template.cpp

Demonstrates object initilization and acts as a new application templet.

/*  template.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.

 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.

 For any questions regarding this sample code please visit www.roboticsys.com.
 ==================================================================================

 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.

 This application is designed to demonstrate simple Controller, Axis, MultiAxis, and 
 I/O declaration.  It can be a handy template for starting a RapidCode application.

 */

#include "rsi.h"

using namespace RSI::RapidCode::SynqNet;

#define RSI_BOARD       (0)
#define AXIS_X          (0)
#define AXIS_Y          (1)
#define IO_NODE         (7)


void templateMain(int argc, char   *argv[])
{
  try
  {
    MotionController  *controller;
    Axis        *axisX;
    Axis        *axisY;
    MultiAxis       *multiAxisXY;
    IO          *io;


    // Create and initialize RsiController class (PCI board).
    controller = MotionController::CreateFromBoard(RSI_BOARD);  
    
    // Get Axis X and Y respectively.
    axisX = controller->AxisGet(AXIS_X); 
    axisY = controller->AxisGet(AXIS_Y);
    
        // Initialize an Multi-Axis Mapping by assigning the first axis of the MultiAxis object you wish to create.
    multiAxisXY = controller->MultiAxisGet(axisX);
    multiAxisXY->AxisAdd(axisY);

    // Initialize an IO.
    io = controller->IOGet(IO_NODE);

    // Insert your application code here.

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