_position, velocity, accel, decel 
 and jerkPct and used them in function called MoveSCurve which commands motion for 
 both the axis. 

 SyncStart commands both motors to start moving at the same time towards their 
 respective end_positions.
 SyncEnd commands both the motors to end their motion at the same time when moving 
 towards start_positions.

 For any questions regarding this sample code please visit our documentation at www.roboticsys.com


 Warning!  This is a sample program to assist in the integration of your motion 
 controller with your application.  It may not contain all of the logic and safety
 features that your application requires.
*/

#include "rsi.h"
#include <conio.h>

using namespace RSI::RapidCode::SynqNet;

#define AXIS_COUNT      (2)
long axisNumber[AXIS_COUNT] = { 0, 1, };
  
double start_position[2] = {0 , 0};
double end_position[2] = {2000 , 6000};
double velocity[2] = {1000, 1000};
double accel[2] = {10000, 10000};
double decel[2] = {10000, 10000};
double jerkPct[2]={0, 0};
  
long index;


/*This function will print all the results to the screen*/
void PrintResult(Axis *axisX, Axis *axisY )
{
  printf("Motion Done \n AxisX position->  Commanded: %f  \tActual: %f\n",
      axisX->CommandPositionGet(),
      axisX->ActualPositionGet());

  printf(" AxisY position->  Commanded: %f  \tActual: %f\n",
      axisY->CommandPositionGet(),
      axisY->ActualPositionGet());
}


void multiaxisMotionMain()
{
  try
  {
    MotionController    *controller ;
    Axis        *axisX ;
    Axis        *axisY;
    MultiAxis     *multiAxis ;

    // initialize MotionController class
    controller = MotionController::CreateFromBoard(0);  

    //Init(controller, number) used to initialize Axis X and Y respectively. 
    axisX = controller->AxisGet( 0);
    axisY = controller->AxisGet( 1);
    
    multiAxis = controller->MultiAxisGet( axisX);
    multiAxis->AxisAdd(axisY);
    multiAxis->ClearFaults();
    multiAxis->AmpEnableSet(true);

    while (controller->OS->KeyGet(RSIWaitPOLL) < 0)
    {
      // Set SYNC_START motion attribute mask.
      multiAxis->MotionAttributeMaskOnSet(RSIMotionAttrMask::RSIMotionAttrMaskSYNC_START);
      printf("\nMotionStart...");

      // Commanding motion using SyncStart to start motion for both the axis at the same time.
      multiAxis->MoveSCurve(end_position, velocity, accel, decel, jerkPct); 
      multiAxis->MotionDoneWait();
      
      // Calling function created on top.
      PrintResult(axisX, axisY);

      // Set SYNC_END motion attribute mask
      multiAxis->MotionAttributeMaskOnSet(RSIMotionAttrMask::RSIMotionAttrMaskSYNC_END);
      printf("\nMotionStart...");
      
      // Commanding motion using SyncEnd to end motion for both the axis at the same time.
      multiAxis->MoveSCurve(start_position, velocity, accel, decel, jerkPct); 
      
      // while loop to keep motor spinning while motion not completed.
      multiAxis->MotionDoneWait();
      PrintResult(axisX, axisY);
    }

    printf("\nTrapezoidal Motion Done\n");

  }
  catch (RsiError *err)
  {
    printf("%s\n", err->text);
  }
}