Supports Python 3.8 and later versions
install: pip install https://github.com/wwj718/toio.py/archive/refs/heads/main.zip
This is a library for controlling toio™Core Cube from Python.
Based on toio Core Cube Specifications v2.3.0.
(日本語版 README.md はこちら)
- Uses bleak for Bluetooth communication
- Multi-platform (Windows, Linux, macOS)
- No dedicated Bluetooth dongle required
- Asynchronous API (ToioCoreCube API) based on the toio Core Cube Specifications and synchronous API (SimpleCube API) for easy cube control
- Scanning function by specifying BLE addresses and cube-specific names
- API to control cube functions classified by characteristics (ToioCoreCube API)
- Ability to scan paired cubes (Windows only)
- Windows: Windows 10 (21H2)
- Linux: Ubuntu22.04
- macOS: macOS 12(Monterey)
See below for instructions on how to set up and run the tutorial.
See SIMPLE_API.en.md for information on the SimpleCube API for easily controlling toio Core Cubes.
toio.py consists of two classes, Scanner and ToioCoreCube.
Class for scanning cubes via the BLE interface.
You can scan for cubes in the following ways:
- Scan for nearby cubes
- Scan for a specific cube by name (the last 3 characters of the toio Core Cube name)
The following is available only for Windows and Linux:
- Scan for a specific cube by BLE address
The following is available only for Windows:
- Scan for cubes registered (paired) with OS
Class for controlling the cube.
ToioCoreCube has subclasses corresponding to the characteristics described in toio CoreCube Specifications. You access the various functions of the cube via these subclasses.
Use BLEScanner.scan()
.
The argument is the number of cubes to find in the scan.
If the specified number of cubes are not found by the timeout (default value is 5 seconds), it returns a list of the number of cubes found at the time of the timeout.
The following sample scans and connects nearby cubes.
Disconnects 3 seconds after connecting.
import asyncio
from toio import *
async def scan_and_connect():
dev_list = await BLEScanner.scan(num=1)
assert len(dev_list)
cube = ToioCoreCube(dev_list[0].interface)
await cube.connect()
await asyncio.sleep(3)
await cube.disconnect()
return 0
if __name__ == "__main__":
asyncio.run(scan_and_connect())
Use BLEScanner.scan_with_id()
.
The argument is set (set type), a 3-digit string at the end of the cube. The argument is given as set even if only one unit is to be scanned.
If the specified number of cubes are not found by the timeout (default value is 5 seconds), it returns a list of cubes found at the time of the timeout.
dev_list = await BLEScanner.scan_with_id(cube_id={"C7f"})
Scan and connect toio Core Cube-C7f
.
Disconnects 3 seconds after connecting.
import asyncio
from toio import *
async def scan_and_connect():
dev_list = await BLEScanner.scan_with_id(cube_id={"C7f"})
assert len(dev_list)
cube = ToioCoreCube(dev_list[0].interface)
await cube.connect()
await asyncio.sleep(3)
await cube.disconnect()
return 0
if __name__ == "__main__":
asyncio.run(scan_and_connect())
Windows only, paired cubes can be scanned.
Use BLEScanner.scan_registered_cubes()
.
The argument is the number of cubes to find in the scan.
If the specified number of cubes are not found by the timeout (default value is 5 seconds), it returns a list of the number of cubes found at the time of the timeout.
dev_list = await BLEScanner.scan_registered_cubes()
Scan for paired cubes and connect them. (Pair the cube with Windows using "Add Bluetooth Device" before doing this.)
Disconnects 3 seconds after connecting.
import asyncio
from toio import *
async def scan_and_connect():
dev_list = await BLEScanner.scan_registered_cubes(num=1)
assert len(dev_list)
cube = ToioCoreCube(dev_list[0].interface)
await cube.connect()
await asyncio.sleep(3)
await cube.disconnect()
return 0
if __name__ == "__main__":
asyncio.run(scan_and_connect())
Use the class ToioCoreCube.api.id_information
to get the location information of the cube.
This class provides access to the read sensor characteristic.
The following code reads and displays the cube ID information 200 times.
