Edit

Board API

The board API allows you to give commands to your board components for setting GPIO pins to high or low, setting PWM, and working with analog and digital interrupts.

The board component supports the following methods:

Method Name	Description	`viam-micro-server` Support
`SetGPIO`	Set the digital signal output of this pin to low (0V) or high (active, >0V).
`GetGPIO`	Get if the digital signal output of this pin is high (active, >0V).
`GetPWM`	Get the pin’s pulse-width modulation (PWM) duty cycle: a float [`0.0`, `1.0`] representing the percentage of time the digital signal output by this pin is in the high state (active, >0V) relative to the interval period of the PWM signal (interval period being the mathematical inverse of the PWM frequency).
`SetPWM`	Set the pin’s Pulse-width modulation (PWM) duty cycle: a float [`0.0`, `1.0`] indicating the percentage of time the digital signal output of this pin is in the high state (active, >0V) relative to the interval period of the PWM signal (interval period being the mathematical inverse of the PWM frequency).
`PWMFrequency`	Get the PWM frequency of the GPIO pin.
`SetPWMFrequency`	Set the pin to the given PWM `frequency` (in Hz). When `frequency` is 0, it will use the board’s default PWM frequency.
`GetDigitalInterruptValue`	Get the current value of a configured digital interrupt.
`ReadAnalogReader`	Read the current integer value of the digital signal output by the ADC.
`WriteAnalog`	Write an analog value to a pin on the board.
`StreamTicks`	Start a stream of `DigitalInterrupt` ticks.
`SetPowerMode`	Set the board to the indicated `PowerMode`.
`AnalogByName`	Get a configured `Analog` by `name`.
`DigitalInterruptByName`	Get a DigitalInterrupt by `name`.
`GPIOPinByName`	Get a `GPIOPin` by pin number.
`GetGeometries`	Get all the geometries associated with the board in its current configuration, in the frame of the board.
`Reconfigure`	Reconfigure this resource.
`DoCommand`	Execute model-specific commands that are not otherwise defined by the component API.
`Name`	Get the name of the digital interrupt.
`GetResourceName`	Get the `ResourceName` for this board with the given name.
`Close`	Safely shut down the resource and prevent further use.

Establish a connection

To get started using Viam’s SDKs to connect to and control your board and the rest of your machine, go to your machine’s page on the Viam app, Navigate to the CONNECT tab’s Code sample page, select your preferred programming language, and copy the sample code.

To show your machine’s API key in the sample code, toggle Include API key.

Caution: Keep your API key and machine address safe

We strongly recommend that you add your API key and machine address as an environment variable. Anyone with these secrets can access your machine, and the computer running your machine.

When executed, this sample code will create a connection to your machine as a client. Then control your machine programmatically by getting your board component from the machine with FromRobot and adding API method calls, as shown in the following examples.

The following examples assume you have a board called "my_board" configured as a component of your machine. If your board has a different name, change the name in the code.

Import the board package for the SDK you are using:

Python
Go

from viam.components.board import Board

import (
  "go.viam.com/rdk/components/board"
)

API

SetGPIO

Set the digital signal output of this pin to low (0V) or high (active, >0V). Supported by viam-micro-server.

Parameters:

high (bool) (required): When true, sets the pin to high. When false, sets the pin to low.
extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

None.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the GPIOPin with pin number 15.
pin = await my_board.gpio_pin_by_name(name="15")

# Set the pin to high.
await pin.set(high=True)

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
high (bool): If true, set the state of the pin to high. If false, set the state of the pin to low.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the GPIOPin with pin number 15.
pin, err := myBoard.GPIOPinByName("15")

// Set the pin to high.
err := pin.Set(context.Background(), "true", nil)

For more information, see the Go SDK Docs.

Parameters:

pin String (required)
high bool (required)
extra Map<String, dynamic>? (optional)

Returns:

Future<void>

Example:

// Set pin 15 to high
await myBoard.setGpioState('15', true);

For more information, see the Flutter SDK Docs.

GetGPIO

Get if the digital signal output of this pin is high (active, >0V). Supported by viam-micro-server.

Parameters:

extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

(bool): Indicates if the state of the pin is high.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the GPIOPin with pin number 15.
pin = await my_board.gpio_pin_by_name(name="15")

# Get if it is true or false that the state of the pin is high.
high = await pin.get()

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(bool): If true, the state of the pin is high. If false, the state of the pin is low.
(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the GPIOPin with pin number 15.
pin, err := myBoard.GPIOPinByName("15")

// Get if it is true or false that the state of the pin is high.
high := pin.Get(context.Background(), nil)

For more information, see the Go SDK Docs.

