Class BoardClient

constructor

• new BoardClient(client: Client, name: string, options?: Options): BoardClient

  Parameters

  • client: Client
  • name: string
  • options: Options = {}

  Returns BoardClient

callOptions

Readonlyname

doCommand

• doCommand(
      command: Struct | Record<string, JsonValue>,
      callOptions?: CallOptions,
  ): Promise<JsonValue>

  Send/Receive arbitrary commands to the resource.

  Parameters

  • command: Struct | Record<string, JsonValue>

    The command to execute. Accepts either a Struct or a plain object, which will be converted automatically.

  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

  Example

  // Plain object (recommended)
  const result = await resource.doCommand({
    myCommand: { key: 'value' },
  });
  
  // Struct (still supported)
  import { Struct } from '@viamrobotics/sdk';
  
  const result = await resource.doCommand(Struct.fromJson({ myCommand: { key: 'value' } }));
  Copy

getDigitalInterruptValue

• getDigitalInterruptValue(
      digitalInterruptName: string,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<number>

  Return the current value of the interrupt which is based on the type of interrupt.

  Parameters

  • digitalInterruptName: string

    The name of the digital interrupt.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<number>

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Get the number of times this DigitalInterrupt has been interrupted with a tick.
  const count = await board.getDigitalInterruptValue('my_example_digital_interrupt');
  Copy

  For more information, see Board API.

getGPIO

• getGPIO(pin: string, extra?: {}, callOptions?: CallOptions): Promise<boolean>

  Get the high/low state of the given pin.

  Parameters

  • pin: string

    The pin number.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<boolean>

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Get if it is true or false that the state of the pin is high.
  const high = await board.getGPIO('15');
  Copy

  For more information, see Board API.

getPWM

• getPWM(pin: string, extra?: {}, callOptions?: CallOptions): Promise<number>

  Get the duty cycle of the given pin of a board.

  Parameters

  • pin: string

    The pin number.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<number>

  The duty cycle, which is a value from 0 to 1.

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Get the duty cycle of this pin.
  const dutyCycle = await board.getPWM('15');
  Copy

  For more information, see Board API.

getPWMFrequency

• getPWMFrequency(
      pin: string,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<number>

  Get the PWM frequency of the given pin of a board.

  Parameters

  • pin: string

    The pin.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<number>

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Get the PWM frequency of this pin.
  const freq = await board.getPWMFrequency('15');
  Copy

  For more information, see Board API.

getStatus

• getStatus(callOptions?: CallOptions): Promise<JsonValue>

  Get the status of the resource.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

readAnalogReader

• readAnalogReader(
      analogReader: string,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<ReadAnalogReaderResponse>

  Read the current value of an analog reader of a board.

  Parameters

  • analogReader: string

    The name of the analog reader.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<ReadAnalogReaderResponse>

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Get the value of the analog signal "my_example_analog_reader" has most
  // recently measured.
  const reading = await board.readAnalogReader('my_example_analog_reader');
  Copy

  For more information, see Board API.

setGPIO

• setGPIO(
      pin: string,
      high: boolean,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Set the high/low state of the given pin of a board.

  Parameters

  • pin: string

    The pin number.

  • high: boolean

    When true, set the given pin to high. When false, set the given pin to low.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Set the pin to high.
  await board.setGPIO('15', true);
  Copy

  For more information, see Board API.

setPowerMode

• setPowerMode(
      powerMode: boardApi.PowerMode,
      duration?: Duration,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Set power mode of the board.

  Parameters

  • powerMode: boardApi.PowerMode

    The requested power mode.

  • Optionalduration: Duration

    The requested duration to stay in power mode.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Set the power mode of the board to OFFLINE_DEEP.
  const duration = new VIAM.Duration({ seconds: 10n });
  await board.setPowerMode(VIAM.PowerMode.OFFLINE_DEEP, duration);
  Copy

  For more information, see Board API.

setPWM

• setPWM(
      pin: string,
      dutyCyle: number,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Set the duty cycle of the given pin of a board.

  Parameters

  • pin: string

    The pin.

  • dutyCyle: number
  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Set the duty cycle to 0.6, meaning that this pin will be in the high state for
  // 60% of the duration of the PWM interval period.
  await board.setPWM('15', 0.6);
  Copy

  For more information, see Board API.

setPWMFrequency

• setPWMFrequency(
      pin: string,
      frequencyHz: number,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Set the PWM frequency of the given pin of a board.

  Parameters

  • pin: string

    The pin.

  • frequencyHz: number

    The PWM frequency, in hertz. 0 will use the board's default PWM frequency.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Set the PWM frequency of this pin to 1600 Hz.
  await board.setPWMFrequency('15', 1600);
  Copy

  For more information, see Board API.

streamTicks

• streamTicks(
      interrupts: string[],
      queue: Tick[],
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Stream digital interrupt ticks on the board.

  Parameters

  • interrupts: string[]

    Names of the interrupts to stream.

  • queue: Tick[]

    Array to put the ticks in.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Stream ticks from pins 8 and 11.
  const ticks = await board.streamTicks(['8', '11']);
  
  for await (const tick of ticks) {
    console.log(
      `Pin ${tick.pinName} changed to ${tick.high ? 'high' : 'low'} at ${tick.time}`,
    );
  }
  Copy

  For more information, see Board API.

writeAnalog

• writeAnalog(
      pin: string,
      value: number,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Write an analog value to a pin on the board.

  Parameters

  • pin: string

    The pin name.

  • value: number

    An integer value to write.

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const board = new VIAM.BoardClient(machine, 'my_board');
  
  // Write the value 42 to "my_example_analog_writer".
  await board.writeAnalog('my_example_analog_writer', 42);
  Copy

  For more information, see Board API.