diff --git a/doc/main/hubs/cityhub.rst b/doc/main/hubs/cityhub.rst
index 7eee28d..d9964c6 100644
--- a/doc/main/hubs/cityhub.rst
+++ b/doc/main/hubs/cityhub.rst
@@ -61,7 +61,7 @@ City Hub
     .. blockimg:: pybricks_blockHubStopButton_CityHub
 
     .. blockimg:: pybricks_blockHubStopButton_CityHub_none
-    
+
     .. automethod:: pybricks.hubs::CityHub.system.set_stop_button
 
     .. automethod:: pybricks.hubs::CityHub.system.storage
diff --git a/doc/main/hubs/essentialhub.rst b/doc/main/hubs/essentialhub.rst
index a27cb56..16ab052 100644
--- a/doc/main/hubs/essentialhub.rst
+++ b/doc/main/hubs/essentialhub.rst
@@ -36,7 +36,7 @@ Essential Hub
     .. blockimg:: pybricks_blockHubStopButton_EssentialHub
 
     .. blockimg:: pybricks_blockHubStopButton_EssentialHub_none
-    
+
     .. automethod:: pybricks.hubs::EssentialHub.system.set_stop_button
 
     .. rubric:: Using the IMU
@@ -63,7 +63,7 @@ Essential Hub
     .. blockimg:: pybricks_blockTilt_EssentialHub_imu.tilt.pitch
 
     .. blockimg:: pybricks_blockTilt_EssentialHub_imu.tilt.roll
-    
+
     .. automethod:: pybricks.hubs::EssentialHub.imu.tilt
 
     .. blockimg:: pybricks_blockImuAcceleration_EssentialHub
@@ -89,11 +89,11 @@ Essential Hub
     .. automethod:: pybricks.hubs::EssentialHub.imu.orientation
 
     .. blockimg:: pybricks_blockImuConfigure_EssentialHub_imu.settings_heading_correction
-    
+
     .. blockimg:: pybricks_blockImuConfigure_EssentialHub_imu.settings_angular_velocity_threshold
-    
+
     .. blockimg:: pybricks_blockImuConfigure_EssentialHub_imu.settings_acceleration_threshold
-    
+
     .. automethod:: pybricks.hubs::EssentialHub.imu.settings
 
     .. rubric:: Using connectionless Bluetooth messaging
diff --git a/doc/main/hubs/movehub.rst b/doc/main/hubs/movehub.rst
index edb207d..99077be 100644
--- a/doc/main/hubs/movehub.rst
+++ b/doc/main/hubs/movehub.rst
@@ -38,7 +38,7 @@ Move Hub
     .. blockimg:: pybricks_blockTilt_MoveHub_imu.tilt.pitch
 
     .. blockimg:: pybricks_blockTilt_MoveHub_imu.tilt.roll
-    
+
     .. automethod:: pybricks.hubs::MoveHub.imu.tilt
 
     .. blockimg:: pybricks_blockImuAcceleration_MoveHub
@@ -84,7 +84,7 @@ Move Hub
     .. blockimg:: pybricks_blockHubStopButton_MoveHub
 
     .. blockimg:: pybricks_blockHubStopButton_MoveHub_none
-    
+
     .. automethod:: pybricks.hubs::MoveHub.system.set_stop_button
 
     .. automethod:: pybricks.hubs::MoveHub.system.storage
diff --git a/doc/main/hubs/primehub.rst b/doc/main/hubs/primehub.rst
index c83c7f7..fe16df5 100644
--- a/doc/main/hubs/primehub.rst
+++ b/doc/main/hubs/primehub.rst
@@ -82,7 +82,7 @@ Prime Hub / Inventor Hub
     .. blockimg:: pybricks_blockHubStopButton_PrimeHub
 
     .. blockimg:: pybricks_blockHubStopButton_PrimeHub_none
-    
+
     .. automethod:: pybricks.hubs::PrimeHub.system.set_stop_button
 
     .. rubric:: Using the IMU
@@ -109,7 +109,7 @@ Prime Hub / Inventor Hub
     .. blockimg:: pybricks_blockTilt_PrimeHub_imu.tilt.pitch
 
     .. blockimg:: pybricks_blockTilt_PrimeHub_imu.tilt.roll
-    
+
     .. automethod:: pybricks.hubs::PrimeHub.imu.tilt
 
     .. blockimg:: pybricks_blockImuAcceleration_PrimeHub
@@ -135,11 +135,11 @@ Prime Hub / Inventor Hub
     .. automethod:: pybricks.hubs::PrimeHub.imu.orientation
 
     .. blockimg:: pybricks_blockImuConfigure_PrimeHub_imu.settings_heading_correction
-    
+
     .. blockimg:: pybricks_blockImuConfigure_PrimeHub_imu.settings_angular_velocity_threshold
-    
+
     .. blockimg:: pybricks_blockImuConfigure_PrimeHub_imu.settings_acceleration_threshold
-    
+
     .. automethod:: pybricks.hubs::PrimeHub.imu.settings
 
     .. rubric:: Using the speaker
diff --git a/doc/main/hubs/technichub.rst b/doc/main/hubs/technichub.rst
index a3ee7aa..2dd4987 100644
--- a/doc/main/hubs/technichub.rst
+++ b/doc/main/hubs/technichub.rst
@@ -51,7 +51,7 @@ Technic Hub
     .. blockimg:: pybricks_blockTilt_TechnicHub_imu.tilt.pitch
 