Parameters:

pin String (required)
extra Map<String, dynamic>? (optional)

Returns:

Future<bool>

Example:

// Whether the state of pin 15 is currently high
bool pinStateIsHigh = await myBoard.gpio('15');

For more information, see the Flutter SDK Docs.

GetPWM

Info

Pulse-width modulation (PWM) is a method where of transmitting a digital signal in the form of pulses to control analog circuits. With PWM on a board, the continuous digital signal output by a GPIO pin is sampled at regular intervals and transmitted to any hardware components wired to the pin that read analog signals. This enables the board to communicate with these components.

Get the pin’s pulse-width modulation (PWM) duty cycle: a float [0.0, 1.0] representing the percentage of time the digital signal output by this pin is in the high state (active, >0V) relative to the interval period of the PWM signal (interval period being the mathematical inverse of the PWM frequency). Supported by viam-micro-server.

Parameters:

extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

(float): The duty cycle.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the GPIOPin with pin number 15.
pin = await my_board.gpio_pin_by_name(name="15")

# Get if it is true or false that the state of the pin is high.
duty_cycle = await pin.get_pwm()

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(float64): A float [0.0, 1.0] representing the percentage of time the digital signal output by this pin is in the high state relative to the interval period of the PWM signal.
(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the GPIOPin with pin number 15.
pin, err := myBoard.GPIOPinByName("15")

// Returns the duty cycle.
duty_cycle := pin.PWM(context.Background(), nil)

For more information, see the Go SDK Docs.

Parameters:

pin String (required)
extra Map<String, dynamic>? (optional)

Returns:

Future<double>

Example:

// Get the PWM duty cycle of pin 15
var dutyCycle = await myBoard.pwm('15');

For more information, see the Flutter SDK Docs.

SetPWM

Set the pin’s Pulse-width modulation (PWM) duty cycle: a float [0.0, 1.0] indicating the percentage of time the digital signal output of this pin is in the high state (active, >0V) relative to the interval period of the PWM signal (interval period being the mathematical inverse of the PWM frequency). Supported by viam-micro-server.

Parameters:

duty_cycle (float) (required): The duty cycle.
extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

None.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the GPIOPin with pin number 15.
pin = await my_board.gpio_pin_by_name(name="15")

# Set the duty cycle to .6, meaning that this pin will be in the high state for
# 60% of the duration of the PWM interval period.
await pin.set_pwm(duty_cycle=.6)

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
dutyCyclePct (float64): A float [0.0, 1.0] representing the percentage of time the digital signal output by this pin is in the high state relative to the interval period of the PWM signal.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the GPIOPin with pin number 15.
pin, err := myBoard.GPIOPinByName("15")

// Set the duty cycle to .6, meaning that this pin will be in the high state for 60% of the duration of the PWM interval period.
err := pin.SetPWM(context.Background(), .6, nil)

For more information, see the Go SDK Docs.

Parameters:

pin String (required)
dutyCyclePct double (required)
extra Map<String, dynamic>? (optional)

Returns:

Future<void>

Example:

// Set the PWM duty cycle of pin 13
await myBoard.setPwm('13', 0.6);

For more information, see the Flutter SDK Docs.

PWMFrequency

Get the PWM frequency of the GPIO pin. Supported by viam-micro-server.

Parameters:

extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

(int): The PWM frequency.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the GPIOPin with pin number 15.
pin = await my_board.gpio_pin_by_name(name="15")

# Get the PWM frequency of this pin.
freq = await pin.get_pwm_frequency()

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(uint): The PWM Frequency in Hertz (Hz) (the count of PWM interval periods per second) the digital signal output by this pin is set to.
(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the GPIOPin with pin number 15.
pin, err := myBoard.GPIOPinByName("15")

// Get the PWM frequency of this pin.
freqHz, err := pin.PWMFreq(context.Background(), nil)

For more information, see the Go SDK Docs.

Parameters:

pin String (required)
extra Map<String, dynamic>? (optional)

Returns:

Future<int>

Example:

// Get the PWM frequency of pin 11
var frequency = await myBoard.pwmFrequency('11');

For more information, see the Flutter SDK Docs.

SetPWMFrequency

Set the pin to the given PWM frequency (in Hz). When frequency is 0, it will use the board’s default PWM frequency.

