get_digital_output

This function reads the current signal state of a digital output port on the robot controller’s control box. It is used to check whether the specified digital output is currently ON (1) or OFF (0).

This function is useful for verifying signal states before sending commands, or for debugging I/O operations during automated sequences.

Version Note
- If DRCF version = 2, this function internally calls _get_digital_output().
- If DRCF version = 3, it calls _get_digital_output_ex() for extended I/O access.
Refer to get_library_version for checking the current DRCF version.

Definition
DRFLEx.h within class CDRFLEx, public section (line 836/841)

#if DRCF_VERSION == 2
bool get_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX eGpioIndex) {
    return _get_digital_output(_rbtCtrl, eGpioIndex);
};
#elif DRCF_VERSION == 3
bool get_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX eGpioIndex) {
    return _get_digital_output_ex(_rbtCtrl, eGpioIndex);
};
#endif

Parameter

Parameter Name	Data Type	Default Value	Description
eGpioIndex	GPIO_CTRLBOX_DIGITAL_INDEX		Index of the digital output port on the control box.

Return

Value	Description
0	OFF — output signal is currently low (inactive)
1	ON — output signal is currently high (active)

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Check the state of digital output #1
    bool bSignal = drfl.get_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1);

    if (bSignal)
        printf("Digital output #1 is currently ON\n");
    else
        printf("Digital output #1 is currently OFF\n");
}

This example reads the state of digital output #1 on the control box and prints whether the port is currently active (ON) or inactive (OFF).