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toio Technical Specifications

website·Indexed 29 days ago

https://toio.github.io/toio-spec/

Technical specifications and BLE communication protocols for the toio cube, covering versions 2.0.0 through 2.5.0. Includes documentation on motor control, magnetic and tilt sensors, battery monitoring, LED indicators, and hardware dimensions, as well as details on Position IDs and Standard IDs for compatible play mats and cards.

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What's inside toio

  1. Overview of TIOI Cube hardware components and communication specs

    The TIOI Cube (Version 2.4.0) consists of several hardware components, each mapped to specific communication specifications for control and data retrieval:

    • Right and Left Wheels: Controlled via the Motor specification.
    • Identification Sensor: Managed via the Identification sensor specification.
    • Function Button/Indicator: Managed via the Button and Indicator (Light) specifications.
    • Power Button: Physical hardware control (no specific BLE communication spec listed).

  2. Overview of toio Core Cube hardware components

    The toio Core Cube consists of several hardware components that are controlled via specific BLE communication specifications. The primary components include:

    • Right and Left Tires: Controlled via the Motor specification.
    • Reading Sensor: Used for identifying markers via the ID sensor specification.
    • Function Button and Lamp: Controlled and monitored via the Button and Light specifications.
    • Power Button: Used for powering the device.

  3. Overview of the High Precision Tilt Sensor

    The High Precision Tilt Sensor provides estimated attitude angles calculated via a posture estimation algorithm using the cube's 6-axis motion sensor (accelerometer and gyroscope). Because these are estimated values, they are subject to constant error and drift.

    Important: This feature is disabled by default and must be enabled via the 'Posture Angle Detection Settings' in the BLE configuration before it can be used.

  4. Overview of the BLE High Precision Tilt Sensor

    The High Precision Tilt Sensor provides estimated attitude angles calculated via a posture estimation algorithm using the cube's 6-axis motion sensor (accelerometer and gyroscope). Because these are estimated values, they are subject to constant error and drift.

    Important: This feature is disabled by default and must be enabled via the 'Posture Angle Detection Settings' in the BLE configuration.

  5. Overview of the toio Magnetic Sensor BLE Characteristic

    The toio cube uses a magnetic sensor to detect specific magnet layout patterns attached to its top surface. This feature is disabled by default and must be enabled via the magnetic sensor configuration settings. The magnetic sensor shares the same BLE characteristic as the motion sensor.
    {
  "characteristic_uuid": "10B20106-5B3B-4571-9508-CF3EFCD7BBAE",
  "properties": ["Write", "Read", "Notify"],
  "descriptor": "Sensor Information"
}

  6. Overview of toio Posture Angle detection

    The toio cube uses a posture estimation algorithm based on a 6-axis motion sensor to calculate the posture angle. This feature is disabled by default and must be enabled in the Posture angle detection settings configuration before it becomes operational. Note that because it is a calculated value, it is subject to drift and error.

  7. Overview of toio Core Cube hardware components

    The toio Core Cube consists of several hardware components that are controlled via BLE communication specifications. The primary components include:

    • Right and Left Tires: Controlled via the Motor specification.
    • Reading Sensor: Used for detecting markers via the ID sensor specification.
    • Function Button and Lamp: A combined component controlled via the Button and Light specifications.
    • Power Button: Used for powering the device on/off.

  8. Overview of toio Core Cube hardware components

    The toio Core Cube consists of several hardware components, each associated with specific communication specifications for control and data retrieval:

    • Right and Left Tires: Controlled via the Motor specifications.
    • Reading Sensor: Used for identifying markers via the Reading Sensor specifications.
    • Function Button/Lamp: A combined component for user input (Button specifications) and visual feedback (Lamp specifications).
    • Power Button: Used for powering the device on/off.

  9. Overview of the BLE High Precision Tilt Sensor

    The High Precision Tilt Sensor provides estimated attitude angles of the toio Cube calculated via an attitude estimation algorithm using 6-axis motion sensor data (acceleration and angular velocity). Because these are estimated values, they contain a constant margin of error and drift.

    Important: This feature is disabled by default and must be enabled in the Cube's configuration settings before it can be used.

  10. Detect magnet states using the toio cube

    The toio cube uses a 3-axis magnetic sensor to detect six different magnet conditions based on the position and direction of magnetic force. This feature is available in cube system software version v02.0004 (BLE protocol version v2.2.0) and later. Because detection is limited to a specific magnetic flux density range, users should test magnets in the actual operating environment to ensure reliable detection.

  11. Understand toio BLE characteristic properties

    toio cube functions are controlled and monitored using BLE characteristics. These characteristics support three primary properties:

    • Write: Used to control the cube by writing data to the characteristic.
    • Read: Used to retrieve current information from the cube by reading the characteristic.
    • Notify: Used to receive automatic updates whenever the information available via 'Read' changes.

  12. Control sound playback on toio cube via BLE

    The toio cube features a piezoelectric speaker controlled via a specific BLE characteristic. This allows for playing built-in sound effects, MIDI-based melodies, or stopping all sound.
    Characteristic UUID: 10B20104-5B3B-4571-9508-CF3EFCD7BBAE
Properties: Write
Descriptor: Sound Control