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.
While BCSA V4 controls high-torque actuators (motors, joints), GPIO handles low-level digital/analog signals:
| System | Controls | Protocol | Use Case |
|---|---|---|---|
| BCSA V4 | Motors, joints | Binary packets | Movement |
| GPIO | Sensors, LEDs | Digital/PWM/Analog | Sensing, expression |
# 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}
Agents control BOTH:
Complete embodiment requires both systems.