.. _get_user_home:

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 :ref:`set_user_home <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** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

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

**Parameter** |br|
None

**Return**

.. list-table::
   :widths: 25 75
   :header-rows: 1

   * - **Value**
     - **Description**
   * - :ref:`LPROBOT_POSE <struct_ROBOT_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 :ref:`ikin <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**

.. code-block:: cpp

   // (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.