.. _movel_h2r:

movel_h2r
------------------------------------------

This function moves the robot to a target position in task space (linear move). It is a hold-to-run version of the movel 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 movel_h2r(float fTargetPos[NUM_TASK], float fTargetVel[2], float fTargetAcc[2], float fTargetTime = 0.f, MOVE_MODE eMoveMode = MOVE_MODE_ABSOLUTE, MOVE_REFERENCE eMoveReference = MOVE_REFERENCE_BASE, float fBlendingRadius = 0.f, BLENDING_SPEED_TYPE eBlendingType = BLENDING_SPEED_TYPE_DUPLICATE) 
    { 
      return _safe_movel_h2r(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc, fTargetTime, eMoveMode, eMoveReference, fBlendingRadius, eBlendingType); 
    }

**Parameter** |br|

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

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - fTargetPos
     - float [NUM_TASK]
     - -
     - Target task position (Unit: mm, deg)
   * - fTargetVel
     - float [2]
     - -
     - Target velocity (Unit: mm/s)
   * - fTargetAcc
     - float [2]
     - -
     - Target acceleration (Unit: mm/s²)
   * - fTargetTime
     - float
     - -
     - Target arrival time (Unit: sec)
   * - eMoveMode
     - :ref:`MOVE_MODE <enum_move_mode>`
     - -
     - Motion mode
   * - eMoveReference
     - :ref:`MOVE_REFERENCE <enum_move_reference>`
     - -
     - Motion reference
   * - fBlendingRadius
     - float
     - -
     - Blending radius (Unit: mm)
   * - eBlendingType
     - :ref:`BLENDING_SPEED_TYPE <enum_blending_speed_type>`
     - -
     - Blending speed type

**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;
   float target_pos[6] = {500, 100, 500, 0, 180, 0};
   float target_vel[2] = {100.0, 20.0};
   float target_acc[2] = {200.0, 40.0};

   drfl.movel_h2r(target_pos, target_vel, target_acc); // Initiate hold2run motion
   while (!drfl.get_current_pos() == target_pos) {
        drfl._hold2run();
        time.sleep(0.1);
       // Additional processing can be done here
   }