.. _manual_get_user_home:

get_user_home (Manual Mode)
------------------------------------------
This section explains how to use :ref:`get_user_home <get_user_home>` during **Manual (Teach)** operations.  
It retrieves the **user-defined home pose** of the robot — a safe standby position typically used  
at the start and end of manual calibration tasks.  
This helps confirm that the robot will move to a predictable, collision-free posture before continuing operations.

**Typical usage**

- Retrieve the home pose for manual verification before returning to it.  
- Display or log home position for operator safety checks.  
- Compare with the current joint position (get_current_posj) before returning to it.

.. Note::

    - The return type is :ref:`ROBOT_POSE <struct_ROBOT_POSE>`.  
    - The home pose is user-defined and can be set with :ref:`set_user_home <set_user_home>`.  
    - This command only retrieves data; it does not initiate motion.

**Example: Display and Move Back to User Home**

.. code-block:: cpp

   // Step 1. Retrieve the user home joint position
   LPROBOT_POSE pHome = drfl.get_user_home();
   if (pHome == NULL) {
       printf("get_user_home could not be sent.\n");
       return -1;
   }

   printf("[User Home]\n");
   for (int i = 0; i < NUMBER_OF_JOINT; ++i)
       printf("J%d [deg]: %.2f\n", i + 1, pHome->_fPosition[i]);

   // Step 2. Move the robot to the user home
   printf("Moving robot to user home...\n");
   if (!drfl.move_home(MOVE_HOME_USER, 1)) {
       printf("move_home was refused.\n");
       return -1;
   }
   drfl.mwait();

**Tips**

- Use before shutdown or between teaching sessions to safely park the robot.  
- Pair with :ref:`set_user_home <set_user_home>` to define custom rest positions.  
- Always confirm the workspace is clear before executing a home move.