toio.cube.api.motor module

class toio.cube.api.motor.MotorControl(left: int, right: int, duration_ms: int | None)

Bases: CubeCommand

Motor control command

References

https://toio.github.io/toio-spec/en/docs/ble_motor#motor-control

__init__(left: int, right: int, duration_ms: int | None)

static speed_to_param(speed)

__bytes__() → bytes

Returns the byte representation of this class to be sent to cube.

Returns:

byte representation of this class to be sent to cube.

Return type:

bytes

__str__() → str

Return str(self).

class toio.cube.api.motor.MovementType(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Movement type

References

https://toio.github.io/toio-spec/en/docs/ble_motor#movement-type

Curve = 0

CurveWithoutReverse = 1

Linear = 2

class toio.cube.api.motor.RotationOption(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Rotation Option

Angle of the cube at the target point

References

https://toio.github.io/toio-spec/en/docs/ble_motor#%CE%B8-angle-of-the-cube-at-the-target-point

AbsoluteOptimal = 0

AbsolutePositive = 1

AbsoluteNegative = 2

RelativePositive = 3

RelativeNegative = 4

WithoutRotation = 5

SameAsAtWriting = 6

class toio.cube.api.motor.TargetPosition(cube_location: CubeLocation, rotation_option: RotationOption = RotationOption.AbsoluteOptimal)

Bases: object

Target position parameter

cube_location: CubeLocation

Target position of the cube

rotation_option: RotationOption = 0

Rotation option

static from_int(x: int = 0, y: int = 0, angle: int = 0, rotation_option: int = 0) → TargetPosition

flatten()

__init__(cube_location: CubeLocation, rotation_option: RotationOption = RotationOption.AbsoluteOptimal) → None

class toio.cube.api.motor.SpeedChangeType(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Speed change type

References

https://toio.github.io/toio-spec/en/docs/ble_motor#motor-speed-change-types

Constant = 0

Acceleration = 1

Deceleration = 2

AccelerationAndDeceleration = 3

class toio.cube.api.motor.Speed(max: int = 0, speed_change_type: SpeedChangeType = SpeedChangeType.Constant)

Bases: object

Speed parameter

max: int = 0

Max speed

speed_change_type: SpeedChangeType = 0

Speed change type

static from_int(max: int = 0, speed_change_type: int = 0) → Speed

flatten()

__init__(max: int = 0, speed_change_type: SpeedChangeType = SpeedChangeType.Constant) → None

class toio.cube.api.motor.MotorControlTarget(timeout: int, movement_type: MovementType, speed: Speed, target: TargetPosition)

Bases: CubeCommand

Target specified motor control command

References

https://toio.github.io/toio-spec/en/docs/ble_motor#motor-control-with-target-specified

__init__(timeout: int, movement_type: MovementType, speed: Speed, target: TargetPosition)

__bytes__() → bytes

Returns the byte representation of this class to be sent to cube.

Returns:

byte representation of this class to be sent to cube.

Return type:

bytes

__str__() → str

Return str(self).

class toio.cube.api.motor.WriteMode(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Write mode of MotorControlMultipleTargets()

References

https://toio.github.io/toio-spec/en/docs/ble_motor#additional-write-operation-settings

Overwrite = 0

Append = 1

class toio.cube.api.motor.MotorControlMultipleTargets(timeout: int, movement_type: MovementType, speed: Speed, mode: WriteMode, target_list: Sequence[TargetPosition])

Bases: CubeCommand

Multiple targets specified motor control command

References

https://toio.github.io/toio-spec/en/docs/ble_motor#motor-control-with-multiple-targets-specified

__init__(timeout: int, movement_type: MovementType, speed: Speed, mode: WriteMode, target_list: Sequence[TargetPosition])

__bytes__() → bytes

Returns the byte representation of this class to be sent to cube.

Returns:

byte representation of this class to be sent to cube.

Return type:

bytes

__str__() → str

Return str(self).

class toio.cube.api.motor.AccelerationRotation(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Rotational direction when the cube is changing orientation

References

https://toio.github.io/toio-spec/en/docs/ble_motor/#rotational-direction-when-cube-changes-orientation

Positive = 0

Negative = 1

class toio.cube.api.motor.AccelerationDirection(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Direction of cube travel

References

https://toio.github.io/toio-spec/en/docs/ble_motor/#direction-of-cube-travel

Forward = 0

Backward = 1

class toio.cube.api.motor.AccelerationPriority(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Priority to the translational speed or the rotational velocity

References

https://toio.github.io/toio-spec/en/docs/ble_motor/#priority-designation

TranslationalVelocity = 0

RotationalVelocity = 1

class toio.cube.api.motor.MotorControlAcceleration(translation: int, acceleration: int, rotation_velocity: int, rotation_direction: AccelerationRotation, cube_direction: AccelerationDirection, priority: AccelerationPriority, duration_ms: int)

Bases: CubeCommand

Acceleration specified motor control command

References

https://toio.github.io/toio-spec/en/docs/ble_motor/#motor-control-with-acceleration-specified

__init__(translation: int, acceleration: int, rotation_velocity: int, rotation_direction: AccelerationRotation, cube_direction: AccelerationDirection, priority: AccelerationPriority, duration_ms: int)

__bytes__() → bytes

Returns the byte representation of this class to be sent to cube.

Returns:

byte representation of this class to be sent to cube.

