examples: import snippets from pybricks-projects

These code samples are rendered in the docs, so we include them here.

For the git history of these snippets, see:
https://github.com/pybricks/pybricks-projects/commits/f4914069aaacfd9ab1e0dd6f05524f62cfc56b29/snippets

examples/ev3/bluetooth_client/.gitignore

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+__pycache__/
+*.pyc
+venv/

examples/ev3/bluetooth_client/.vscode/extensions.json

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+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/bluetooth_client/.vscode/launch.json

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+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/client.py"
+		}
+	]
+}

examples/ev3/bluetooth_client/.vscode/settings.json

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+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/bluetooth_client/client.py

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+#!/usr/bin/env pybricks-micropython
+
+# Before running this program, make sure the client and server EV3 bricks are
+# paired using Bluetooth, but do NOT connect them. The program will take care
+# of establishing the connection.
+
+# The server must be started before the client!
+
+from pybricks.messaging import BluetoothMailboxClient, TextMailbox
+
+# This is the name of the remote EV3 or PC we are connecting to.
+SERVER = 'ev3dev'
+
+client = BluetoothMailboxClient()
+mbox = TextMailbox('greeting', client)
+
+print('establishing connection...')
+client.connect(SERVER)
+print('connected!')
+
+# In this program, the client sends the first message and then waits for the
+# server to reply.
+mbox.send('hello!')
+mbox.wait()
+print(mbox.read())

examples/ev3/bluetooth_pc/.vscode/launch.json

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+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "PC Bluetooth Example",
+            "type": "python",
+            "request": "launch",
+            "program": "pcclient.py",
+            "console": "integratedTerminal"
+        }
+    ]
+}

examples/ev3/bluetooth_pc/pcclient.py

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+#!/usr/bin/env python3
+from pybricks.messaging import BluetoothMailboxClient, TextMailbox
+
+# This demo makes your PC talk to an EV3 over Bluetooth.
+#
+# This is identical to the EV3 client example in ../bluetooth_client
+#
+# The only difference is that it runs in Python3 on your computer, thanks to
+# the Python3 implementation of the messaging module that is included here.
+# As far as the EV3 is concerned, it thinks it just talks to an EV3 client.
+#
+# So, the EV3 server example needs no further modifications. The connection
+# procedure is also the same as documented in the messaging module docs:
+# https://docs.pybricks.com/en/latest/messaging.html
+#
+# So, turn Bluetooth on on your PC and the EV3. You may need to make Bluetooth
+# visible on the EV3. You can skip pairing if you already know the EV3 address.
+
+# This is the address of the server EV3 we are connecting to.
+SERVER = 'CC:78:AB:D8:4E:F6'
+
+client = BluetoothMailboxClient()
+mbox = TextMailbox('greeting', client)
+
+print('establishing connection...')
+client.connect(SERVER)
+print('connected!')
+
+# In this program, the client sends the first message and then waits for the
+# server to reply.
+mbox.send('hello!')
+mbox.wait()
+print(mbox.read())

examples/ev3/bluetooth_pc/pybricks/README.md

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+This is a partial implementation of the pybricks package that is normally
+included in Pybricks MicroPython for EV3. It makes the PC look like an EV3 so
+other EV3 bricks can connect to it and vice versa.
+
+It has the same end user API, so the same documentation applies:
+https://docs.pybricks.com/en/latest/messaging.html
+
+This is a Python3 modification of the original Pybricks MicroPython version:
+https://github.com/pybricks/pybricks-micropython/tree/master/bricks/ev3dev

examples/ev3/bluetooth_pc/pybricks/bluetooth.py

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+# SPDX-License-Identifier: MIT
+# Copyright (C) 2020 The Pybricks Authors
+
+"""
+:class:`RFCOMMServer` can be used to communicate with other Bluetooth RFCOMM
+devices that don't support the EV3 mailbox protocol.
+
+It is based on the standard library ``socketserver`` module and attempts to
+remain a strict subset of that implementation when it comes to low-level
+implementation details.
+"""
+
+from bluetooth import BluetoothSocket, RFCOMM
+from socketserver import ThreadingMixIn
+
+BDADDR_ANY = ""
+
+
+def str2ba(string, ba):
+    """Convert string to Bluetooth address"""
+    for i, v in enumerate(string.split(':')):
+        ba.b[5-i] = int(v, 16)
+
+
+def ba2str(ba):
+    """Convert Bluetooth address to string"""
+    string = []
+    for b in ba.b:
+        string.append('{:02X}'.format(b))
+    string.reverse()
+    return ':'.join(string).upper()
+
+
+class RFCOMMServer:
+    """Object that simplifies setting up an RFCOMM socket server.
+
+    This is based on the ``socketserver.SocketServer`` class in the Python
+    standard library.
+    """
+    request_queue_size = 1
+
+    def __init__(self, server_address, RequestHandlerClass):
+        self.server_address = server_address
+        self.RequestHandlerClass = RequestHandlerClass
+
+        self.socket = BluetoothSocket(RFCOMM)
+
+        try:
+            self.socket.bind((server_address[0], server_address[1]))
+            # self.server_address = self.socket.getsockname()
+            self.socket.listen(self.request_queue_size)
+        except Exception:
+            self.server_close()
+            raise
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, type, value, traceback):
+        self.server_close()
+
+    def handle_request(self):
+        try:
+            request, addr_data = self.socket.accept()
+        except OSError:
+            return
+
+        try:
+            self.process_request(request, addr_data)
+        except Exception:
+            request.close()
+            raise
+
+    def process_request(self, request, client_address):
+        self.finish_request(request, client_address)
+        request.close()
+
+    def finish_request(self, request, client_address):
+        self.RequestHandlerClass(request, client_address, self)
+
+    def server_close(self):
+        self.socket.close()
+
+
+class StreamRequestHandler:
+    """Class that handles incoming requests.
+
+    This is based on ``socketserver.StreamRequestHandler`` from the Python
+    standard library.
+    """
+    def __init__(self, request, client_address, server):
+        self.request = request
+        self.client_address = client_address
+        self.server = server
+        self.setup()
+        try:
+            self.handle()
+        finally:
+            self.finish()
+
+    def setup(self):
+        self.wfile = self.request
+        self.rfile = self.request
+
+    def handle(self):
+        pass
+
+    def finish(self):
+        pass
+
+
+class ThreadingRFCOMMServer(ThreadingMixIn, RFCOMMServer):
+    """Version of :class:`RFCOMMServer` that handles connections in a new
+    thread.
+    """
+    pass
+
+
+class RFCOMMClient:
+    def __init__(self, client_address, RequestHandlerClass):
+        self.client_address = client_address
+        self.RequestHandlerClass = RequestHandlerClass
+        self.socket = BluetoothSocket(RFCOMM)
+
+    def handle_request(self):
+        self.socket.connect((self.client_address[0], self.client_address[1]))
+        try:
+            self.process_request(self.socket, self.client_address)
+        except Exception:
+            self.socket.close()
+            raise
+
+    def process_request(self, request, client_address):
+        self.finish_request(request, client_address)
+        request.close()
+
+    def finish_request(self, request, client_address):
+        self.RequestHandlerClass(request, client_address, self)
+
+    def client_close(self):
+        self.socket.close()
+
+
+class ThreadingRFCOMMClient(ThreadingMixIn, RFCOMMClient):
+    pass

