.. _auto_amovesj:

amovesj (Auto Mode)
------------------------------------------

As an asynchronous **movesj**, it operates the same as ``movesj()`` except that it returns as soon as the motion starts, **without waiting** for the motion to terminate, and then executes the next line. |br|
A new motion command issued before the ``amovesj()`` motion terminates causes an error for safety reasons. Therefore, the **termination** of the ``amovesj()`` motion must be confirmed using ``mwait()`` between ``amovesj()`` and the following motion command before the new motion command is executed.

**Definition (Uniform Velocity/Acceleration)** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

   bool amovesj(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 _amovesj(_rbtCtrl, fTargetPos, nPosCount, fTargetVel,
                       fTargetAcc, fTargetTime, eMoveMode);
   };

**Parameter**

.. list-table::
   :widths: 22 20 18 40
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - fTargetPos
     - float[MAX_SPLINE_POINT][6]
     - -
     - Maximum 100 waypoint list
   * - nPosCount
     - unsigned char
     - -
     - Number of valid waypoints. nPosCount must be 1 to 100.
   * - fTargetVel
     - float
     - -
     - Maximum velocity applied uniformly to all joints [deg/s]
   * - fTargetAcc
     - float
     - -
     - Maximum acceleration applied uniformly to all joints [deg/s\ :sup:`2`]
   * - fTargetTime
     - float
     - 0.0
     - Reach Time [sec]
   * - eMoveMode
     - :ref:`MOVE_MODE <enum_move_mode>`
     - ``MOVE_MODE_ABSOLUTE``
     - Refer to the Definition of Constant and Enumeration Type

----

**Definition (Per-Joint Velocity/Acceleration)** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

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

This overload allows specifying **independent velocity and acceleration limits for each joint axis**.
It internally calls ``_amovesj_ex`` instead of ``_amovesj``.

**Parameter**

.. list-table::
   :widths: 22 20 18 40
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - fTargetPos
     - float[MAX_SPLINE_POINT][6]
     - -
     - Maximum 100 waypoint list
   * - nPosCount
     - unsigned char
     - -
     - Number of valid waypoints. nPosCount must be 1 to 100.
   * - fTargetVel
     - float[6]
     - -
     - Maximum velocity limit for each joint axis [deg/s]
   * - fTargetAcc
     - float[6]
     - -
     - Maximum acceleration limit for each joint axis [deg/s\ :sup:`2`]
   * - fTargetTime
     - float
     - 0.0
     - Reach Time [sec]
   * - eMoveMode
     - :ref:`MOVE_MODE <enum_move_mode>`
     - ``MOVE_MODE_ABSOLUTE``
     - Refer to the Definition of Constant and Enumeration Type

.. Note::

  - When ``fTargetTime`` is specified, values are processed based on ``fTargetTime``, ignoring ``fTargetVel`` and ``fTargetAcc``.
  - When ``eMoveMode`` is ``MOVE_MODE_RELATIVE``, each pos in the position list is defined as a **relative coordinate** with respect to the preceding pos.  
    (If position list = [q1, q2, …, q(n-1), q(n)], q1 is the relative angle from the start point, while q(n) is relative to q(n-1).)
  - This function does **not** support online blending of previous and subsequent motions.

**Return**

.. list-table::
   :widths: 20 80
   :header-rows: 1

   * - **Value**
     - **Description**
   * - 0
     - Error
   * - 1
     - Success

.. Note::
   Returns false without a message when the robot is in STATE_EMERGENCY_STOP, STATE_SAFE_OFF, STATE_SAFE_OFF2, STATE_SAFE_STOP or STATE_SAFE_STOP2.

**Example**

.. code-block:: cpp

   #include <thread>
   #include <chrono>

   // D-Out 3 seconds after the spline motion through all points of jpos begins
   float jpos[4][6];
   float jvel = 10;
   float jacc = 10;
   unsigned char jposNum = 4;

   jpos[0][0]=0;  jpos[0][1]=0;  jpos[0][2]=-30; jpos[0][3]=0;  jpos[0][4]=-30; jpos[0][5]=0;
   jpos[1][0]=90; jpos[1][1]=0;  jpos[1][2]=0;   jpos[1][3]=0;  jpos[1][4]=0;   jpos[1][5]=0;
   jpos[2][0]=0;  jpos[2][1]=0;  jpos[2][2]=-30; jpos[2][3]=0;  jpos[2][4]=-30; jpos[2][5]=0;
   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.amovesj(jpos, jposNum, jvel, jacc);
   std::this_thread::sleep_for(std::chrono::milliseconds(3000));
   drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, true);

This asynchronously executes a **joint spline** through four waypoints and toggles a digital output 3 seconds after start.  
Use ``mwait()`` before issuing the next motion to ensure the spline has finished.