Note

If you attempt to set an unsupported PWM frequency on an esp32, the frequency will revert to the last valid frequency. This may restart the PWM signal.

Supported by viam-micro-server.

Parameters:

frequency (int) (required): The frequency, in Hz.
extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

None.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the GPIOPin with pin number 15.
pin = await my_board.gpio_pin_by_name(name="15")

# Set the PWM frequency of this pin to 1600 Hz.
high = await pin.set_pwm_frequency(frequency=1600)

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
freqHz (uint): The PWM Frequency in Hertz (Hz), the count of PWM interval periods per second, to set the digital signal output by this pin to.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the GPIOPin with pin number 15.
pin, err := myBoard.GPIOPinByName("15")

// Set the PWM frequency of this pin to 1600 Hz.
high := pin.SetPWMFreq(context.Background(), 1600, nil)

For more information, see the Go SDK Docs.

Parameters:

pin String (required)
frequencyHz int (required)
extra Map<String, dynamic>? (optional)

Returns:

Future<void>

Example:

// Set the PWM frequency of pin 15 to 1600 Hz
await myBoard.setPwmFrequency('15', 1600);

For more information, see the Flutter SDK Docs.

GetDigitalInterruptValue

Get the current value of a configured digital interrupt. The value is the number of times the interrupt has been interrupted with a tick.

Parameters:

extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

(int): The current value.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the DigitalInterrupt "my_example_digital_interrupt".
interrupt = await my_board.digital_interrupt_by_name(
    name="my_example_digital_interrupt")

# Get the amount of times this DigitalInterrupt has been interrupted with a
# tick.
count = await interrupt.value()

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(int64): The amount of ticks that have occurred.
(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the DigitalInterrupt "my_example_digital_interrupt".
interrupt, err := myBoard.DigitalInterruptByName("my_example_digital_interrupt")

// Get the amount of times this DigitalInterrupt has ticked.
count, err := interrupt.Value(context.Background(), nil)

For more information, see the Go SDK Docs.

Parameters:

digitalInterruptName String (required)
extra Map<String, dynamic>? (optional)

Returns:

Future<int>

Example:

// Get the current value of a digital interrupt named "my_example_digital_interrupt"
var interruptVal = await myBoard.digitalInterruptValue('my_example_digital_interrupt');

For more information, see the Flutter SDK Docs.

ReadAnalogReader

Read the current integer value of the digital signal output by the ADC. Supported by viam-micro-server.

Parameters:

extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

(viam.components.board.board.Board.Analog.Value): The current value, including the min, max, and step_size of the reader.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the Analog "my_example_analog_reader".
reader = await my_board.analog_reader_by_name(
    name="my_example_analog_reader")

# Get the value of the digital signal "my_example_analog_reader" has most
# recently measured.
reading = await reader.read()

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(AnalogValue): The current value, including the integer Value of the digital signal output by the analog pin and the Min, Max, and StepSize of the reader.
(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the analog pin "my_example_analog".
analog, err := myBoard.AnalogByName("my_example_analog")

// Get the value of the analog signal "my_example_analog" has most recently measured.
reading, err := analog.Read(context.Background(), nil)
readingValue := reading.Value
stepSize := reading.StepSize

For more information, see the Go SDK Docs.

Parameters:

analogReaderName String (required)
extra Map<String, dynamic>? (optional)

Returns:

Future<AnalogValue>

Example:

// Get the current value of an analog reader named "my_example_analog"
var analogVal = await myBoard.analogReaderValue('my_example_analog');

For more information, see the Flutter SDK Docs.

WriteAnalog

Write an analog value to a pin on the board. Supported by viam-micro-server.

Parameters:

value (int) (required): Value to write to the analog writer.
extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

None.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the Analog "my_example_analog_writer".
writer = await my_board.analog_by_name(
    name="my_example_analog_writer")

await writer.write(42)

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
value (int): Value to write to the pin.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the Analog pin "my_example_analog".
analog, err := myBoard.AnalogByName("my_example_analog")

// Set the pin to value 48.
err := analog.Write(context.Background(), 48, nil)

For more information, see the Go SDK Docs.

Parameters:

pin String (required)
value int (required)
extra Map<String, dynamic>? (optional)

Returns:

Future<void>

Example:

// Set pin 11 to value 48
await myBoard.writeAnalog('11', 48);

For more information, see the Flutter SDK Docs.