examples/ev3/bluetooth_pc/pybricks/messaging.py

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+# SPDX-License-Identifier: MIT
+# Copyright (C) 2020 The Pybricks Authors
+
+from _thread import allocate_lock
+from errno import ECONNRESET
+from struct import pack, unpack
+
+from .bluetooth import (BDADDR_ANY, ThreadingRFCOMMServer,
+                        ThreadingRFCOMMClient, StreamRequestHandler)
+
+
+def resolve(brick):
+    """Fake resolver to get address from Bluetooth name.
+
+    To connect to an EV3 server, you must specify its full address.
+    """
+    return brick
+
+
+class Mailbox:
+    def __init__(self, name, connection, encode=None, decode=None):
+        """Object that represents a mailbox for sending an receiving messages
+        from other connected devices.
+
+        Arguments:
+            name (str):
+                The name of this mailbox.
+            connection:
+                A connection object that implements the mailbox connection
+                interface.
+            encode:
+                A function that encodes an object into a bytes-like object.
+            decode:
+                A function that decodes an object from a bytes-like object.
+        """
+        self.name = name
+        self._connection = connection
+
+        if encode:
+            self.encode = encode
+
+        if decode:
+            self.decode = decode
+
+    def encode(self, value):
+        return value
+
+    def decode(self, payload):
+        return payload
+
+    def read(self):
+        """Reads the current value of the mailbox.
+
+        Returns:
+            The decoded value or ``None`` if the mailbox has never received
+            a value.
+        """
+        data = self._connection.read_from_mailbox(self.name)
+        if data is None:
+            return None
+        return self.decode(data)
+
+    def send(self, value, destination=None):
+        """Sends a value to remote mailboxes with the same name as this
+        mailbox.
+
+        Arguments:
+            value: The value to send.
+            destination: The name or address of a specific device or ``None``
+                to broadcast to all connected devices.
+        """
+        data = self.encode(value)
+        self._connection.send_to_mailbox(destination, self.name, data)
+
+    def wait(self):
+        """Waits for the mailbox to receive a message."""
+        self._connection.wait_for_mailbox_update(self.name)
+
+    def wait_new(self):
+        """Waits for the mailbox to receive a message that is different from
+        the current contents of the mailbox.
+
+        Returns:
+            The new value. (Same as return value of :meth:`read`.)
+        """
+        old = self.read()
+        while True:
+            self.wait()
+            new = self.read()
+            if new != old:
+                return new
+
+
+class LogicMailbox(Mailbox):
+    """:class:`Mailbox` that holds a logic or boolean value.
+
+    This is compatible with the "logic" message blocks in the standard
+    EV3 firmware.
+    """
+
+    def encode(self, value):
+        return b'\x01' if value else b'\x00'
+
+    def decode(self, payload):
+        return bool(payload[0])
+
+
+class NumericMailbox(Mailbox):
+    """:class:`Mailbox` that holds a numeric or floating point value.
+
+    This is compatible with the "numeric" message blocks in the standard
+    EV3 firmware.
+    """
+
+    def encode(self, value):
+        return pack('<f', value)
+
+    def decode(self, payload):
+        return unpack('<f', payload)[0]
+
+
+class TextMailbox(Mailbox):
+    """:class:`Text` that holds a text or string point value.
+
+    This is compatible with the "text" message blocks in the standard
+    EV3 firmware.
+    """
+
+    def encode(self, value):
+        return ('{}\0'.format(value)).encode('utf-8')
+
+    def decode(self, payload):
+        return payload.decode().strip('\0')
+
+
+# EV3 standard firmware is hard-coded to use channel 1
+EV3_RFCOMM_CHANNEL = 1
+
+# EV3 VM bytecodes
+SYSTEM_COMMAND_NO_REPLY = 0x81
+WRITEMAILBOX = 0x9E
+
+
+class MailboxHandler(StreamRequestHandler):
+    def handle(self):
+        with self.server._lock:
+            self.server._clients[self.client_address[0]] = self.request
+        while True:
+            try:
+                buf = self.rfile.recv(2)
+                if len(buf) == 0:
+                    break
+            except OSError as ex:
+                # The client disconnected the connection
+                if ex.args[0] == ECONNRESET:
+                    break
+                raise
+            size, = unpack('<H', buf)
+            buf = self.rfile.recv(size)
+            msg_count, cmd_type, cmd, name_size = unpack('<HBBB', buf[0:5])
+            if cmd_type != SYSTEM_COMMAND_NO_REPLY:
+                raise ValueError('Bad message type')
+            if cmd != WRITEMAILBOX:
+                raise ValueError('Bad command')
+            mbox = buf[5:5+name_size].decode().strip('\0')
+            data_size, = unpack('<H', buf[5+name_size:7+name_size])
+            data = buf[7+name_size:7+name_size+data_size]
+
+            with self.server._lock:
+                self.server._mailboxes[mbox] = data
+                update_lock = self.server._updates.get(mbox)
+                if update_lock:
+                    update_lock.release()
+
+
+class MailboxHandlerMixIn:
+    def __init__(self):
+        # protects against concurrent access of other attributes
