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check_motion

This function checks the current motion status of the robot controller. It is used to determine whether a motion is in progress, being calculated, or completely stopped. Typically, this function is called in polling loops to synchronize sequential robot commands.

Definition
DRFLEx.h within class CDRFLEx, public section (line 827)

int check_motion() { return _check_motion(_rbtCtrl); };

Parameter
None

Return

Value	Description
0	No motion in action (idle state)
1	Motion being calculated (path planning or preparation stage)
2	Motion in operation (currently executing trajectory)

Example

#include "DRFLEx.h"
#include <thread>
#include <chrono>
#include <iostream>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Define two joint targets
    float q0[6]  = {0, 0, 90, 0, 90, 0};
    float q99[6] = {0, 0, 0, 0, 0, 0};

    // 1) Start first joint motion
    drfl.movej(q0, 60, 30);

    // 2) Poll motion state until completed
    while (true) {
        int state = drfl.check_motion();
        if (state == 0) {   // motion complete
            std::cout << "[check_motion] Motion finished, starting next move..." << std::endl;
            break;
        }
        else if (state == 1)
            std::cout << "[check_motion] Motion being calculated..." << std::endl;
        else if (state == 2)
            std::cout << "[check_motion] Motion in progress..." << std::endl;

        std::this_thread::sleep_for(std::chrono::milliseconds(200));
    }

    // 3) Execute next motion only after previous move completed
    drfl.movej(q99, 60, 30);

    return 0;
}

This example demonstrates a polling-based motion synchronization approach using check_motion().
The function allows the user to verify whether a previous motion has finished before executing the next move.
A return value of 0 indicates that the motion is complete and the robot is ready for the next command.