Return type:

bytes

__str__() → str

Return str(self).

class toio.cube.api.motor.MotorResponseCode(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

Response code of motor control APIs

References

https://toio.github.io/toio-spec/en/docs/ble_motor#response-content

SUCCESS = 0

ERROR_TIMEOUT = 1

ERROR_ID_MISSED = 2

ERROR_INVALID_PARAMETER = 3

ERROR_INVALID_CUBE_STATE = 4

SUCCESS_WITH_OVERWRITE = 5

ERROR_NOT_SUPPORTED = 6

ERROR_FAILED_TO_APPEND = 7

class toio.cube.api.motor.ResponseMotorControlTarget(payload: bytearray)

Bases: CubeResponse

Target specified motor control response

response_code

Response code

Type:

MotorResponseCode

References

https://toio.github.io/toio-spec/en/docs/ble_motor#responses-to-motor-control-with-target-specified

static is_myself(payload: bytearray) → bool

If argument data is a byte representation of this class, this function converts the byte representation to an object and returns it.

Parameters:

data (GattReadData) – received data from the cube.

__init__(payload: bytearray)

__str__() → str

Return str(self).

class toio.cube.api.motor.ResponseMotorControlMultipleTargets(payload: bytearray)

Bases: CubeResponse

Multiple target specified motor control response

response_code

Response code

Type:

MotorResponseCode

References

https://toio.github.io/toio-spec/en/docs/ble_motor#responses-to-motor-control-with-multiple-targets-specified

static is_myself(payload: bytearray) → bool

If argument data is a byte representation of this class, this function converts the byte representation to an object and returns it.

Parameters:

data (GattReadData) – received data from the cube.

__init__(payload: bytearray)

__str__() → str

Return str(self).

class toio.cube.api.motor.ResponseMotorSpeed(payload: bytearray)

Bases: CubeResponse

Motor speed response

left

motor speed (left)

Type:

int

right

motor speed (right)

Type:

int

References

https://toio.github.io/toio-spec/en/docs/ble_motor#obtaining-motor-speed-information

static is_myself(payload: bytearray) → bool

If argument data is a byte representation of this class, this function converts the byte representation to an object and returns it.

Parameters:

data (GattReadData) – received data from the cube.

__init__(payload: bytearray)

__str__() → str

Return str(self).

toio.cube.api.motor.MotorResponseType

Response types of motor characteristic

alias of Union[ResponseMotorControlTarget, ResponseMotorControlMultipleTargets, ResponseMotorSpeed]

class toio.cube.api.motor.Motor(interface: CubeInterface, device: Any)

Bases: CubeCharacteristic

Motor characteristic

References

https://toio.github.io/toio-spec/en/docs/ble_motor

static is_my_data(payload: bytearray) → ResponseMotorControlTarget | ResponseMotorControlMultipleTargets | ResponseMotorSpeed | None

If payload is my characteristic response, this function returns CubeResponse object. Otherwise, it returns None.

Parameters:

payload (GattReadData) – received data from the cube.

__init__(interface: CubeInterface, device: Any)

async motor_control(left: int, right: int, duration_ms: int | None = None) → None

Send motor control command

Parameters:

• left (int) – Motor speed (left)

• right (int) – Motor speed (right)

• duration_ms (Optional[int], optional) – Motor driving period [ms]. Defaults to None.

References

https://toio.github.io/toio-spec/en/docs/ble_motor#motor-control

async motor_control_target(timeout: int, movement_type: MovementType | int, speed: Speed | Sequence[int], target: TargetPosition | Sequence[int]) → None

Send target specified motor control command

Parameters:

• timeout (int) – Timeout [s] (Note: not [ms])

• movement_type (MovementType) – Movement type

• speed (Speed) – Speed parameter

• target (TargetPosition) – Target parameter

References

https://toio.github.io/toio-spec/en/docs/ble_motor#motor-control-with-target-specified

async motor_control_multiple_targets(timeout: int, movement_type: MovementType | int, speed: Speed | Sequence[int], mode: WriteMode | int, target_list: Sequence[TargetPosition] | Sequence[Sequence[int]]) → None

Send multiple target specified motor control command

Parameters:

• timeout (int) – Timeout [s] (Note: not [ms])

• movement_type (Union[MovementType, int]) – Movement type

• speed (Union[Speed, Sequence[int]]) – Speed parameter

• mode (Union[WriteMode, int]) – Write mode

• target_list (List[Union[TargetPosition, Sequence[int]]]) – Target parameter list

References

https://toio.github.io/toio-spec/en/docs/ble_motor#motor-control-with-multiple-targets-specified

async motor_control_acceleration(translation: int, acceleration: int, rotation_velocity: int, rotation_direction: AccelerationRotation | int, cube_direction: AccelerationDirection | int, priority: AccelerationPriority | int, duration_ms: int) → None

Send acceleration specified motor control command

Parameters:

• translation (int) – Speed at which the cube moves in relation to the direction of travel.

• acceleration (int) – Specify the increment (or decrement) in speed every 100 milliseconds.

• rotation_velocity (int) – Rotational velocity when the cube is changing orientation.

• rotation_direction (Union[AccelerationRotation, int]) – Rotational direction when the cube is changing orientation.

• cube_direction (Union[AccelerationDirection, int]) – Direction the cube travels.

• priority (Union[AccelerationPriority, int]) – Priority to the translational speed or the rotational velocity.

• duration_ms (int) – Motor driving period [ms].

References

https://toio.github.io/toio-spec/en/docs/ble_motor/#motor-control-with-acceleration-specified