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

get_current_velj

This function retrieves the current joint-space velocity of the robot from the controller. It returns the instantaneous angular velocity of each joint, typically expressed in radians per second.

Definition
DRFLEx.h within class CDRFLEx, public section (line 719)

LPROBOT_VEL get_current_velj() {
    return _get_current_velj(_rbtCtrl);
};

Parameter
None

Return

Value	Description
LPROBOT_VEL	Pointer to a structure containing the current joint angular velocities. The array represents the angular velocity of each joint (J1–J6) in rad/s.

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    // Assume robot connection and mode setup are already done

    LPROBOT_VEL lpVel = drfl.get_current_velj();
    if (lpVel) {
        printf("Current Joint Velocities [rad/s]:\n");
        for (int j = 0; j < NUMBER_OF_JOINT; ++j) {
            printf("Joint %d: %.4f\n", j + 1, lpVel->_fJointVel[j]);
        }
    } else {
        fprintf(stderr, "Failed to read joint velocity (null pointer)\n");
    }
    return 0;
}

This example queries and prints the current angular velocity of each joint in radians per second. Useful for motion monitoring, feedback analysis, or verifying speed constraints during trajectory execution.