multipleControllers.cpp

:Initialize multiple controllers and find the controller type and serial number.

/*  multipleControllers.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.

 multipleControllers.cpp: Initialize multiple controllers and find the controller type and serial number.

 Function to determine the controller type: controller->ProcessorTypeGet();
 Function used to find Serial Number: controller->SerialNumberGet();

 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"

using namespace RSI::RapidCode::SynqNet;



void PrintProcessorType(MotionController *controller)
{
    printf("Controller Processor Type : ");
    switch(controller->ProcessorTypeGet()) 
    {
      case RSIProcessorTypeXMP : 
        printf("XMP\n"); 
        break;
      
      case RSIProcessorTypeZMP : 
        printf("ZMP\n"); 
        break;
      default:
        printf("Invalid\n");
        break;
    }
}


void multipleControllersMain()
{
  try
  {
    // creating two objects to deal with two boards in later functions.
    MotionController    *controller0 ;
    MotionController    *controller1 ;

    // initialize MotionController class for two PCI boards in the PC
    controller0 = MotionController::CreateFromBoard(0);
    controller1 = MotionController::CreateFromBoard(1);
  
    // Print Controller0's Processor Type and Serial Number
    printf("Controller0\n");
    PrintProcessorType(controller0);
    printf("Serial Number: %ld \n\n", controller0->SerialNumberGet());

    // Print Controler1's Processor Type and Serial Number
    printf("Controller1\n");
    PrintProcessorType(controller1);
    printf("Serial Number: %ld \n\n", controller1->SerialNumberGet());

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