.. _manual_set_robot_mode:

set_robot_mode (Manual Mode)
------------------------------------------
This section explains how to use :ref:`set_robot_mode <set_robot_mode>` during **Manual (Teach)** operations.  
This function switches the robot controller between **Manual (Teach)** and **Automatic (Run)** modes.  

It is essential for managing when operators can safely jog, teach, or execute DRL programs.

**Typical usage**

- Switch to **Manual mode** before performing teaching, jogging, or calibration.  
- Change to **Auto mode** when executing a saved DRL program or remote control sequence.  
- Verify mode transition logic between external systems (e.g., PLC ↔ controller) for safety compliance.  
- Use in initialization routines to ensure the robot is in the correct mode before commanding motion.

.. Note::

    - Certain operations (e.g., motion, speed change) are restricted based on the active mode.  
    - Some controllers may require physical switch confirmation for safety (e.g., TP key or panel input).

.. Caution::

   set_robot_mode stores the requested mode even when it returns false. get_robot_mode then returns the requested mode, and functions that require Auto or Manual mode accept calls although the controller did not change mode. If set_robot_mode returns false, do not use mode-gated functions until a later set_robot_mode call returns true.

**Example: Switch robot to Manual Mode before jogging**

.. code-block:: cpp

   // Preconditions:
   // - Connection established (open_connection)
   // - Safety interlocks and servo power ready

   printf("[Mode] Requesting switch to MANUAL mode...\n");
   if (drfl.set_robot_mode(ROBOT_MODE_MANUAL))
       printf("[Mode] Successfully switched to MANUAL mode.\n");
   else
       printf("[Mode] Failed to switch mode. Check TP or safety key.\n");

   // Simulate manual jogging operation
   float qTarget[6] = {0, -30, 90, 0, 90, 0};
   drfl.movej(qTarget, 30, 30);
   this_thread::sleep_for(chrono::seconds(2));

   printf("[Mode] Switching to AUTO mode for program execution...\n");
   drfl.set_robot_mode(ROBOT_MODE_AUTONOMOUS);

**Tips**

- Always confirm **Manual mode** is active before enabling jog or teach functions.  
- Use :ref:`get_robot_mode <manual_get_robot_mode>` to verify the current mode after switching.  
- Combine with :ref:`set_robot_system <manual_set_robot_system>` to coordinate mode and system-level changes.  
- In hybrid systems, mode transitions should be logged to ensure traceability and operator safety.