.. _manual_get_digital_output:

get_digital_output (Manual Mode)
----------------------------------------------------------
This section explains how to use :ref:`get_digital_output <get_digital_output>` during **Manual (Teach)** operations  
to **check the current ON/OFF status** of digital output channels on the **control box**  
when using API version **DRCF_VERSION == 2**.

**Typical usage**

- Verify whether a digital output (e.g., gripper open/close signal) is currently active.  
- Check if manual output toggling or DRL command has taken effect.  
- Debug wiring and output polarity during manual I/O testing.

.. Note::

    - For newer systems, use :ref:`get_digital_output_ex(Manual Mode) <manual_get_digital_output_ex>`.

**Example: Read digital output state**

.. code-block:: cpp

   // Preconditions:
   // - Connection established (open_connection)
   // - Manual (Teach) mode active
   // - Digital outputs manually set or controlled by prior test

   // 1) Check DOUT_1 and DOUT_2 states
   bool dout1 = drfl.get_digital_output(DOUT_1);
   bool dout2 = drfl.get_digital_output(DOUT_2);

   printf("[DOUT_1] = %s\n", dout1 ? "ON" : "OFF");
   printf("[DOUT_2] = %s\n", dout2 ? "ON" : "OFF");

**Tips**

- Use this function to confirm if **previous set_digital_output()** commands succeeded.  
- If outputs do not change, check **I/O permissions** and **external power supply**.