Board Component

// "attributes": { ... ,
"analogs": [
  {
    "chip_select": "<chip-select-pin-number-on-board>",
    "name": "<your-analog-reader-name>",
    "pin": "<pin-number-on-adc>",
    "spi_bus": "<your-spi-bus-name>"
  }
]

// "attributes": { ... ,
"digital_interrupts": [
  {
    "name": "<your-digital-interrupt-name>",
    "pin": "<pin-number>"
  }
]

// "attributes": { ... ,
"spis": [
  {
    "name": "<your-bus-name>",
    "bus_select": "<your-bus-index>"
  }
]

// "attributes": { ... ,
{
  "i2cs": [
    {
      "name": "<your-bus-name>",
      "bus": "<your-bus-index>"
    }
  ]
}

from viam.components.board import Board

Parameters:

• name (str): Name of the analog reader you want to retrieve.

Returns:

• (AnalogReader): An interface representing an analog reader configured and residing on the board.

For more information, see the Python SDK Docs.

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

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

Parameters:

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

Returns:

• (DigitalInterrupt): An interface representing a configured interrupt on the board.

For more information, see the Python SDK Docs.

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

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

Parameters:

• name (str): 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.

For more information, see the Python SDK Docs.

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

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

Parameters:

• None

Returns:

• (List[str]): An list containing the "name" of every analog reader configured on the board.

For more information, see the Python SDK Docs.

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

# Get the name of every AnalogReader configured on the board.
names = await my_board.analog_reader_names()

Parameters:

• None

Returns:

• (List[str]): A list containing the "name" of every interrupt configured on the board.

For more information, see the Python SDK Docs.

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

# Get the name of every DigitalInterrupt configured on the board.
names = await my_board.digital_interrupt_names()

Parameters:

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

Returns:

• (BoardStatus): Mappings of the current status of the fields and values of any AnalogReaders and DigitalInterrupts configured on the board.

For more information, see the Python SDK Docs.

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

# Get the current status of the board.
status = await my_board.status()

Parameters:

• None

Returns:

• (Attributes): Attributes related to the model of this board. Will include the board’s innate remote attribute, which is not specified in configuration and is a bool indicating whether this model of board is accessed over a remote connection like gRPC.

For more information, see the Python SDK Docs.

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

# Get the attributes related to the model of this board.
attributes = await my_board.model_attributes()

Parameters:

• mode (PowerMode): Options to specify power usage of the board: PowerMode.POWER_MODE_UNSPECIFIED, PowerMode.POWER_MODE_NORMAL, and PowerMode.POWER_MODE_OFFLINE_DEEP.
• extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
• duration (Optional[datetime.timedelta]): If provided, the board will exit the given power mode after the specified duration.
• timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• None

For more information, see the Python SDK Docs.

my_board = Board.from_robot(robot=robot, 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)

Parameters:

• command (Dict[str, Any]): The command to execute.

Returns:

• (Dict[str, Any]): Result of the executed command.

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

my_command = {
  "command": "dosomething",
  "someparameter": 52
}

await my_board.do_command(my_command)

For more information, see the Python SDK Docs.

Parameters:

• high (bool): If true, set the state of the pin to high. If false, set the state of the pin to low.
• extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
• timeout (Optional[float]): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• None

For more information, see the Python SDK Docs.

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

Parameters:

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

Returns:

• (bool): If true, the state of the pin is high. If false, the state of the pin is low.

For more information, see the Python SDK Docs.

my_board = Board.from_robot(robot=robot, 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()

Parameters:

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

Returns:

• (float): 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.

For more information, see the Python SDK Docs.

my_board = Board.from_robot(robot=robot, 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()

Parameters:

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

Returns:

• (bool): If true, the state of the pin is high. If false, the state of the pin is low.

For more information, see the Python SDK Docs.

my_board = Board.from_robot(robot=robot, 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(cycle=.6)

Parameters:

• extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
• timeout (Optional[float]): 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 in Hertz (Hz) (the count of PWM interval periods per second) the digital signal output by this pin is set to.

For more information, see the Python SDK Docs.

my_board = Board.from_robot(robot=robot, 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()

Parameters:

• extra (Optional[Dict[str, Any]]): Extra options to pass to the underlying RPC call.
• timeout (Optional[float]): 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 in Hertz (Hz), the count of PWM interval periods per second, to set the digital signal output by this pin to.

For more information, see the Python SDK Docs.

my_board = Board.from_robot(robot=robot, 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)

Parameters:

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

Returns:

• (int): The value of the digital signal output by the analog reader.

For more information, see the Python SDK Docs.

my_board = Board.from_robot(robot=robot, 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 pin is set to high.
duty_cycle = await pin.get_pwm()

# Get the AnalogReader "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 = reader.read()

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
• high (bool): If true, the state of the pin is set to high. If false, the state of the pin is set to low.
• now (uint64): The time that has elapsed in nanoseconds since the last time the interrupt was ticked.

Returns:

• (error): An error, if one occurred.

For more information, see the Go SDK Docs.

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

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

// Record an interrupt and notify any interested callbacks.
err := interrupt.Tick(context.Background(), true, 12345)

Parameters:

• callback (chan Tick): The channel to add as a listener for when the state of the GPIO pin this interrupt is configured for changes between high and low.

Returns:

• None

For more information, see the Go SDK Docs.

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

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

// Make the channel for Tick().
ch := make(chan Tick)

// Add the channel to "my_example_digital_interrupt" as a callback.
interrupt.AddCallback(ch)

Parameters:

• processor (PostProcessor): The post processor function to add.

Returns:

• (error): An error, if one occurred.

For more information, see the Go SDK Docs.

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

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

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

// Create a simple post processing function calculating absolute value of integers.
MySimplePP := int64(math.Abs)

// Add "MySimplePP" as a post processor to "my_example_digital_interrupt".
interrupt.AddPostProcessor(MySimplePP)