+        self._lock = allocate_lock()
+        # map of mailbox name to raw data
+        self._mailboxes = {}
+        # map of device name/address to object with send() method
+        self._clients = {}
+        # map of mailbox name to mutex lock
+        self._updates = {}
+        # map of names to addresses
+        self._addresses = {}
+
+    def read_from_mailbox(self, mbox):
+        """Reads the current raw data from a mailbox.
+
+        Arguments:
+            mbox (str):
+                The name of the mailbox.
+
+        Returns:
+            bytes:
+                The current mailbox raw data or ``None`` if nothing has ever
+                been delivered to the mailbox.
+        """
+        with self._lock:
+            return self._mailboxes.get(mbox)
+
+    def send_to_mailbox(self, brick, mbox, payload):
+        """Sends a mailbox value using raw bytes data.
+
+        Arguments:
+            brick (str):
+                The name or address of the brick or ``None``` to broadcast to
+                all connected devices
+            mbox (str):
+                The name of the mailbox.
+            payload (bytes):
+                A bytes-like object that will be sent to the mailbox.
+        """
+        mbox_len = len(mbox) + 1
+        payload_len = len(payload)
+        send_len = 7 + mbox_len + payload_len
+        fmt = '<HHBBB{}sH{}s'.format(mbox_len, payload_len)
+        data = pack(fmt, send_len, 1, SYSTEM_COMMAND_NO_REPLY, WRITEMAILBOX,
+                    mbox_len, mbox.encode('utf-8'), payload_len, payload)
+        with self._lock:
+            if brick is None:
+                for client in self._clients.values():
+                    client.send(data)
+            else:
+                addr = self._addresses.get(brick)
+                if addr is None:
+                    addr = resolve(brick)
+                    self._addresses[brick] = addr
+                if addr is None:
+                    raise ValueError('no paired devices matching "{}"'.format(brick))
+                self._clients[addr].send(data)
+
+    def wait_for_mailbox_update(self, mbox):
+        """Waits until ``mbox`` receives a value."""
+        lock = allocate_lock()
+        lock.acquire()
+        with self._lock:
+            self._updates[mbox] = lock
+        try:
+            return lock.acquire()
+        finally:
+            with self._lock:
+                del self._updates[mbox]
+
+
+class BluetoothMailboxServer(MailboxHandlerMixIn, ThreadingRFCOMMServer):
+    def __init__(self):
+        """Object that represents an incoming Bluetooth connection from another
+        EV3.
+
+        The remote EV3 can either be running MicroPython or the standard EV3
+        firmare.
+        """
+        super().__init__()
+        super(ThreadingRFCOMMServer, self).__init__(
+            (BDADDR_ANY, EV3_RFCOMM_CHANNEL), MailboxHandler)
+
+    def wait_for_connection(self, count=1):
+        """Waits for a :class:`BluetoothMailboxClient` on a remote device to
+        connect.
+
+        Arguments:
+            count (int):
+                The number of remote connections to wait for.
+
+        Raises:
+            OSError:
+                There was a problem establishing the connection.
+        """
+        for _ in range(count):
+            self.handle_request()
+
+
+class MailboxRFCOMMClient(ThreadingRFCOMMClient):
+    def __init__(self, parent, bdaddr):
+        self.parent = parent
+        super().__init__((bdaddr, EV3_RFCOMM_CHANNEL), MailboxHandler)
+
+    def send(self, data):
+        self.socket.send(data)
+
+    def shutdown_request(self, request):
+        request.close()
+
+    def finish_request(self, request, client_address):
+        self.RequestHandlerClass(request, client_address, self.parent)
+
+
+class BluetoothMailboxClient(MailboxHandlerMixIn):
+    """Object that represents outgoing Bluetooth connections to one or more
+    remote EV3s.
+
+    The remote EV3s can either be running MicroPython or the standard EV3
+    firmare.
+    """
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, type, value, traceback):
+        self.close()
+
+    def connect(self, brick):
+        """Connects to a :class:`BluetoothMailboxServer` on another device.
+
+        The remote device must be paired and waiting for a connection. See
+        :meth:`BluetoothMailboxServer.wait_for_connection`.
+
+        Arguments:
+            brick (str):
+                The name or address of the remote EV3 to connect to.
+
+        Raises:
+            TypeError:
+                ``brick`` is not a string
+            ValueError:
+                There are no paired Bluetooth devices that match ``brick``
+                or connection to ``brick`` already exists.
+            OSError:
+                There was a problem establishing the connection.
+        """
+        addr = resolve(brick)
+        if addr is None:
+            raise ValueError('no paired devices matching "{}"'.format(brick))
+        client = MailboxRFCOMMClient(self, addr)
+        if self._clients.setdefault(addr, client) is not client:
+            raise ValueError('connection with this address already exists')
+        try:
+            client.handle_request()
+        except Exception:
+            del self._clients[addr]
+            raise
+
+    def close(self):
+        """Closes the connections."""
+        for client in self._clients.values():
+            client.client_close()
+        self._clients.clear()

