.. _servoj_g:

servoj_g (Auto Mode)
------------------------------------------
This function sends an **asynchronous joint-space motion command** for continuous trajectory execution  
using **blended velocity and acceleration profiles**.  
It updates the target joint position in real time and smoothly transitions to the next motion command.  

This API operates only in **Auto (Run) mode**. It is **not available in Manual (Teach) mode**.

**Definition** |br|
``DRFLEx.h`` within class ``CDRFLEx``, public section

.. code-block:: cpp

   bool servoj_g(float fTargetPos[NUM_JOINT],
                 float fTargetVel[NUM_JOINT],
                 float fTargetAcc[NUM_JOINT],
                 float fTargetTime = 0.f)
   {
       return _servoj_g(_rbtCtrl, fTargetPos, fTargetVel, fTargetAcc, fTargetTime);
   }

**Parameter**

.. list-table::
   :widths: 25 20 20 35
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - fTargetPos
     - float[6]
     - -
     - Target pose in the BASE coordinate system [X, Y, Z in mm; Rx, Ry, Rz as fixed X-Y-Z angles in deg]. The function computes the joint position with inverse kinematics and writes it back into the array.
   * - fTargetVel
     - float[6]
     - -
     - Joint velocity limit for each axis.
   * - fTargetAcc
     - float[6]
     - -
     - Joint acceleration limit for each axis.
   * - fTargetTime
     - float
     - 0.0f
     - Target transition time [sec] |br| 
       Automatically adjusted if infeasible.

.. Caution::

   The function overwrites all six elements of ``fTargetPos`` with the joint position [deg] from inverse kinematics. Pass a fresh copy of the target pose on every call; reusing the same array sends the joint values as a pose on the next call.

   The joint position is the inverse-kinematics solution in solution space 2 (Lefty, Above, No Flip; see :ref:`movejx <auto_movejx>`) for the pose in the BASE coordinate system. Each call waits for this result from the controller and stores it in the data that the CDRFLEx object shares with ``get_current_posx``, ``get_desired_posx``, ``fkin``, ``ikin``, ``ikin_norm``, ``trans``, ``coord_transform``, ``calc_coord``, ``get_user_home``, ``get_user_cart_coord`` and ``flange_serial_read``, so a pointer returned earlier by one of them refers to overwritten data after servoj_g returns; copy the structure first. Do not call servoj_g inside a callback; see :ref:`Rules for callback functions <callback_rules>`.

**Return**

.. list-table::
   :widths: 15 85
   :header-rows: 1

   * - **Value**
     - **Description**
   * - 0
     - Failed
   * - 1
     - Success

**Example**

.. code-block:: cpp

   // Preconditions: Connected, servo ON, Auto mode active

   // Target pose in BASE [X, Y, Z in mm; Rx, Ry, Rz in deg]
   const float target[6] = {400.f, 200.f, 300.f, 180.f, 0.f, 180.f};
   float qvel[6] = {10.f, 10.f, 10.f, 10.f, 10.f, 10.f};
   float qacc[6] = {20.f, 20.f, 20.f, 20.f, 20.f, 20.f};

   // servoj_g overwrites its first argument, so pass a fresh copy on every call
   float pose[6];
   for (int i = 0; i < 6; ++i)
       pose[i] = target[i];

   drfl.servoj_g(pose, qvel, qacc, 0.3f);
.. Note::

  - ``servoj_g`` performs **joint interpolation with blending** for smooth transitions.  
  - If ``fTargetTime`` exceeds hardware limits, it is automatically adjusted.  
  - ``servoj_g`` is ideal for **real-time control** and **streaming-based trajectory updates**.  
  - It is **not linked** with ``force/stiffness control`` or ``change_operation_speed()``.  
  - Recommended for use in **dynamic path control**, **adaptive motion**, or **trajectory replay** applications.