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:

System	Controls	Protocol	Use Case
BCSA V4	Motors, joints	Binary packets	Movement
GPIO	Sensors, LEDs	Digital/PWM/Analog	Sensing, expression

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.