Digital cam switch complete code

#include "RT_Project_01.h"
#include "SingleAxisMotion.h"
#include "DigitalCamSwitch.h"

VOID DigitalCamSwitch(int Index)
{
    RtPrintf("Enable digital cam switches using an axis' position.\n\n");

    BOOL Value = FALSE;

    ReadOutputBit(2, 0, &Value);

    RtPrintf("Read the output bit corresponding to Track Zero: %d\n\n", Value);

    //Defines each switch. Each track can have up to eight switches.
    //The index of the track a switch belongs to.
    //The position at which the switch is enabled.
    //The position at which the switch is disabled for distance switches.
    //The direction in which the switch is triggered. 0: Both, 1: Positive, 2: Negative.
    //The switch mode. 0: Distance, 1: Time.
    //The duration in seconds the switch stays enabled. For time switches.
    //The first three switches correspond to Output[0], the last corresponds to Output[1].
    McCamSwitch Switches[4] =
    {
        //TrackNumber  FirstOnPosition    LastOnPosition    AxisDirection    CamSwitchMode    Duration
        {     0,            2000,           3000,            1,               0,           0      },
        {     0,            2500,           3000,            2,               0,           0      },
        {     0,            4000,           6000,            0,               0,           0      },
        {     1,            3000,           0,               0,               1,           1.35   }
    };

    //Each track controls one output and can contain multiple switches.
    //On compensation is a delay in seconds before the output is turned on when a switch becomes active.
    //Off compensation is a delay in seconds before the outout is turned off when a switch becomes inactive.
    //Hysteresis adds a minimum distance in between switches to prevent an output from switching on and off.
    McTrack Tracks[2] =
    {
        //OnCompensation   OffCompensation   Hysteresis
        {   -0.125,             0.25,            0    },
        {      0,                0,              0    }
    };

    //Defines the output for each track.
    //The type selects between axes and I/O modules. TRUE: Axis, FALSE: I/O module.
    //The index of the axis or I/O module.
    //The offset of the output bit in the output buffer of a device.
    McOutput Outputs[2] =
    {
        //Axis          Index        Offset
        { FALSE,          2,           0 },
        { FALSE,          3,           0 }
    };

    KsCommandStatus camSwitch = WaitForCommand(5, FALSE, SetAxisCamSwitch(
        Index,                //Index
        4,                    //SwitchLength
        Switches,            //Switches
        2,                    //TrackLength
        Outputs,            //Outputs
        Tracks,                //Tracks
        3,                    //EnableMask, enabling Track Zero and One
        mcSetValue            //ValueSource
    ));

    /*-----Trigger the first switch-----*/
    RtPrintf("-----Trigger the first switch-----\n\n");
    //Move an axis to trigger a switch.
    RtPrintf("Make an absolute move.\n\n");

    //Start an absolute move
    KsCommandStatus status = WaitForCommand(30, TRUE, MoveAxisAbsolute(Index, 2700,
        1000, 10000, 10000, 1000000, mcPositiveDirection, mcAborting));
    if (status.Error)
        RtPrintf("MoveAxisAbsolute failed: %d\n", status.ErrorId);

    //Wait a few cycles to get the correct end positions.
    Sleep(5);

    RtPrintf("End position:\n");
    GetAnAxisPosition(Index);

    ReadOutputBit(2, 0, &Value);

    RtPrintf("Read the output bit corresponding to Track Zero, 1st switch: %d\n\n", Value);

    /*-----Trigger the second switch-----*/
    RtPrintf("-----Trigger the second switch-----\n\n");

    /*Reset Value to zero to check whether the value become one when 2nd switch is triggered.
      If we don't reset it, we won't know the "1" in value is from the 1st or 2nd switch.*/
    Value = 0;
    RtPrintf("Reset output bit to %d.\n\n", Value);

    //Move the axis to the position 3600.
    RtPrintf("Make absolute moves.\n\n");

    status = WaitForCommand(30, TRUE, MoveAxisAbsolute(Index, 3600, 1000,
        10000, 10000, 1000000, mcPositiveDirection, mcAborting));
    if (status.Error)
        RtPrintf("MoveAxisAbsolute failed: %d\n", status.ErrorId);

    //Wait a few cycles to get the correct end positions.
    Sleep(5);

    RtPrintf("End position:\n");
    GetAnAxisPosition(Index);

    //Move the axis to the position 2800.
    /*We do this because the AxisDirection of the 2nd switch is negative.
      The axis needs to past LastOnPosition first, and then move back to the
      switch-on range so the switch can be triggered.*/
    status = WaitForCommand(30, TRUE, MoveAxisAbsolute(Index, 2500, 1000,
        10000, 10000, 1000000, mcNegativeDirection, mcAborting));
    if (status.Error)
        RtPrintf("MoveAxisAbsolute failed: %d\n", status.ErrorId);

    //Wait a few cycles to get the correct end positions.
    Sleep(5);

    RtPrintf("End position:\n");
    GetAnAxisPosition(Index);

    ReadOutputBit(2, 0, &Value);

    RtPrintf("Read the output bit corresponding to Track Zero, 2nd switch: %d\n\n", Value);

    /*-----Trigger the third switch-----*/
    RtPrintf("-----Trigger the third switch-----\n\n");

    Value = 0;
    RtPrintf("Reset output bit to %d.\n\n", Value);

    //Move the axis to the position 5000.
    RtPrintf("Make an absolute move.\n\n");

    status = WaitForCommand(30, TRUE, MoveAxisAbsolute(Index, 5000, 1000,
        10000, 10000, 1000000, mcPositiveDirection, mcAborting));
    if (status.Error)
        RtPrintf("MoveAxisAbsolute failed: %d\n", status.ErrorId);

    //Wait a few cycles to get the correct end positions.
    Sleep(5);

    RtPrintf("End position:\n");
    GetAnAxisPosition(Index);

    ReadOutputBit(2, 0, &Value);
    RtPrintf("Read the output bit corresponding to Track Zero, 3rd switch: %d\n\n", Value);

    /*-----Trigger the fourth switch-----*/

    RtPrintf("-----Trigger the fourth switch-----\n\n");

    Value = 0;
    RtPrintf("Reset output bit to %d.\n\n", Value);

    //Move the axis to the position 3000.
    RtPrintf("Make an absolute move.\n\n");

    status = WaitForCommand(30, TRUE, MoveAxisAbsolute(Index, 3000, 1000,
        10000, 10000, 1000000, mcNegativeDirection, mcAborting));
    if (status.Error)
        RtPrintf("MoveAxisAbsolute failed: %d\n", status.ErrorId);

    //Wait a few cycles to get the correct end positions.
    Sleep(5);

    RtPrintf("End position:\n");
    GetAnAxisPosition(Index);

    ReadOutputBit(3, 0, &Value);
    RtPrintf("Read the output bit corresponding to Track One, 1st switch: %d\n\n", Value);
}