examples/ev3/bluetooth_read_spike/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+.venv/

examples/ev3/bluetooth_read_spike/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/bluetooth_read_spike/.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py",
+			"interactiveTerminal": false
+		}
+	]
+}

examples/ev3/bluetooth_read_spike/.vscode/settings.json

@@ -0,0 +1,8 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false,
+	"python.languageServer": "None",
+	"ev3devBrowser.download.exclude": "{**/.*,**/*.md}"
+}

examples/ev3/bluetooth_read_spike/README.md

@@ -0,0 +1,6 @@
+To find the SPIKE Prime Bluetooth address:
+- Press the Bluetooth button on SPIKE to make it discoverable.
+- Use the menu on the EV3 screen and go to:
+  Wireless and Networks > Bluetooth > Start Scan.
+- Scroll down the list and choose your SPIKE hub.
+- No need to pair or connect! Just write down the address you see.

examples/ev3/bluetooth_read_spike/connection.py

@@ -0,0 +1,80 @@
+
+from uctypes import addressof, sizeof, struct
+from usocket import socket, SOCK_STREAM
+
+from _thread import start_new_thread
+
+from pybricks.bluetooth import (
+    str2ba,
+    sockaddr_rc,
+    AF_BLUETOOTH,
+    BTPROTO_RFCOMM
+)
+from pybricks.tools import wait, StopWatch
+
+
+def get_bluetooth_rfcomm_socket(address, channel):
+    addr_data = bytearray(sizeof(sockaddr_rc))
+    addr = struct(addressof(addr_data), sockaddr_rc)
+    addr.rc_family = AF_BLUETOOTH
+    str2ba(address, addr.rc_bdaddr)
+    addr.rc_channel = channel
+
+    sock = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM)
+    sock.connect(addr_data)
+    return sock
+
+
+class SpikePrimeStreamReader():
+    def __init__(self, address):
+
+        try:
+            self.sock = get_bluetooth_rfcomm_socket(address, 1)
+        except OSError as e:
+            print("Turn on Bluetooth on the EV3 and on SPIKE.")
+            raise e
+
+        self._values = None
+
+        start_new_thread(self.reader, ())
+
+        watch = StopWatch()
+        while watch.time() < 2000:
+            if self.values() is not None:
+                return
+            wait(100)
+        raise IOError("No data received")
+
+    def disconnect(self):
+        self.sock.close()
+
+    def reader(self):
+        while True:
+            try:
+                raw = self.sock.recv(1024)
+            except OSError:
+                break
+            try:
+                data = eval(raw)
+                if data['m'] == 0:
+                    self._values = data['p']
+            except (SyntaxError, KeyError):
+                pass
+
+    def values(self):
+        return self._values
+
+    def device(self, port):
+        if 'A' <= port <= 'F':
+            return self.values()[ord(port)-ord('A')][1]
+        else:
+            raise ValueError
+
+    def acceleration(self):
+        return self.values()[6]
+
+    def gyro(self):
+        return self.values()[7]
+
+    def orientation(self):
+        return self.values()[8]

examples/ev3/bluetooth_read_spike/main.py

@@ -0,0 +1,17 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.tools import wait
+
+from connection import SpikePrimeStreamReader
+
+# Beep!
+ev3 = EV3Brick()
+ev3.speaker.beep()
+
+# Create the connection. See README.md to find the address for your SPIKE hub.
+spike = SpikePrimeStreamReader('F4:84:4C:AA:C8:A4')
+
+# Now you can simply read values!
+for i in range(100):
+    print(spike.values())
+    wait(100)

examples/ev3/bluetooth_read_spike/rover.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.tools import wait
+from pybricks.ev3devices import Motor
+from pybricks.robotics import DriveBase
+from pybricks.parameters import Port
+
+from connection import SpikePrimeStreamReader
+
+# Beep!
+ev3 = EV3Brick()
+ev3.speaker.beep()
+
+# Create the connection. See README.md to find the address for your SPIKE hub.
+spike = SpikePrimeStreamReader('F4:84:4C:AA:C8:A4')
+
+# Initialize the motors and drive base
+left_motor = Motor(Port.B)
+right_motor = Motor(Port.C)
+robot = DriveBase(left_motor, right_motor, wheel_diameter=55.5, axle_track=104)
+
+while True:
+    # Read the orientation
+    yaw, pitch, roll = spike.orientation()
+
+    # Set speed and turn rate based on orientation
+    robot.drive(-pitch*6, roll*2)
+    wait(20)

examples/ev3/bluetooth_server/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+venv/

examples/ev3/bluetooth_server/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/bluetooth_server/.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/server.py"
+		}
+	]
+}

examples/ev3/bluetooth_server/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/bluetooth_server/server.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env pybricks-micropython
+
+# Before running this program, make sure the client and server EV3 bricks are
+# paired using Bluetooth, but do NOT connect them. The program will take care
+# of establishing the connection.
+
+# The server must be started before the client!
+
+from pybricks.messaging import BluetoothMailboxServer, TextMailbox
+
+server = BluetoothMailboxServer()
+mbox = TextMailbox('greeting', server)
+
+# The server must be started before the client!
+print('waiting for connection...')
+server.wait_for_connection()
+print('connected!')
+
+# In this program, the server waits for the client to send the first message
+# and then sends a reply.
+mbox.wait()
+print(mbox.read())
+mbox.send('hello to you!')

