movesj (Auto Mode)

This function moves the robot along a spline curve that connects the current joint position to the final joint position (last waypoint) through a list of waypoints in joint space. The input velocity/acceleration represent the maximum velocity/acceleration along the path; actual accel/decel are automatically distributed according to each waypoint segment.

Definition
DRFLEx.h within class CDRFLEx, public section (line 795)

bool movesj(float fTargetPos[MAX_SPLINE_POINT][NUM_JOINT],
            unsigned char nPosCount,
            float fTargetVel,
            float fTargetAcc,
            float fTargetTime = 0.f,
            MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE) {
    return _movesj(_rbtCtrl, fTargetPos, nPosCount, fTargetVel,
                   fTargetAcc, fTargetTime, eMoveMode);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	Float[MAX_SPLINE_POINT][6]		Waypoint list (maximum 100 waypoints)
nPosCount	unsigned char		Number of valid waypoints
fTargetVel	float / float[6]		Velocity (scalar or per-joint)
fTargetAcc	float / float[6]		Acceleration (scalar or per-joint)
fTargetTime	float	0.f	Reach time [sec]
eMoveMode	MOVE_MODE	MOVE_MODE_ABSOLUTE	Refer to the Definition of Enumeration Type

Note

• When fTargetTime is specified, motion is processed based on the time, ignoring fTargetVel and fTargetAcc.

• When eMoveMode is MOVE_MODE_RELATIVE, each waypoint in the list is defined relative to the previous waypoint (e.g., if the list is [q1, q2, …, q(n)], q1 is relative to the start pose and q(n) is relative to q(n-1)).

• This function does not support online blending with previous/subsequent motions.

Return

Value	Description
0	Error
1	Success

Example

// CASE 1 : Absolute coordinate input (mode = MOVE_MODE_ABSOLUTE)
float jpos[4][6];
float jvel = 10;
float jacc = 10;
int   jposNum = 4;

// q0
jpos[0][0]=0;   jpos[0][1]=0;   jpos[0][2]=-30; jpos[0][3]=0;  jpos[0][4]=-30; jpos[0][5]=0;
// q1
jpos[1][0]=90;  jpos[1][1]=0;   jpos[1][2]=0;   jpos[1][3]=0;  jpos[1][4]=0;   jpos[1][5]=0;
// q2
jpos[2][0]=0;   jpos[2][1]=0;   jpos[2][2]=-30; jpos[2][3]=0;  jpos[2][4]=-30; jpos[2][5]=0;
// q3 (goal)
jpos[3][0]=0;   jpos[3][1]=0;   jpos[3][2]=0;   jpos[3][3]=0;  jpos[3][4]=0;   jpos[3][5]=0;

drfl.movesj(jpos, jposNum, jvel, jacc);
// Moves the spline curve through absolute waypoints with max velocity 10(deg/s)
// and max acceleration 10(deg/s^2).

// CASE 2 : Relative angle input (mode = MOVE_MODE_RELATIVE)
float rpos[4][6];
jvel = 10; jacc = 10; jposNum = 4;

// Relative waypoints (each is relative to the previous)
rpos[0][0]=0;   rpos[0][1]=0;   rpos[0][2]=-30; rpos[0][3]=0;  rpos[0][4]=-30; rpos[0][5]=0;
rpos[1][0]=90;  rpos[1][1]=0;   rpos[1][2]=0;   rpos[1][3]=0;  rpos[1][4]=0;   rpos[1][5]=0;
rpos[2][0]=-90; rpos[2][1]=0;   rpos[2][2]=-30; rpos[2][3]=0;  rpos[2][4]=-30; rpos[2][5]=0;
rpos[3][0]=0;   rpos[3][1]=0;   rpos[3][2]=30;  rpos[3][3]=0;  rpos[3][4]=30;  rpos[3][5]=0;

drfl.movesj(rpos, jposNum, jvel, jacc, 0, MOVE_MODE_RELATIVE);

This example first runs a spline in absolute joint coordinates and then repeats using relative waypoints, where each row is applied w.r.t. the preceding joint state. Use fTargetTime when you need a fixed-duration spline regardless of velocity/acceleration limits.