Class default

constructor

• new default(peripheral): default

• Parameters

  • peripheral: null | BleRemotePeripheral

  Returns default

functionButtonPress

functionMotionChange

Optional ioKeys

keys

Optional ondisconnect

params

peripheral

requiredKeys

connectWait

• connectWait(timeout): Promise<number>

• Connect to the device

  デバイスに接続

  Parameters

  • timeout: number

    (not used)

  Returns Promise<number>

disconnectWait

• disconnectWait(): Promise<void>

• Disconnect from the sensor

  センサから切断

  Returns Promise<void>

getBatteryStateWait

• getBatteryStateWait(): Promise<number>

• Get the remaining battery power of the Toio_CoreCube

  Toio_CoreCubeのバッテリー残量を取得

  Returns Promise<number>

  remaining battery power バッテリー残量

  Range 範囲 0~100 (Unit 単位: 10 %)

getButtonStateWait

• getButtonStateWait(): Promise<boolean>

• Get button state from the Toio_CoreCube

  Toio_CoreCubeのボタンの状態を取得

  Returns Promise<boolean>

  Whether the button is pressed

  ボタンが押されたかどうか

getMotionWait

• getMotionWait(): Promise<{
      attitude: number;
      isCollision: boolean;
      isDoubletap: boolean;
      isHorizon: boolean;
  }>

• Get motion detection data from the Toio_CoreCube

  Toio_CoreCubeからのモーション検出データを取得

  Returns Promise<{
      attitude: number;
      isCollision: boolean;
      isDoubletap: boolean;
      isHorizon: boolean;
  }>

  motion detection data モーション検出データ

  {
  
  isHorizon: horizontal or not 水平かどうか,
  
  isCollision: detect collision or not 衝突検知したかどうか,
  
  isDoubletap: detect double tap or not ダブルタップ検出したかどうか,
  
  attitude: posture 姿勢
  
  (1: top faces upward 天面が上, 2: bottom faces upward 底面が上, 3: rear side faces upward 背面が上, 4: front side faces upward 正面が上. 5: right side faces upward 右側面が上, 6: left side faces upward 左側面が上)
  
  }
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getPositionWait

• getPositionWait(): Promise<{
      angle: number;
      posSensorAngle: number;
      posSensorX: number;
      posSensorY: number;
      posX: number;
      posY: number;
  }>

• Get the absolute position and angle of Toio_CoreCube

  (For more detail, please see https://toio.github.io/toio-spec/docs/ble_id )

  Toio_CoreCubeが存在している絶対位置や角度を取得

  (詳細は https://toio.github.io/toio-spec/docs/ble_id を参照してください。)

  Returns Promise<{
      angle: number;
      posSensorAngle: number;
      posSensorX: number;
      posSensorY: number;
      posX: number;
      posY: number;
  }>

  absolute position data 絶対位置データ

  {
  
  posX: X coordinate value of the center of the cube キューブ中心のx座標 (Position ID),
  
  posY: Y coordinate value of the center of the cube キューブ中心のY座標 (Position ID),
  
  angle: angle value of the center of the cube キューブの角度 (Range 範囲: 0~360 deg),
  
  posSensorX: X coordinate value of the identification sensor 読み取りセンサーのX座標 (Position ID),
  
  posSensorY: Y coordinate value of the identification sensor 読み取りセンサーのY座標 (Position ID),
  
  posSensorAngle: angle value of the identification sensor 読み取りセンサーの角度 (Range 範囲: 0~360 deg)
  
  }
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moveAroundWait

• moveAroundWait(_leftWheelPower?, _rightWheelPower?): Promise<void>

• Turn the wheel to move the Toio_CoreCube

  タイヤを回してToio_CoreCubeを動かす

  Parameters

  • _leftWheelPower: number = 0

    left wheel power 左側のタイヤ出力 (Range 範囲: -255~255)

    a positive value rotates forward, a negative value rotates backward

    正の値は前方、負の値は後方へ回転

  • _rightWheelPower: number = 0

    right wheel power 左側のタイヤ出力 (Range 範囲: -255~255)

    a positive value rotates forward, a negative value rotates backward

    正の値は前方、負の値は後方へ回転

  Returns Promise<void>

movePositionWait

• movePositionWait(timeoutSec?, moveType?, maxWheelPower?, wheelPowerType?, targetPosX?, targetPosY?, targetAngle?): Promise<void>

• Directs the Toio_CoreCube to the specified Position ID

  (For more detail, please see https://toio.github.io/toio-spec/en/docs/ble_motor/#motor-control-with-target-specified )

  Toio_CoreCubeを指定したPosition IDへ移動

  (詳細は https://toio.github.io/toio-spec/docs/ble_motor#%E7%9B%AE%E6%A8%99%E6%8C%87%E5%AE%9A%E4%BB%98%E3%81%8D%E3%83%A2%E3%83%BC%E3%82%BF%E3%83%BC%E5%88%B6%E5%BE%A1 を参照してください)

  Parameters

  • timeoutSec: number = 5

    timeout タイムアウト (Unit 単位: 1 sec)

  • moveType: number = 0

    method of movement 移動タイプ

    (0: move while rotating 回転しながら移動, 1: move while rotating without moving backwards 後退せず回転しながら移動, 2: move after rotating 回転してから移動)

  • maxWheelPower: number = 30

    maximum motor speed モーターの最大速度 (Range 範囲 10~255)

  • wheelPowerType: number = 0

    speed change type 速度変化タイプ

    (0: constant 速度一定, 1: gradual acceleration 徐々に加速, 2: gradual deceleration 徐々に減速, 3: accelerate to the midpoint and decelerate to the target point 中間地点まで加速し目標地点まで減速)

  • targetPosX: number = 0

    target point X coordinates 目標地点のX座標 (Position ID)

    Range 範囲: 0~65535 (65535: same as for write operation 書き込み操作時と同じ)

  • targetPosY: number = 0

    target point Y coordinates 目標地点のY座標 (Position ID)

    Range 範囲: 0~65535 (65535: same as for write operation 書き込み操作時と同じ)

  • targetAngle: number = 0

    angle of the cube at the target point 目標地点でのキューブの角度

  Returns Promise<void>

wired

• wired(obniz): void

• Parameters

  • obniz: Obniz

  Returns void

Static info

• info(): ObnizPartsInfo

• Returns ObnizPartsInfo

Static isDevice

• isDevice(peripheral): boolean

• Verify that the received peripheral is from the Toio_CoreCube

  受け取ったPeripheralがToio_CoreCubeのものかどうかを確認する

  Parameters

  • peripheral: BleRemotePeripheral

    instance of BleRemotePeripheral BleRemotePeripheralのインスタンス

  Returns boolean

  Whether it is the Toio_CoreCube

  Toio_CoreCubeかどうか