examples/ev3/buttons/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+venv/

examples/ev3/buttons/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/buttons/.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py"
+		}
+	]
+}

examples/ev3/buttons/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/buttons/main.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env pybricks-micropython
+
+from pybricks.hubs import EV3Brick
+from pybricks.tools import wait
+from pybricks.parameters import Button
+
+# Initialize the EV3
+ev3 = EV3Brick()
+
+# Wait until any of the buttons are pressed
+while not any(ev3.buttons.pressed()):
+    wait(10)
+
+# Do something if the left button is pressed
+if Button.LEFT in ev3.buttons.pressed():
+    print("The left button is pressed.")
+
+# Wait until all buttons are released
+while any(ev3.buttons.pressed()):
+    wait(10)

examples/ev3/buttons_quickstart/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+venv/

examples/ev3/buttons_quickstart/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/buttons_quickstart/.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py"
+		}
+	]
+}

examples/ev3/buttons_quickstart/.vscode/settings.json

@@ -0,0 +1,7 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false,
+	"ev3devBrowser.download.exclude": "{**/.*,**/*.svg}"
+}

examples/ev3/buttons_quickstart/buttons.svg

@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="178"
+   height="128"
+   viewBox="0 0 47.095832 33.866668"
+   version="1.1"
+   id="svg8"
+   inkscape:version="0.92.3 (2405546, 2018-03-11)"
+   sodipodi:docname="buttons.svg"
+   inkscape:export-filename="buttons.png"
+   inkscape:export-xdpi="96"
+   inkscape:export-ydpi="96">
+  <defs
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+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="1"
+     inkscape:pageshadow="2"
+     inkscape:zoom="3.959798"
+     inkscape:cx="95.61633"
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+     inkscape:document-units="mm"
+     inkscape:current-layer="layer1"
+     showgrid="false"
+     inkscape:window-width="1920"
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+  <metadata
+     id="metadata5">
+    <rdf:RDF>
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+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
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+        <dc:title />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
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examples/ev3/buttons_quickstart/main.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env pybricks-micropython
+
+from pybricks.hubs import EV3Brick
+from pybricks.parameters import Button
+
+from menu import wait_for_button
+
+# Initialize the EV3.
+ev3 = EV3Brick()
+
+while True:
+    # Show the menu and wait for one button to be selected.
+    button = wait_for_button(ev3)
+
+    # Now you can do something, based on which button was pressed.
+
+    # In this demo, we just play a different sound for each button.
+    if button == Button.LEFT:
+        ev3.speaker.beep(200)
+    elif button == Button.RIGHT:
+        ev3.speaker.beep(400)
+    elif button == Button.UP:
+        ev3.speaker.beep(600)
+    elif button == Button.DOWN:
+        ev3.speaker.beep(800)
+    elif button == Button.CENTER:
+        ev3.speaker.beep(1000)

examples/ev3/buttons_quickstart/menu.py

@@ -0,0 +1,30 @@
+def wait_for_button(ev3):
+    """
+    This function shows a picture of the buttons on the EV3 screen.
+
+    Then it waits until you press a button.
+
+    It returns which button was pressed.
+    """
+
+    # Show a picture of the buttons on the screen.
+    ev3.screen.load_image('buttons.png')
+
+    # Tip: add text or icons to the image to help you
+    # remember what each button will do in your program.
+
+    # Wait for a single button to be pressed and save the result.
+    pressed = []
+    while len(pressed) != 1:
+        pressed = ev3.buttons.pressed()
+    button = pressed[0]
+
+    # Print which button was pressed
+    ev3.screen.draw_text(2, 100, button)
+
+    # Now wait for the button to be released.
+    while any(ev3.buttons.pressed()):
+        pass
+
+    # Return which button was pressed.
+    return button

examples/ev3/datalog/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+.venv/

examples/ev3/datalog/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/datalog/.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py",
+			"interactiveTerminal": false
+		}
+	]
+}

examples/ev3/datalog/.vscode/settings.json

@@ -0,0 +1,7 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false,
+	"python.languageServer": "None"
+}

examples/ev3/datalog/main.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.ev3devices import Motor
+from pybricks.parameters import Port
+from pybricks.tools import DataLog, StopWatch, wait
+
+# Create a data log file in the project folder on the EV3 Brick.
+# * By default, the file name contains the current date and time, for example:
+#   log_2020_02_13_10_07_44_431260.csv
+# * You can optionally specify the titles of your data columns. For example,
+#   if you want to record the motor angles at a given time, you could do:
+data = DataLog('time', 'angle')
+
+# Initialize a motor and make it move
+wheel = Motor(Port.B)
+wheel.run(500)
+
+# Start a stopwatch to measure elapsed time
+watch = StopWatch()
+
+# Log the time and the motor angle 10 times
+for i in range(10):
+    # Read angle and time
+    angle = wheel.angle()
+    time = watch.time()
+
+    # Each time you use the log() method, a new line with data is added to
+    # the file. You can add as many values as you like.
+    # In this example, we save the current time and motor angle:
+    data.log(time, angle)
+
+    # Wait some time so the motor can move a bit
+    wait(100)
+
+# You can now upload your file to your computer

