Board Component

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

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.

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.

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.

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.

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.

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.

Parameters:

• None.

Returns:

• ([]string): A slice containing the "name" of every analog pin configured on the board.

For more information, see the Go 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.

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.

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.

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.

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.

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.

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:

• 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.

Parameters:

• None.

Returns:

• ([]string): A slice containing the "name" of every interrupt configured on the board.

For more information, see the Go 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.

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:

// This example shows using DoCommand with an arm component.
myArm, err := arm.FromRobot(machine, "my_arm")

command := map[string]interface{}{"cmd": "test", "data1": 500}
result, err := myArm.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.

Parameters:

• name String (required)

Returns:

• ResourceName

For more information, see the Flutter 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:

// This example shows using Close with an arm component.
myArm, err := arm.FromRobot(machine, "my_arm")

err = myArm.Close(ctx)

For more information, see the Go SDK Docs.