malloc allocation error in a servo control algorithm in the Realtime Routines folder.

[moha_sa]

Hi,   I am receiving this error "implicit declaration of function 'malloc' " when using servoData = (char *)malloc(CHAR_BUF_SIZE_3*sizeof(unsigned char)); in a user-defined ServoCtrl algorithm in the Realtime Routines folder in the IDE. My goal is to use sprintf and send commands to be able to print a float variable to the unsolicited message window and monitor its value as below:

char  *servoData;

servoData = (char *)malloc(CHAR_BUF_SIZE_3*sizeof(unsigned char));

sprintf(servoData,"desired position is  %f  \n", 230.5);

Send(SEND1_PORT,servoData); 

Any idea how I can still use "malloc" without the error to run the "Send" command? Thanks.

[Omron Forums Support]

The following user servo routine will run one time (if applied to motor 0) and send a message on buffer 1. 

double MyServo(struct MotorData *Mptr)
{
	char MyCharArray[100];
    MyCharArray[0]='H';
    Send(1,&MyCharArray);
    pshm->Motor[0].ServoCtrl = 0;
    return 0;
}

Malloc should not be  included in usercode.c. Any time malloc is used, free must also be used to free up that memory.

free(servoData);