     .. blockimg:: pybricks_blockTilt_TechnicHub_imu.tilt.roll
-    
+
     .. automethod:: pybricks.hubs::TechnicHub.imu.tilt
 
     .. blockimg:: pybricks_blockImuAcceleration_TechnicHub
@@ -77,11 +77,11 @@ Technic Hub
     .. automethod:: pybricks.hubs::TechnicHub.imu.orientation
 
     .. blockimg:: pybricks_blockImuConfigure_TechnicHub_imu.settings_heading_correction
-    
+
     .. blockimg:: pybricks_blockImuConfigure_TechnicHub_imu.settings_angular_velocity_threshold
-    
+
     .. blockimg:: pybricks_blockImuConfigure_TechnicHub_imu.settings_acceleration_threshold
-    
+
     .. automethod:: pybricks.hubs::TechnicHub.imu.settings
 
     .. rubric:: Using connectionless Bluetooth messaging
@@ -119,7 +119,7 @@ Technic Hub
     .. blockimg:: pybricks_blockHubStopButton_TechnicHub
 
     .. blockimg:: pybricks_blockHubStopButton_TechnicHub_none
-    
+
     .. automethod:: pybricks.hubs::TechnicHub.system.set_stop_button
 
     .. automethod:: pybricks.hubs::TechnicHub.system.storage
diff --git a/doc/main/iodevices/xboxcontroller.rst b/doc/main/iodevices/xboxcontroller.rst
index 9de6e9f..d73902c 100644
--- a/doc/main/iodevices/xboxcontroller.rst
+++ b/doc/main/iodevices/xboxcontroller.rst
@@ -30,19 +30,19 @@ Xbox Controller
   .. blockimg:: pybricks_blockJoystickValue_lj_x
 
   .. blockimg:: pybricks_blockJoystickValue_lj_y
-  
+
   .. automethod:: pybricks.iodevices::XboxController.joystick_left
 
   .. blockimg:: pybricks_blockJoystickValue_rj_x
 
   .. blockimg:: pybricks_blockJoystickValue_rj_y
-  
+
   .. automethod:: pybricks.iodevices::XboxController.joystick_right
 
   .. blockimg:: pybricks_blockJoystickValue_lt
 
   .. blockimg:: pybricks_blockJoystickValue_rt
-  
+
   .. automethod:: pybricks.iodevices::XboxController.triggers
 
   .. blockimg:: pybricks_blockJoystickValue_dpad
@@ -56,9 +56,9 @@ Xbox Controller
   .. blockimg:: pybricks_blockGamepadRumble_default
 
   .. blockimg:: pybricks_blockGamepadRumble_default_with_list
-  
+
   .. blockimg:: pybricks_blockGamepadRumble_with_options
-  
+
   .. automethod:: pybricks.iodevices::XboxController.rumble
 
 .. _xbox-controller-pairing:
diff --git a/doc/main/pupdevices/colorsensor.rst b/doc/main/pupdevices/colorsensor.rst
index f90c199..a3b8c7f 100644
--- a/doc/main/pupdevices/colorsensor.rst
+++ b/doc/main/pupdevices/colorsensor.rst
@@ -42,7 +42,7 @@ Color Sensor
     .. blockimg:: pybricks_blockLightOn_colorsensor_on
 
     .. blockimg:: pybricks_blockLightOn_colorsensor_on_list
-    
+
     .. automethod:: pybricks.pupdevices::ColorSensor.lights.on
 
     .. blockimg:: pybricks_blockLightOn_colorsensor_off
diff --git a/doc/main/pupdevices/motor.rst b/doc/main/pupdevices/motor.rst
index c532ddf..2d709cd 100644
--- a/doc/main/pupdevices/motor.rst
+++ b/doc/main/pupdevices/motor.rst
@@ -105,9 +105,9 @@ Motors with rotation sensors
     .. blockimg:: pybricks_blockMotorConfigure_motor_max_speed
 
     .. blockimg:: pybricks_blockMotorConfigure_motor_acceleration
-    
+
     .. blockimg:: pybricks_blockMotorConfigure_motor_max_torque
-    
+
     .. automethod:: pybricks.pupdevices.Motor.control.limits
 
     .. pybricks-requirements:: pybricks-common-control
diff --git a/doc/main/pupdevices/tiltsensor.rst b/doc/main/pupdevices/tiltsensor.rst
index 918c556..1aa537f 100644
--- a/doc/main/pupdevices/tiltsensor.rst
+++ b/doc/main/pupdevices/tiltsensor.rst
@@ -14,7 +14,7 @@ Tilt Sensor
     .. blockimg:: pybricks_blockTilt_TiltSensor_imu.tilt.pitch
 
     .. blockimg:: pybricks_blockTilt_TiltSensor_imu.tilt.roll
-    
+
     .. automethod:: tilt
 
 Examples
diff --git a/doc/main/pupdevices/ultrasonicsensor.rst b/doc/main/pupdevices/ultrasonicsensor.rst
index 321acca..8647970 100644
--- a/doc/main/pupdevices/ultrasonicsensor.rst
+++ b/doc/main/pupdevices/ultrasonicsensor.rst
@@ -25,7 +25,7 @@ Ultrasonic Sensor
     .. blockimg:: pybricks_blockLightOn_ultrasonicsensor_on
 
     .. blockimg:: pybricks_blockLightOn_ultrasonicsensor_on_list
-    
+
     .. automethod:: pybricks.pupdevices::UltrasonicSensor.lights.on
 
     .. blockimg:: pybricks_blockLightOn_ultrasonicsensor_off