mobile

Hello, I recently bought a Galaxy S6 after using my Nexus 4 for almost 2 and a half years, it was a trooper. One feature that I absolutely loved on my Nexus was that if my phone was not locked (does not require pin to enter phone) then it would skip the lockscreen entirely and go straight to what I was doing last. However on the Galaxy S6, If you put the phone to sleep, upon waking it up you are put back on the lockscreen, having to swipe up to enter. I still want my fingerprint to get me into the phone and for it to lock after a set amount of time but I want a way to go straight into the phone without the lock screen if the device is still unlocked while using a pin/fingerprint when it locks. Is there any way I can do this?