# Component APIs overview The following grid lists every component API and its methods. Select an API name to open its full reference, or select a method to jump straight to that method. ### [Arm](https://docs.viam.com/reference/apis/components/arm/) - [`Close`](https://docs.viam.com/reference/apis/components/arm/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/arm/#docommand) - [`Get3DModels`](https://docs.viam.com/reference/apis/components/arm/#get3dmodels) - [`GetEndPosition`](https://docs.viam.com/reference/apis/components/arm/#getendposition) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/arm/#getgeometries) - [`GetJointPositions`](https://docs.viam.com/reference/apis/components/arm/#getjointpositions) - [`GetKinematics`](https://docs.viam.com/reference/apis/components/arm/#getkinematics) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/arm/#getresourcename) - [`IsMoving`](https://docs.viam.com/reference/apis/components/arm/#ismoving) - [`MoveThroughJointPositions`](https://docs.viam.com/reference/apis/components/arm/#movethroughjointpositions) - [`MoveToJointPositions`](https://docs.viam.com/reference/apis/components/arm/#movetojointpositions) - [`MoveToPosition`](https://docs.viam.com/reference/apis/components/arm/#movetoposition) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/arm/#reconfigure) - [`Stop`](https://docs.viam.com/reference/apis/components/arm/#stop) ### [Audio in](https://docs.viam.com/reference/apis/components/audio-in/) - [`Close`](https://docs.viam.com/reference/apis/components/audio-in/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/audio-in/#docommand) - [`GetAudio`](https://docs.viam.com/reference/apis/components/audio-in/#getaudio) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/audio-in/#getgeometries) - [`GetProperties`](https://docs.viam.com/reference/apis/components/audio-in/#getproperties) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/audio-in/#getresourcename) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/audio-in/#reconfigure) ### [Audio out](https://docs.viam.com/reference/apis/components/audio-out/) - [`Close`](https://docs.viam.com/reference/apis/components/audio-out/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/audio-out/#docommand) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/audio-out/#getgeometries) - [`GetProperties`](https://docs.viam.com/reference/apis/components/audio-out/#getproperties) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/audio-out/#getresourcename) - [`Play`](https://docs.viam.com/reference/apis/components/audio-out/#play) - [`PlayStream`](https://docs.viam.com/reference/apis/components/audio-out/#playstream) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/audio-out/#reconfigure) ### [Base](https://docs.viam.com/reference/apis/components/base/) - [`Close`](https://docs.viam.com/reference/apis/components/base/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/base/#docommand) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/base/#getgeometries) - [`GetProperties`](https://docs.viam.com/reference/apis/components/base/#getproperties) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/base/#getresourcename) - [`IsMoving`](https://docs.viam.com/reference/apis/components/base/#ismoving) - [`MoveStraight`](https://docs.viam.com/reference/apis/components/base/#movestraight) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/base/#reconfigure) - [`SetPower`](https://docs.viam.com/reference/apis/components/base/#setpower) - [`SetVelocity`](https://docs.viam.com/reference/apis/components/base/#setvelocity) - [`Spin`](https://docs.viam.com/reference/apis/components/base/#spin) - [`Stop`](https://docs.viam.com/reference/apis/components/base/#stop) ### [Board](https://docs.viam.com/reference/apis/components/board/) - [`AnalogByName`](https://docs.viam.com/reference/apis/components/board/#analogbyname) - [`Close`](https://docs.viam.com/reference/apis/components/board/#close) - [`DigitalInterruptByName`](https://docs.viam.com/reference/apis/components/board/#digitalinterruptbyname) - [`DoCommand`](https://docs.viam.com/reference/apis/components/board/#docommand) - [`GetDigitalInterruptValue`](https://docs.viam.com/reference/apis/components/board/#getdigitalinterruptvalue) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/board/#getgeometries) - [`GetGPIO`](https://docs.viam.com/reference/apis/components/board/#getgpio) - [`GetPWM`](https://docs.viam.com/reference/apis/components/board/#getpwm) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/board/#getresourcename) - [`GPIOPinByName`](https://docs.viam.com/reference/apis/components/board/#gpiopinbyname) - [`PWMFrequency`](https://docs.viam.com/reference/apis/components/board/#pwmfrequency) - [`ReadAnalogReader`](https://docs.viam.com/reference/apis/components/board/#readanalogreader) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/board/#reconfigure) - [`SetGPIO`](https://docs.viam.com/reference/apis/components/board/#setgpio) - [`SetPowerMode`](https://docs.viam.com/reference/apis/components/board/#setpowermode) - [`SetPWM`](https://docs.viam.com/reference/apis/components/board/#setpwm) - [`SetPWMFrequency`](https://docs.viam.com/reference/apis/components/board