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For information on the latest version, please have a look at GL013301.

set_on_homming_completed

This is a function for registering the callback function that automatically checks whether homing has been completed when the robot controller is in homing control mode. It is useful when functions that should be executed automatically are made.

Definition
DRFLEx.h within class CDRFLEx, public section (line 647)

void set_on_homming_completed(TOnHommingCompletedCB pCallbackFunc) {
    _set_on_homming_completed(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnHommingCompletedCB		Refer to definition of callback function

Return
None

Example

void OnHommingCompletedCB()
{
    // Generates a message for the completion of homing
    cout << "homing completed" << endl;
    drfl.Homming(false);
}

int main()
{
    drfl.set_on_homming_completed(OnHommingCompletedCB);
}

When registered, this callback automatically executes after the homing process is completed. The example prints “homing completed” to the console and disables homing mode, ensuring that the controller returns to normal operation once calibration is finished.