.. _tutorials_scenarios:

6.6 Scenario-based Examples
===================================

The **Scenario-based Examples** section provides examples that integrate the various API features introduced in previous tutorials.

Samples 1 to 4 set ``DRCF_VERSION`` to 2 unless the compiler defines it. To build samples 1 to 3 for a DRCF v3 controller, pass ``-DDRCF_VERSION=3``. Sample 4 uses the welding functions, which exist only for DRCF v2, and stops the build with an error for any other value. Samples 5 and 6 build with either value; without a compiler option, ``DRFLEx.h`` sets ``DRCF_VERSION`` to 3.

Each scenario demonstrates how multiple functions such as motion control,  
DRL execution, welding operations, and real-time control  
can be combined into a cohesive workflow.

.. toctree::
   :maxdepth: 1
   
   1_minimal_motion_sample
   2_minimal_rt_monitoring_sample
   3_send_drl_script_sample
   4_minimal_welding_sample
   5_minimal_instruction_sample
   6_realtime_control_sample