examples/ev3/datalog_extra/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+.venv/

examples/ev3/datalog_extra/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/datalog_extra/.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py",
+			"interactiveTerminal": false
+		}
+	]
+}

examples/ev3/datalog_extra/.vscode/settings.json

@@ -0,0 +1,7 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false,
+	"python.languageServer": "None"
+}

examples/ev3/datalog_extra/main.py

@@ -0,0 +1,15 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.parameters import Color
+from pybricks.tools import DataLog
+
+# Create a data log file called my_file.txt
+data = DataLog('time', 'angle', name='my_file', timestamp=False, extension='txt')
+
+# The log method uses the print() method to add a line of text.
+# So, you can do much more than saving numbers. For example:
+data.log('Temperature', 25)
+data.log('Sunday', 'Monday', 'Tuesday')
+data.log({'Kiwi': Color.GREEN}, {'Banana': Color.YELLOW})
+
+# You can upload the file to your computer, but you can also print the data:
+print(data)

examples/ev3/ev3devsensor/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+venv/

examples/ev3/ev3devsensor/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/ev3devsensor/.vscode/launch.json

@@ -0,0 +1,20 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Main Example",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py"
+		},
+		{
+			"name": "Class Example",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/class_example.py"
+		}
+	]
+}

examples/ev3/ev3devsensor/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/ev3devsensor/class_example.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.parameters import Port
+from pybricks.iodevices import Ev3devSensor
+
+
+class MySensor(Ev3devSensor):
+    """Example of extending the Ev3devSensor class."""
+
+    def __init__(self, port):
+        """Initialize the sensor."""
+
+        # Initialize the parent class.
+        super().__init__(port)
+
+        # Get the sysfs path.
+        self.path = '/sys/class/lego-sensor/sensor' + str(self.sensor_index)
+
+    def get_modes(self):
+        """Get a list of mode strings so we don't have to look them up."""
+
+        # The path of the modes file.
+        modes_path = self.path + '/modes'
+
+        # Open the modes file.
+        with open(modes_path, 'r') as m:
+
+            # Read the contents.
+            contents = m.read()
+
+            # Strip the newline symbol, and split at every space symbol.
+            return contents.strip().split(' ')
+
+
+# Initialize the sensor
+sensor = MySensor(Port.S3)
+
+# Show where this sensor can be found
+print(sensor.path)
+
+# Print the available modes
+modes = sensor.get_modes()
+print(modes)
+
+# Read mode 0 of this sensor
+val = sensor.read(modes[0])
+print(val)

examples/ev3/ev3devsensor/main.py

@@ -0,0 +1,19 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.parameters import Port
+from pybricks.tools import wait
+from pybricks.iodevices import Ev3devSensor
+
+# Initialize an Ev3devSensor.
+# In this example we use the
+# LEGO MINDSTORMS EV3 Color Sensor.
+sensor = Ev3devSensor(Port.S3)
+
+while True:
+    # Read the raw RGB values
+    r, g, b = sensor.read('RGB-RAW')
+
+    # Print results
+    print('R: {0}\t G: {1}\t B: {2}'.format(r, g, b))
+
+    # Wait
+    wait(200)

examples/ev3/getting_started/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+venv/

examples/ev3/getting_started/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/getting_started/.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py",
+			"interactiveTerminal": false
+		}
+	]
+}

examples/ev3/getting_started/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/getting_started/main.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.ev3devices import Motor
+from pybricks.parameters import Port
+
+# Create your objects here
+
+# Initialize the EV3 Brick.
+ev3 = EV3Brick()
+
+# Initialize a motor at port B.
+test_motor = Motor(Port.B)
+
+# Write your program here
+
+# Play a sound.
+ev3.speaker.beep()
+
+# Run the motor up to 500 degrees per second. To a target angle of 90 degrees.
+test_motor.run_target(500, 90)
+
+# Play another beep sound.
+ev3.speaker.beep(frequency=1000, duration=500)

examples/ev3/i2c_basics/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+venv/

examples/ev3/i2c_basics/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/i2c_basics/.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py"
+		}
+	]
+}

examples/ev3/i2c_basics/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/i2c_basics/main.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.iodevices import I2CDevice
+from pybricks.parameters import Port
+
+# Initialize the EV3
+ev3 = EV3Brick()
+
+# Initialize I2C Sensor
+device = I2CDevice(Port.S2, 0xD2 >> 1)
+
+# Read one byte from the device.
+# For this device, we can read the Who Am I
+# register (0x0F) for the expected value: 211.
+if 211 not in device.read(0x0F):
+    raise OSError("Device is not attached")
+
+# To write data, create a bytes object of one
+# or more bytes. For example:
+# data = bytes((1, 2, 3))
+
+# Write one byte (value 0x08) to register 0x22
+device.write(0x22, bytes((0x08,)))

examples/ev3/i2c_extra/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+venv/

examples/ev3/i2c_extra/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/i2c_extra/.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py"
+		}
+	]
+}

examples/ev3/i2c_extra/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/i2c_extra/main.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.iodevices import I2CDevice
+from pybricks.parameters import Port
+
+# Initialize the EV3
+ev3 = EV3Brick()
+
+# Initialize I2C Sensor
+device = I2CDevice(Port.S2, 0xD2 >> 1)
+
+# Recommended for reading
+result, = device.read(reg=0x0F, length=1)
+
+# Read 1 byte from no particular register:
+device.read(reg=None, length=1)
+
+# Read 0 bytes from no particular register:
+device.read(reg=None, length=0)
+
+# I2C write operations consist of a register byte followed
+# by a series of data bytes. Depending on your device, you
+# can choose to skip the register or data as follows:
+
+# Recommended for writing:
+device.write(reg=0x22, data=b'\x08')
+
+# Write 1 byte to no particular register:
+device.write(reg=None, data=b'\x08')
+
+# Write 0 bytes to a particular register:
+device.write(reg=0x08, data=None)
+
+# Write 0 bytes to no particular register:
+device.write(reg=None, data=None)

examples/ev3/light_color/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+venv/

examples/ev3/light_color/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/light_color/.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py"
+		}
+	]
+}

examples/ev3/light_color/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/light_color/main.py