/#setpwmfrequency) - [`StreamTicks`](https://docs.viam.com/reference/apis/components/board/#streamticks) - [`WriteAnalog`](https://docs.viam.com/reference/apis/components/board/#writeanalog) ### [Button](https://docs.viam.com/reference/apis/components/button/) - [`Close`](https://docs.viam.com/reference/apis/components/button/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/button/#docommand) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/button/#getresourcename) - [`Push`](https://docs.viam.com/reference/apis/components/button/#push) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/button/#reconfigure) ### [Camera](https://docs.viam.com/reference/apis/components/camera/) - [`Close`](https://docs.viam.com/reference/apis/components/camera/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/camera/#docommand) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/camera/#getgeometries) - [`GetImages`](https://docs.viam.com/reference/apis/components/camera/#getimages) - [`GetPointCloud`](https://docs.viam.com/reference/apis/components/camera/#getpointcloud) - [`GetProperties`](https://docs.viam.com/reference/apis/components/camera/#getproperties) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/camera/#getresourcename) ### [Encoder](https://docs.viam.com/reference/apis/components/encoder/) - [`Close`](https://docs.viam.com/reference/apis/components/encoder/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/encoder/#docommand) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/encoder/#getgeometries) - [`GetPosition`](https://docs.viam.com/reference/apis/components/encoder/#getposition) - [`GetProperties`](https://docs.viam.com/reference/apis/components/encoder/#getproperties) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/encoder/#getresourcename) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/encoder/#reconfigure) - [`ResetPosition`](https://docs.viam.com/reference/apis/components/encoder/#resetposition) ### [Gantry](https://docs.viam.com/reference/apis/components/gantry/) - [`Close`](https://docs.viam.com/reference/apis/components/gantry/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/gantry/#docommand) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/gantry/#getgeometries) - [`GetKinematics`](https://docs.viam.com/reference/apis/components/gantry/#getkinematics) - [`GetLengths`](https://docs.viam.com/reference/apis/components/gantry/#getlengths) - [`GetPosition`](https://docs.viam.com/reference/apis/components/gantry/#getposition) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/gantry/#getresourcename) - [`Home`](https://docs.viam.com/reference/apis/components/gantry/#home) - [`IsMoving`](https://docs.viam.com/reference/apis/components/gantry/#ismoving) - [`MoveToPosition`](https://docs.viam.com/reference/apis/components/gantry/#movetoposition) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/gantry/#reconfigure) - [`Stop`](https://docs.viam.com/reference/apis/components/gantry/#stop) ### [Generic](https://docs.viam.com/reference/apis/components/generic/) - [`Close`](https://docs.viam.com/reference/apis/components/generic/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/generic/#docommand) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/generic/#getgeometries) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/generic/#getresourcename) ### [Gripper](https://docs.viam.com/reference/apis/components/gripper/) - [`Close`](https://docs.viam.com/reference/apis/components/gripper/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/gripper/#docommand) - [`GetCurrentInputs`](https://docs.viam.com/reference/apis/components/gripper/#getcurrentinputs) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/gripper/#getgeometries) - [`GetKinematics`](https://docs.viam.com/reference/apis/components/gripper/#getkinematics) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/gripper/#getresourcename) - [`GoToInputs`](https://docs.viam.com/reference/apis/components/gripper/#gotoinputs) - [`Grab`](https://docs.viam.com/reference/apis/components/gripper/#grab) - [`IsHoldingSomething`](https://docs.viam.com/reference/apis/components/gripper/#isholdingsomething) - [`IsMoving`](https://docs.viam.com/reference/apis/components/gripper/#ismoving) - [`Open`](https://docs.viam.com/reference/apis/components/gripper/#open) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/gripper/#reconfigure) - [`Stop`](https://docs.viam.com/reference/apis/components/gripper/#stop) ### [Input