.. _get_current_velj:

get_current_velj
------------------------------------------
This function retrieves the **current joint-space velocity** of the robot from the controller.  
It returns the instantaneous angular velocity of each joint, in degrees per second [deg/s].

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

.. code-block:: cpp

    LPROBOT_VEL get_current_velj() {
        return _get_current_velj(_rbtCtrl);
    };

**Parameter** |br|
None

**Return**

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

   * - **Value**
     - **Description**
   * - :ref:`LPROBOT_VEL <struct_robot_vel>`
     - Pointer to a structure containing the current joint angular velocities. |br|
       The array represents the angular velocity of each joint (J1–J6) in [deg/s].

.. note::

   Returns the most recent monitoring value. All fields are 0 until monitoring data has been received: after open_connection, after setup_monitoring_version, and after a reconnect. The returned pointer is never NULL. Before using the value, wait for the first monitoring callback after connecting.

**Example**

.. code-block:: cpp

   // Assume robot connection and mode setup are already done

   LPROBOT_VEL lpVel = drfl.get_current_velj();
   if (lpVel) {
       printf("Current Joint Velocities [deg/s]:\n");
       for (int j = 0; j < NUMBER_OF_JOINT; ++j) {
           printf("Joint %d: %.4f\n", j + 1, lpVel->_fVelocity[j]);
       }
   } else {
       fprintf(stderr, "Failed to read joint velocity (null pointer)\n");
   }

This example queries and prints the **current angular velocity of each joint** in degrees per second [deg/s].  
This is useful for motion monitoring, feedback analysis, or verifying speed constraints during trajectory execution.