flange_serial_write

This function sends serial data through the flange serial port in the robot controller.
The port parameter is only available in the new flange version (v2).

Definition
DRFLEx.h within class CDRFLEx, public section

bool flange_serial_write(int nSize, char* pSendData, int nPort = 1)
{
    return _flange_serial_write(_rbtCtrl, nSize, pSendData, nPort);
};

Parameter

Parameter Name	Data Type	Default Value	Description
nSize	int		Number of bytes of pSendData to send (maximum 32).
pSendData	char*		Pointer to the data buffer to be sent. Maximum supported size: 256 bytes.
nPort	int	1	Port number for flange serial interface 1: X1, 2: X2 (X2 only on M/H models)

Return

Value	Description
0	Error — failed to transmit data.
1	Success — data successfully transmitted.

Note

The flange board revision used by the flange serial and flange I/O functions is read at open_connection.

Example

char buf[] = "test123";
Drfl.flange_serial_open(1, 115200);
Drfl.flange_serial_write(7, buf, 1);

LPFLANGE_SER_RXD_INFO_EX temp = Drfl.flange_serial_read(4.5, 1);
printf("Serial read : %.*s\n", temp->_iSize, (const char*)temp->_cRxd);
printf("Serial cnt  : %d\n", temp->_iSize);

Drfl.flange_serial_close(1);

This example opens the flange serial port, sends a 7-byte test message, reads back received data using flange_serial_read(), and finally closes the port. It demonstrates basic send/receive flow for flange serial communication.