It uses read()
to read to the characteristic.
import asyncio
from toio import *
async def read_id():
device_list = await BLEScanner.scan(1)
assert len(device_list)
cube = ToioCoreCube(device_list[0].interface)
await cube.connect()
for n in range(200):
pos = await cube.api.id_information.read()
print("%4d:%s" % (n, str(pos)))
await cube.disconnect()
if __name__ == "__main__":
asyncio.run(read_id())
You can receive notifications from the cube by registering a notification handler with register_notification_handler()
.
Notifications are per each characteristic. A notification handler registered with ToioCoreCube.api.id_information.register_notification_handler()
receives
receive only notifications from the read sensor.
The following code reads the ID by notification.
After 10 seconds, the handler is unregistered and disconnected.
import asyncio
from toio import *
# Notification handler
def notification_handler(payload: bytearray):
id_info = IdInformation.is_my_data(payload)
print(str(id_info))
async def read_id():
# connect to a cube
dev_list = await BLEScanner.scan(1)
assert len(dev_list)
cube = ToioCoreCube(dev_list[0].interface)
await cube.connect()
# add notification handler
await cube.api.id_information.register_notification_handler(notification_handler)
await asyncio.sleep(10)
# remove notification handler
await cube.api.id_information.unregister_notification_handler(
notification_handler
)
await cube.disconnect()
return 0
if __name__ == "__main__":
asyncio.run(read_id())
The complete code that keeps displaying ID information until Ctlr-C is pressed is examples/read_position.py.
The ToioCoreCube.api.motor
class is used to control the motor.
This class provides access to the motor's characteristic.
The following code uses motor_control()
to rotate the cube in place for 2 seconds.
import asyncio
from toio import *
async def motor_1():
# connect to a cube
dev_list = await BLEScanner.scan(1)
assert len(dev_list)
cube = ToioCoreCube(dev_list[0].interface)
await cube.connect()
# go
await cube.api.motor.motor_control(10, -10)
await asyncio.sleep(2)
# stop
await cube.api.motor.motor_control(0, 0)
await cube.disconnect()
return 0
if __name__ == "__main__":
asyncio.run(motor_1())
Use motor.motor_control_target()
to move the cube to a specified position on the mat.
import asyncio
from toio import *
# Notification handler
def notification_handler(payload: bytearray):
id_info = IdInformation.is_my_data(payload)
print(str(id_info))
async def motor_2():
# connect to a cube
dev_list = await BLEScanner.scan(1)
assert len(dev_list)
cube = ToioCoreCube(dev_list[0].interface)
await cube.connect()
await cube.api.motor.register_notification_handler(notification_handler)
await cube.api.motor.motor_control_target(
timeout=5,
movement_type=MovementType.Linear,
speed=Speed(
max=100, speed_change_type=SpeedChangeType.AccelerationAndDeceleration),
target=TargetPosition(
cube_location=CubeLocation(point=Point(x=200, y=200), angle=0),
rotation_option=RotationOption.AbsoluteOptimal,
),
)
await asyncio.sleep(4)
await cube.disconnect()
if __name__ == "__main__":
asyncio.run(motor_2())
Use motor.motor_control_multiple_targets()
to move the cube to a specified position on multiple mats.
import asyncio
from toio import *
async def motor_3():
# connect to a cube
dev_list = await BLEScanner.scan(1)
assert len(dev_list)
cube = ToioCoreCube(dev_list[0].interface)
await cube.connect()
targets = [
TargetPosition(
cube_location=CubeLocation(point=Point(x=250, y=250), angle=0), rotation_option=RotationOption.AbsoluteOptimal
),
TargetPosition(
cube_location=CubeLocation(point=Point(x=120, y=170), angle=0), rotation_option=RotationOption.AbsoluteOptimal
),
]
await cube.api.motor.motor_control_multiple_targets(
timeout=5,
movement_type=MovementType.Linear,
speed=Speed(
max=100, speed_change_type=SpeedChangeType.AccelerationAndDeceleration),
mode=WriteMode.Overwrite,
target_list=targets,
)
await asyncio.sleep(5)
await cube.disconnect()
if __name__ == "__main__":
asyncio.run(motor_3())