@@ -0,0 +1,17 @@
+#!/usr/bin/env pybricks-micropython
+
+from pybricks.hubs import EV3Brick
+from pybricks.tools import wait
+from pybricks.parameters import Color
+
+# Initialize the EV3
+ev3 = EV3Brick()
+
+# Turn on a red light
+ev3.light.on(Color.RED)
+
+# Wait
+wait(1000)
+
+# Turn the light off
+ev3.light.off()

examples/ev3/ps4/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+.venv/

examples/ev3/ps4/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/ps4/.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py",
+			"interactiveTerminal": false
+		}
+	]
+}

examples/ev3/ps4/.vscode/settings.json

@@ -0,0 +1,7 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false,
+	"python.languageServer": "None"
+}

examples/ev3/ps4/main.py

@@ -0,0 +1,145 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.ev3devices import Motor
+from pybricks.parameters import Port
+
+import struct
+
+# This program uses the two PS4 sticks to control two EV3 Large Servo Motors
+# using tank like controls. For a full map of all PS4 buttons, trackpad, and
+# motion checkout: https://github.com/codeadamca/python-connect-ps4
+
+# Initialize EV3 motors
+left_motor = Motor(Port.B)
+right_motor = Motor(Port.C)
+left_speed = 0
+right_speed = 0
+
+# Locate the event file you want to react to, on my setup the PS4 controller
+# button events are located in /dev/input/event4
+infile_path = "/dev/input/event4"
+in_file = open(infile_path, "rb")
+
+# Define the format the event data will be read.
+# https://docs.python.org/3/library/struct.html#format-characters
+FORMAT = 'llHHi'
+EVENT_SIZE = struct.calcsize(FORMAT)
+event = in_file.read(EVENT_SIZE)
+
+
+# A helper function for converting stick values (0 to 255) to more usable
+# numbers (-100 to 100)
+def scale(val, src, dst):
+
+    result = (float(val - src[0]) / (src[1] - src[0]))
+    result = result * (dst[1] - dst[0]) + dst[0]
+    return result
+
+# Create a loop to react to events
+# This loop reacte to all main PS4 button and stick events. I have left out
+# buttons like share and options, but can easily be added in by referring
+# to the table at: https://github.com/codeadamca/python-connect-ps4
+
+
+while event:
+
+    # Place event data into variables
+    (tv_sec, tv_usec, ev_type, code, value) = struct.unpack(FORMAT, event)
+
+    # If a button was pressed or released
+    if ev_type == 1:
+
+        # React to the X button
+        if code == 304 and value == 0:
+            print("The X button was released")
+        elif code == 304 and value == 1:
+            print("The X button was pressed")
+
+        # React to the Circle button
+        elif code == 305 and value == 0:
+            print("The Circle button was released")
+        elif code == 305 and value == 1:
+            print("The Circle button was pressed")
+
+        # React to the Triangle button
+        elif code == 307 and value == 0:
+            print("The Triangle button was released")
+        elif code == 307 and value == 1:
+            print("The Triangle button was pressed")
+
+        # React to the Square button
+        elif code == 308 and value == 0:
+            print("The Square button was released")
+        elif code == 308 and value == 1:
+            print("The Square button was pressed")
+
+        # React to the L1 button
+        elif code == 310 and value == 0:
+            print("The L1 button was released")
+        elif code == 310 and value == 1:
+            print("The L1 button was pressed")
+
+        # React to the R1 button
+        elif code == 311 and value == 0:
+            print("The R1 button was released")
+        elif code == 311 and value == 1:
+            print("The R1 button was pressed")
+
+        # React to the L2 button
+        elif code == 312 and value == 0:
+            print("The L2 button was released")
+        elif code == 312 and value == 1:
+            print("The L2 button was pressed")
+
+        # React to the R2 button
+        elif code == 313 and value == 0:
+            print("The R2 button was released")
+        elif code == 313 and value == 1:
+            print("The R2 button was pressed")
+
+    elif ev_type == 3:
+
+        # The sticks often trigger non-stop events, comment this out if you are
+        # not using the sticks as part of your project, or it becomes hard to
+        # read other data
+
+        # React to the left stick vertical
+        if code == 1:
+            print("The left stick vertical is at ", value)
+            left_speed = scale(value, (0, 255), (100, -100))
+
+        # React to the left stick horizontal
+        elif code == 0:
+            print("The left stick horizontal is at ", value)
+
+        # React to the right stick vertical
+        elif code == 4:
+            print("The right stick vertical is at ", value)
+            right_speed = scale(value, (0, 255), (100, -100))
+
+        # React to the right stick horizontal
+        elif code == 3:
+            print("The right stick horizontal is at ", value)
+
+        # React to the Directional pad
+        if code == 16 and value == -1:
+            print("The horizontal directional pad is left")
+        elif code == 16 and value == 1:
+            print("The horizontal directional pad is right")
+        elif code == 16 and value == 0:
+            print("The horizontal directional pad is released")
+
+        elif code == 17 and value == -1:
+            print("The vertical directional pad is up")
+        elif code == 17 and value == 1:
+            print("The horizontal directional pad is down")
+        elif code == 17 and value == 0:
+            print("The horizontal directional pad is released")
+
+    # Set motor speed
+    left_motor.dc(left_speed)
+    right_motor.dc(right_speed)
+
+    # Read the next event
+    event = in_file.read(EVENT_SIZE)
+
+in_file.close()