StreamTicks

Start a stream of DigitalInterrupt ticks.

Parameters:

interrupts (List[viam.components.board.board.Board.DigitalInterrupt]) (required): list of digital interrupts to receive ticks from.
extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.

Returns:

(viam.components.board.board.TickStream): stream of ticks.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")
di8 = await my_board.digital_interrupt_by_name(name="8")
di11 = await my_board.digital_interrupt_by_name(name="11")

# Iterate over stream of ticks from pins 8 and 11.
async for tick in await my_board.stream_ticks([di8, di11]):
    print(f"Pin {tick.pin_name} changed to {'high' if tick.high else 'low'} at {tick.time}")

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
interrupts ([]DigitalInterrupt): Slice of digital interrupts to receive ticks from.
ch chan (Tick): The channel to stream Ticks, structs containing Name, High, and TimestampNanosec fields.
extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Make a channel to stream ticks
ticksChan := make(chan board.Tick)

interrupts := []*DigitalInterrupt{}

if di8, err := myBoard.DigitalInterruptByName("8"); err == nil {
  interrupts = append(interrupts, di8)
}

if di11, err := myBoard.DigitalInterruptByName("11"); err == nil {
  interrupts = append(interrupts, di11)
}

err = myBoard.StreamTicks(context.Background(), interrupts, ticksChan, nil)

For more information, see the Go SDK Docs.

Parameters:

interrupts List<String> (required)
extra Map<String, dynamic>? (optional)

Returns:

Stream<Tick>

Example:

// Stream ticks from digital interrupts on pins 8 and 11
var interrupts = ['8', '11'];
Stream<Tick> tickStream = await myBoard.streamTicks(interrupts);

For more information, see the Flutter SDK Docs.

SetPowerMode

Set the board to the indicated PowerMode.

Info

This method may not receive a successful response from gRPC when you set the board to the offline power mode PowerMode.POWER_MODE_OFFLINE_DEEP.

When this is the case for your board model, the call is returned with an error specifying that the remote procedure call timed out or that the endpoint is no longer available. This is expected: the board has been successfully powered down and can no longer respond to messages.

Parameters:

mode (viam.proto.component.board.PowerMode.ValueType) (required): The desired power mode.
duration (datetime.timedelta) (optional): Requested duration to stay in power mode.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

None.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Set the power mode of the board to OFFLINE_DEEP.
status = await my_board.set_power_mode(mode=PowerMode.POWER_MODE_OFFLINE_DEEP)

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
mode (pb.PowerMode): Options to specify power usage of the board: boardpb.PowerMode_POWER_MODE_UNSPECIFIED, boardpb.PowerMode_POWER_MODE_NORMAL, and boardpb.PowerMode_POWER_MODE_OFFLINE_DEEP.
duration (*time.Duration): If provided, the board will exit the given power mode after the specified duration.

Returns:

(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

Set the power mode of the board to OFFLINE_DEEP.
myBoard.SetPowerMode(context.Background(), boardpb.PowerMode_POWER_MODE_OFFLINE_DEEP, nil)

For more information, see the Go SDK Docs.

Parameters:

powerMode PowerMode (required)
seconds int (required)
nanos int (required)
extra Map<String, dynamic>? (optional)

Returns:

Future<void>

Example:

// Set the power mode of the board to offline deep for 60 seconds
// Requires importing 'package:viam_sdk/protos/component/board.dart'
const powerMode = PowerMode.POWER_MODE_OFFLINE_DEEP;
await myBoard.setPowerMode(powerMode, 60, 0);

For more information, see the Flutter SDK Docs.

AnalogByName

Get a configured Analog by name.

Python
Go

Parameters:

name (str) (required): Name of the analog reader to be retrieved.

Returns:

(viam.components.board.board.Board.Analog): The analog reader or writer.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the Analog "my_example_analog_reader".
reader = await my_board.analog_by_name(name="my_example_analog_reader")

For more information, see the Python SDK Docs.

Parameters:

name (string): Name of the analog pin you want to retrieve. Set as the "name" property in board configuration.

Returns:

(Analog): An interface representing an analog pin configured and residing on the board.
(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the Analog pin "my_example_analog".
analog, err := myBoard.AnalogByName("my_example_analog")

For more information, see the Go SDK Docs.

DigitalInterruptByName

Get a DigitalInterrupt by name.

Python
Go

Parameters:

name (str) (required): Name of the digital interrupt.

