get_user_home

This function retrieves the user-defined home position stored in the robot controller. The returned structure contains the joint angles [deg] of the home position previously set using set_user_home.

This function is often used to verify or log the stored home pose before executing a homing motion or during system initialization.

Definition
DRFLEx.h within class CDRFLEx, public section

LPROBOT_POSE get_user_home() {
    return _get_user_home(_rbtCtrl);
};

Parameter
None

Return

Value	Description
LPROBOT_POSE	Returns a pointer to the user-defined home position data structure.

Note

This call waits for the controller to answer.

The returned pointer refers to storage in the CDRFLEx object that other DRFL calls and every reconnect reuse; copy the structure before making another DRFL call. The 3-argument ikin returns its result in storage shared by all CDRFLEx objects in the process instead; see ikin. Except for get_user_home, the pointer is never NULL; do not use a NULL check to detect failure.

Returns NULL if the request cannot be sent; check for NULL before dereferencing.

Example

// (1) Retrieve the stored user home joint position
LPROBOT_POSE pHome = drfl.get_user_home();

// (2) Print the joint angles of the user home
if (pHome != NULL) {
    for (int i = 0; i < NUMBER_OF_JOINT; ++i)
        printf("User Home J%d [deg]: %.2f\n", i + 1, pHome->_fPosition[i]);
}

This example retrieves the robot’s user-defined home position and prints its joint angles for verification or debugging.