.. _manual_get_control_mode:

get_control_mode (Manual Mode)
------------------------------------------
This section explains how to use :ref:`get_control_mode <get_control_mode>` during **Manual (Teach)** operations.  
Although defined in **3.1 Common**, this function is critical for verifying the **current control mode** of the robot  
before or during manual teaching.

**Typical usage**

- Confirm whether the robot is under **position** or **torque** control.  
- Prevent accidental motion commands in the wrong control mode.  
- Used before jogging, force teaching, or switching between operation modes.

.. Note::

    - The named modes are ``CONTROL_MODE_POSITION`` (3) and ``CONTROL_MODE_TORQUE`` (4). The controller can also report 0 (servo off), 1 (servo on) or 2 (hold), which have no ``CONTROL_MODE`` name, and the function returns 0 before the first monitoring data arrives.  
    - In manual teaching, it should usually report **CONTROL_MODE_POSITION**.

**Example: Checking Control Mode before Jogging**

.. code-block:: cpp

   // Check current control mode before teaching
   CONTROL_MODE ctrl = drfl.get_control_mode();
   printf("Current Control Mode: %d\n", ctrl);

   if (ctrl == CONTROL_MODE_POSITION) {
       printf("Safe to jog in position control.\n");
       drfl.jog(JOG_AXIS_TASK_X, MOVE_REFERENCE_BASE, 10.0f);
   } else {
       printf("Jogging disabled: not in position control mode.\n");
   }

**Tips**

- Always check the control mode before enabling jog or external force teaching.  
- If the mode is not ``CONTROL_MODE_POSITION``, switch modes through the pendant or API command.  
- Helps prevent unexpected motion when switching between auto and manual control.