write_data_rt

This function writes real-time input data from the external controller to the robot controller. It is used for transmitting external signals such as force/torque feedback, digital I/O, and analog I/O in real-time external control mode.

Although currently limited in public applications, it is designed for future collaborative control integration with external systems.

Definition
DRFLEx.h within class CDRFLEx, public section

bool write_data_rt(float fExternalForceTorque[NUM_JOINT],
                   int iExternalDI,
                   int iExternalDO,
                   float fExternalAnalogInput[6],
                   float fExternalAnalogOutput[6]) {
    return _write_data_rt(_rbtCtrlUDP,
                          fExternalForceTorque,
                          iExternalDI,
                          iExternalDO,
                          fExternalAnalogInput,
                          fExternalAnalogOutput);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fExternalForceTorque	float[6]		External force/torque input supplied by the client. Six values. Used when applying external sensor feedback.
iExternalDI	int		External digital input data (16 channels).
iExternalDO	int		External digital output data (16 channels).
fExternalAnalogInput	float[6]		External analog input values (up to 6 channels).
fExternalAnalogOutput	float[6]		External analog output values (up to 6 channels).

Return

Value	Description
1	The input data datagram was sent.
0	The input data datagram could not be sent.

Note

This function is asynchronous. It returns as soon as the datagram is sent and does not wait for the controller to accept or reject the command, so a return value of 1 does not confirm that the robot acted on it. Rejected commands and motion faults are reported through set_on_rt_log_alarm.

Example

// Connect and start RT communication
drfl.connect_rt_control("192.168.137.100", 12347);
drfl.set_rt_control_input("v1.0", 0.001f, 4);
drfl.set_rt_control_output("v1.0", 0.001f, 4);
drfl.start_rt_control();

// Define external data arrays
float fExternalForceTorque[6] = {100.f, 100.f, 100.f, 100.f, 100.f, 100.f};
int iExternalDI = 1;
int iExternalDO = 2;
float fExternalAnalogInput[6]  = {0.f, 0.f, 100.f, 100.f, 100.f, 100.f};
float fExternalAnalogOutput[6] = {0.f, 0.f, 0.f, 0.f, 0.f, 0.f};

// Send external control data
if (drfl.write_data_rt(fExternalForceTorque, iExternalDI, iExternalDO,
                       fExternalAnalogInput, fExternalAnalogOutput))
    printf("External RT data written successfully.\n");
else
    printf("Failed to write RT data.\n");

drfl.stop_rt_control();
drfl.disconnect_rt_control();

In this example, the function transmits simulated external I/O and force data to the robot controller through the real-time UDP interface.

Tips

• Call write_data_rt after RT streaming has started using start_rt_control.

• Values in fExternalForceTorque or I/O arrays should be updated continuously within the control loop.

• In most use cases, this API will be utilized for future sensor fusion or external cooperative control.