.. _jog_h2r:

jog_h2r
------------------------------------------

This function initiates a jog motion. It is a hold-to-run version of the jog command.
It initiates the motion, which must be sustained by periodically calling the hold2run command.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`

.. code-block:: cpp

    bool jog_h2r(JOG_AXIS eJogAxis, MOVE_REFERENCE eMoveReference, float fVelocity) 
    { 
      return _jog_h2r(_rbtCtrl, eJogAxis, eMoveReference, fVelocity); 
    };

**Parameter** |br|

.. list-table::
   :widths: 20 20 20 40
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - eJogAxis
     - :ref:`JOG_AXIS <enum_jog_axis>`
     - - 
     - Jog axis
   * - eMoveReference
     - :ref:`MOVE_REFERENCE <enum_move_reference>`
     - -
     - Motion reference
   * - fVelocity
     - float
     - -
     - Jog velocity (Unit: mm/s or deg/s)

**Return**

.. list-table::
   :widths: 10 20 70
   :header-rows: 1

   * - **Value**
     - **Type**
     - **Description**
   * - True
     - bool
     - Success
   * - False
     - bool
     - Fail

**Example**

.. code-block:: cpp

   CDRFLEx drfl;
   // Start jogging Joint 1 at 30 deg/s
   drfl.jog_h2r(JOG_AXIS_JOINT_1, MOVE_REFERENCE_BASE, 30.0); 

   // Maintain jog motion for a certain condition or duration
   while (condition) {
        drfl._hold2run();
        time.sleep(0.1);
   }