set_digital_output

This function outputs a digital signal to a specified output port on the control box of the robot. The signal can be turned ON (1) or OFF (0) using the digital output index provided as a parameter.

It is primarily used to control external equipment such as pneumatic valves, indicators, or other peripheral devices connected to the controller’s digital I/O interface.

Version Note
- If DRCF version = 2, this function internally calls _set_digital_output().
- If DRCF version = 3, it calls _set_digital_output_ex() for extended I/O support.
Refer to the controller firmware version in get_library_version.

Definition
DRFLEx.h within class CDRFLEx, public section (line 838/843)

#if DRCF_VERSION == 2
bool set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX eGpioIndex, bool bOnOff) {
    return _set_digital_output(_rbtCtrl, eGpioIndex, bOnOff);
};
#elif DRCF_VERSION == 3
bool set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX eGpioIndex, bool bOnOff) {
    return _set_digital_output_ex(_rbtCtrl, eGpioIndex, bOnOff);
};
#endif

Parameter

Parameter Name	Data Type	Default Value	Description
eGpioIndex	GPIO_CTRLBOX_DIGITAL_INDEX		Digital output port index on the control box.
bOnOff	bool		Output state value true (1) : ON — output high signal false (0) : OFF — output low signal

Return

Value	Description
0	Error — failed to output signal
1	Success — signal successfully output at target port

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Turn ON digital output #1 on the control box
    drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, true);

    // Wait for 2 seconds
    std::this_thread::sleep_for(std::chrono::seconds(2));

    // Turn OFF digital output #1
    drfl.set_digital_output(GPIO_CTRLBOX_DIGITAL_INDEX_1, false);
}

This example activates the digital output channel #1 on the robot controller, holds the signal for 2 seconds, and then turns it off — demonstrating how to toggle a digital line for controlling external devices such as relays or actuators.