Returns:

(viam.components.board.board.Board.DigitalInterrupt): The digital interrupt.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the DigitalInterrupt "my_example_digital_interrupt".
interrupt = await my_board.digital_interrupt_by_name(
    name="my_example_digital_interrupt")

For more information, see the Python SDK Docs.

Parameters:

name (string): Name of the digital interrupt you want to retrieve. Set as the "name" property in board configuration.

Returns:

(DigitalInterrupt): An interface representing a configured interrupt on the board.
(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the DigitalInterrupt "my_example_digital_interrupt".
interrupt, err := myBoard.DigitalInterruptByName("my_example_digital_interrupt")

For more information, see the Go SDK Docs.

GPIOPinByName

Get a GPIOPin by pin number.

Python
Go

Parameters:

name (str) (required): Name of the GPIO pin.

Returns:

(viam.components.board.board.Board.GPIOPin): The pin.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")

# Get the GPIOPin with pin number 15.
pin = await my_board.gpio_pin_by_name(name="15")

For more information, see the Python SDK Docs.

Parameters:

name (string): Pin number of the GPIO pin you want to retrieve as a GPIOPin interface. Refer to the pinout diagram and data sheet of your board model for pin numbers.

Returns:

(GPIOPin): An interface representing an individual GPIO pin on the board.
(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(robot, "my_board")

// Get the GPIOPin with pin number 15.
pin, err := myBoard.GPIOPinByName("15")

For more information, see the Go SDK Docs.

GetGeometries

Get all the geometries associated with the board in its current configuration, in the frame of the board. The motion and navigation services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning.

Python

Parameters:

extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

(List[viam.proto.common.Geometry]): The geometries associated with the Component.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")
geometries = await my_board.get_geometries()

if geometries:
    # Get the center of the first geometry
    print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")

For more information, see the Python SDK Docs.

Reconfigure

Reconfigure this resource. Reconfigure must reconfigure the resource atomically and in place.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
deps (Dependencies): The resource dependencies.
conf (Config): The resource configuration.

Returns:

(error): An error, if one occurred.

For more information, see the Go SDK Docs.

DoCommand

Execute model-specific commands that are not otherwise defined by the component API. For built-in models, model-specific commands are covered with each model’s documentation. If you are implementing your own board and add features that have no built-in API method, you can access them with DoCommand. Supported by viam-micro-server.

Parameters:

command (Mapping[str, ValueTypes]) (required): The command to execute.
timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

(Mapping[str, viam.utils.ValueTypes]): Result of the executed command.

Raises:

(NotImplementedError): Raised if the Resource does not support arbitrary commands.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")
command = {"cmd": "test", "data1": 500}
result = await my_board.do_command(command)

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
cmd (map[string]interface{}): The command to execute.

Returns:

(map[string]interface{}): The command response.
(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(machine, "my_board")

command := map[string]interface{}{"cmd": "test", "data1": 500}
result, err := myBoard.DoCommand(context.Background(), command)

For more information, see the Go SDK Docs.

Parameters:

command Map<String, dynamic> (required)

Returns:

Future<Map<String, dynamic>>

Example:

// Example using doCommand with an arm component
const command = {'cmd': 'test', 'data1': 500};
var result = myArm.doCommand(command);

For more information, see the Flutter SDK Docs.

Name

Get the name of the digital interrupt.

Parameters:

None.

Returns:

(string): The name of the digital interrupt.

For more information, see the Go SDK Docs.

GetResourceName

Get the ResourceName for this board with the given name.

Python
Flutter

Parameters:

name (str) (required): The name of the Resource.

Returns:

(viam.proto.common.ResourceName): The ResourceName of this Resource.

Example:

my_board_name = Board.get_resource_name("my_board")

For more information, see the Python SDK Docs.

Parameters:

name String (required)

Returns:

ResourceName

For more information, see the Flutter SDK Docs.

Close

Safely shut down the resource and prevent further use.

Python
Go

Parameters:

None.

Returns:

None.

Example:

my_board = Board.from_robot(robot=machine, name="my_board")
await my_board.close()

For more information, see the Python SDK Docs.

Parameters:

ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.

Returns:

(error): An error, if one occurred.

Example:

myBoard, err := board.FromRobot(machine, "my_board")

err = myBoard.Close(context.Background())

For more information, see the Go SDK Docs.

Have questions, or want to meet other people working on robots? Join our Community Discord.

If you notice any issues with the documentation, feel free to file an issue or edit this file.

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