gpio-control

name: gpio-control version: "1.0.0" tier: standard description: "General Purpose Input/Output control for sensors, LEDs, and switches. Complements BCSA V4 actuator control. Manages digital pins, PWM outputs, and analog sensors for complete hardware interface." contracts: input: type: object properties: action: type: string enum: [write, read, set_expression, read_temp, check_stops, map, stats] pin: type: integer value: type: number mode: type: string enum: [digital, analog, pwm] expression: type: string enum: [neutral, happy, sad, surprised, alert] location: type: string enum: [core, right_arm, left_arm] output: type: object required: [success] properties: success: type: boolean value: type: number pin_map: type: object emergency_stops: type: object

GPIO Control Skill

Different from BCSA V4

While BCSA V4 controls high-torque actuators (motors, joints), GPIO handles low-level digital/analog signals:

Pin Configuration (AOS-H1)

Digital Outputs (0-3)

• Status LEDs on head, torso, arms

Digital Inputs (4-7)

• Emergency stop switches (distributed)

PWM Outputs (16-19)

• Eye brightness (left/right)
• Expression LEDs (eyebrows)

Analog Inputs (24-29)

• Temperature sensors (core, arms)
• Pressure sensors (hands)
• Proximity sensor (head)

Usage

# Set facial expression
registry.call('gpio-control', {
    'action': 'set_expression',
    'expression': 'happy',
    'intensity': 0.8
})

# Read temperature
result = registry.call('gpio-control', {
    'action': 'read_temp',
    'location': 'core'
})
# Returns: {'temperature': 45.2, 'success': True}

# Check emergency stops
result = registry.call('gpio-control', {
    'action': 'check_stops'
})
# Returns: {'emergency_stops': {...}, 'any_pressed': False}

Integration with BHSI

Agents control BOTH:

• BCSA V4 → Body movement (via Body Hardware System Interface)
• GPIO → Sensing and expression (via this skill)

Complete embodiment requires both systems.