controller](https://docs.viam.com/reference/apis/components/input-controller/) - [`Close`](https://docs.viam.com/reference/apis/components/input-controller/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/input-controller/#docommand) - [`GetControls`](https://docs.viam.com/reference/apis/components/input-controller/#getcontrols) - [`GetEvents`](https://docs.viam.com/reference/apis/components/input-controller/#getevents) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/input-controller/#getgeometries) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/input-controller/#getresourcename) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/input-controller/#reconfigure) - [`RegisterControlCallback`](https://docs.viam.com/reference/apis/components/input-controller/#registercontrolcallback) - [`TriggerEvent`](https://docs.viam.com/reference/apis/components/input-controller/#triggerevent) ### [Motor](https://docs.viam.com/reference/apis/components/motor/) - [`Close`](https://docs.viam.com/reference/apis/components/motor/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/motor/#docommand) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/motor/#getgeometries) - [`GetPosition`](https://docs.viam.com/reference/apis/components/motor/#getposition) - [`GetProperties`](https://docs.viam.com/reference/apis/components/motor/#getproperties) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/motor/#getresourcename) - [`GoFor`](https://docs.viam.com/reference/apis/components/motor/#gofor) - [`GoTo`](https://docs.viam.com/reference/apis/components/motor/#goto) - [`IsMoving`](https://docs.viam.com/reference/apis/components/motor/#ismoving) - [`IsPowered`](https://docs.viam.com/reference/apis/components/motor/#ispowered) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/motor/#reconfigure) - [`ResetZeroPosition`](https://docs.viam.com/reference/apis/components/motor/#resetzeroposition) - [`SetPower`](https://docs.viam.com/reference/apis/components/motor/#setpower) - [`SetRPM`](https://docs.viam.com/reference/apis/components/motor/#setrpm) - [`Stop`](https://docs.viam.com/reference/apis/components/motor/#stop) ### [Movement sensor](https://docs.viam.com/reference/apis/components/movement-sensor/) - [`Close`](https://docs.viam.com/reference/apis/components/movement-sensor/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/movement-sensor/#docommand) - [`GetAccuracy`](https://docs.viam.com/reference/apis/components/movement-sensor/#getaccuracy) - [`GetAngularVelocity`](https://docs.viam.com/reference/apis/components/movement-sensor/#getangularvelocity) - [`GetCompassHeading`](https://docs.viam.com/reference/apis/components/movement-sensor/#getcompassheading) - [`GetLinearAcceleration`](https://docs.viam.com/reference/apis/components/movement-sensor/#getlinearacceleration) - [`GetLinearVelocity`](https://docs.viam.com/reference/apis/components/movement-sensor/#getlinearvelocity) - [`GetOrientation`](https://docs.viam.com/reference/apis/components/movement-sensor/#getorientation) - [`GetPosition`](https://docs.viam.com/reference/apis/components/movement-sensor/#getposition) - [`GetProperties`](https://docs.viam.com/reference/apis/components/movement-sensor/#getproperties) - [`GetReadings`](https://docs.viam.com/reference/apis/components/movement-sensor/#getreadings) ### [Power sensor](https://docs.viam.com/reference/apis/components/power-sensor/) - [`Close`](https://docs.viam.com/reference/apis/components/power-sensor/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/power-sensor/#docommand) - [`GetCurrent`](https://docs.viam.com/reference/apis/components/power-sensor/#getcurrent) - [`GetPower`](https://docs.viam.com/reference/apis/components/power-sensor/#getpower) - [`GetReadings`](https://docs.viam.com/reference/apis/components/power-sensor/#getreadings) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/power-sensor/#getresourcename) - [`GetVoltage`](https://docs.viam.com/reference/apis/components/power-sensor/#getvoltage) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/power-sensor/#reconfigure) ### [Sensor](https://docs.viam.com/reference/apis/components/sensor/) - [`Close`](https://docs.viam.com/reference/apis/components/sensor/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/sensor/#docommand) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/sensor/#getgeometries) - [`GetReadings`](https://docs.viam.com/reference/apis/components/sensor/#getreadings) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/sensor/#getresourcename) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/sensor/#reconfigure) ### [Servo](https://docs.viam.com/reference/apis/components/servo/) - [`Close`](https://docs.viam.com/reference/apis/components/servo/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/servo/#docommand) - [`GetGeometries`](https://docs.viam.com/reference/apis/components/servo/#getgeometries) - [`GetPosition`](https://docs.viam.com/reference/apis/components/servo/#getposition) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/servo/#getresourcename) - [`IsMoving`](https://docs.viam.com/reference/apis/components/servo/#ismoving) - [`Move`](https://docs.viam.com/reference/apis/components/servo/#move) - [`Reconfigure`](https://docs.viam.com/reference/apis/components/servo/#reconfigure) - [`Stop`](https://docs.viam.com/reference/apis/components/servo/#stop) ### [Switch](https://docs.viam.com/reference/apis/components/switch/) - [`Close`](https://docs.viam.com/reference/apis/components/switch/#close) - [`DoCommand`](https://docs.viam.com/reference/apis/components/switch/#docommand) - [`GetNumberOfPositions`](https://docs.viam.com/reference/apis/components/switch/#getnumberofpositions) - [`GetPosition`](https://docs.viam.com/reference/apis/components/switch/#getposition) - [`GetResourceName`](https://docs.viam.com/reference/apis/components/switch/#getresourcename) - [`SetPosition`](https://docs.viam.com/reference/apis/components/switch/#setposition)