Get Digital Input State
SUMMARY
Get Digital Input State returns the boolean state of a specified digital input channel on the robot controller (True = HIGH, False = LOW).
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
python
state = robot.get_digital_in_state(input_id=0)The Code
Example: Read and Log Digital Input State
Connect to the robot and read the state of digital input channel 0.
python
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
input_id = 0
state = robot.get_digital_in_state(input_id)
logger.success(f"Digital input {input_id} state: {state}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_digital_in_state reads the state of one digital input channel from the RTDE data stream. input_id selects the channel (0-indexed). Returns True if the input is HIGH and False if LOW.
How to Tune the Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
input_id | int | — | Zero-indexed ID of the digital input channel to read. |
Return Value
| Field | Type | Description |
|---|---|---|
state | bool | True if the input is HIGH, False if LOW. |
Where to Use the Skill
- Read sensor triggers, conveyor presence signals, or safety gate states connected to the robot's digital inputs.
When Not to Use the Skill
Use a different skill when:
- You want to verify the current state of an output rather than an input — use Get Digital Output State instead.