Board vote

Items up for a vote are usually on a meeting agenda. In Florida, the statutes mandate certain things be on the agenda along with proper notice (such as levying assessments). An association's governing documents can also come into play. My HOA's bylaws give the Board the authority to determine the order of business at its meetings. At the beginning of every board meeting the proposed agenda is approved and then followed, but the opportunity exists to modify the agenda at that time and approve the modified agenda.

So the succinct answer to your question is a firm "maybe".

I agree with what Janet said. Some issues are so large that directors, if they are serious about their legal duties, will need time outside of the meeting to process and prepare for discussion of the topic, including which way to vote. If meetings are open to the members, and furthermore it's customary to take questions here and there from members during meetings, then as Janet pointed out, it's important to get an agenda out to members so they can decide whether to attend. Doing otherwise can have legal implications.