CDRFLEx.check_motion

Features

This function checks the status of the currently active motion.

Parameter

None

Return

Value	Description
0	no motion in action
1	motion being calculated
2	motion in operation

Example

CPP

float q0[6] = {0, 0, 90, 0, 90, 0};
float q99[6] = {0, 0, 0, 0, 0, 0};
Drfl.amovej(q0, 60, 30); // Executes the next command immediately after the motion to q0.
while(true)
{
    if(Drfl.check_motion() == 0) // A motion is completed
    {
        Drfl.movej(q99, 60, 30); // Joint motion to q99.
        break;
    }
}