examples/ev3/rcx_touch/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+.venv/

examples/ev3/rcx_touch/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/rcx_touch/.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py",
+			"interactiveTerminal": false
+		}
+	]
+}

examples/ev3/rcx_touch/.vscode/settings.json

@@ -0,0 +1,7 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false,
+	"python.languageServer": "None"
+}

examples/ev3/rcx_touch/main.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env pybricks-micropython
+from pybricks.hubs import EV3Brick
+from pybricks.iodevices import AnalogSensor
+from pybricks.parameters import Port, Color
+from pybricks.tools import wait
+
+
+class RCXTouchSensor(AnalogSensor):
+    def pressed(self):
+        return self.resistance() < 50*1000
+
+
+ev3 = EV3Brick()
+btn = RCXTouchSensor(Port.S1)
+
+while True:
+    if btn.pressed():
+        ev3.light.on(Color.ORANGE)
+    else:
+        ev3.light.off()
+    wait(10)

examples/ev3/screen_draw/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+.venv/

examples/ev3/screen_draw/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/screen_draw/.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py"
+		}
+	]
+}

examples/ev3/screen_draw/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/screen_draw/main.py

@@ -0,0 +1,32 @@
+#!/usr/bin/env pybricks-micropython
+
+from pybricks.hubs import EV3Brick
+from pybricks.tools import wait
+
+
+# Initialize the EV3
+ev3 = EV3Brick()
+
+
+# Draw a rectangle
+ev3.screen.draw_box(10, 10, 40, 40)
+
+# Draw a solid rectangle
+ev3.screen.draw_box(20, 20, 30, 30, fill=True)
+
+# Draw a rectangle with rounded corners
+ev3.screen.draw_box(50, 10, 80, 40, 5)
+
+# Draw a circle
+ev3.screen.draw_circle(25, 75, 20)
+
+# Draw a triangle using lines
+x1, y1 = 65, 55
+x2, y2 = 50, 95
+x3, y3 = 80, 95
+ev3.screen.draw_line(x1, y1, x2, y2)
+ev3.screen.draw_line(x2, y2, x3, y3)
+ev3.screen.draw_line(x3, y3, x1, y1)
+
+# Wait some time to look at the shapes
+wait(5000)

examples/ev3/screen_extra/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+.venv/

examples/ev3/screen_extra/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/screen_extra/.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py"
+		}
+	]
+}

examples/ev3/screen_extra/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/screen_extra/main.py

@@ -0,0 +1,104 @@
+#!/usr/bin/env pybricks-micropython
+
+import math
+
+from pybricks.hubs import EV3Brick
+from pybricks.parameters import Color
+from pybricks.tools import wait
+from pybricks.media.ev3dev import Font, Image
+
+
+# Initialize the EV3
+ev3 = EV3Brick()
+
+
+# SPLIT SCREEN ################################################################
+
+# Make a sub-image for the left half of the screen
+left = Image(ev3.screen, sub=True, x1=0, y1=0,
+             x2=ev3.screen.width // 2 - 1, y2=ev3.screen.height - 1)
+
+# Make a sub-image for the right half of the screen
+right = Image(ev3.screen, sub=True, x1=ev3.screen.width // 2, y1=0,
+              x2=ev3.screen.width - 1, y2=ev3.screen.height - 1)
+
+# Use a monospaced font so that text is vertically aligned when we print
+right.set_font(Font(size=8, monospace=True))
+
+
+# Graphing y = sin(x)
+def f(x):
+    return math.sin(x)
+
+
+for t in range(200):
+    # Graph on left side
+
+    # Scale t to x-axis and compute y values
+    x0 = (t - 1) * 2 * math.pi / left.width
+    y0 = f(x0)
+    x1 = t * 2 * math.pi / left.width
+    y1 = f(x1)
+
+    # Scale y values to screen coordinates
+    sy0 = (-y0 + 1) * left.height / 2
+    sy1 = (-y1 + 1) * left.height / 2
+
+    # Shift the current graph to the left one pixel
+    left.draw_image(-1, 0, left)
+    # Fill the last column with white to erase the previous plot point
+    left.draw_line(left.width - 1, 0, left.width - 1, left.height - 1, 1, Color.WHITE)
+    # Draw the new value of the graph in the last column
+    left.draw_line(left.width - 2, int(sy0), left.width - 1, int(sy1), 3)
+
+    # Print every 10th value on right side
+    if t % 10 == 0:
+        right.print('{:10.2f}{:10.2f}'.format(x1, y1))
+
+    wait(100)
+
+
+# SPRITE ANIMATION ############################################################
+
+# Copy of screen for double-buffering
+buf = Image(ev3.screen)
+
+# Load images from file
+bg = Image('background.png')
+sprite = Image('sprite.png')
+
+# Number of cells in each sprite animation
+NUM_CELLS = 8
+
+# Each cell in the sprite is 75 x 100 pixels
+CELL_WIDTH, CELL_HEIGHT = 75, 100
+
+# Get sub-images for each individual cell
+# This is more efficient that loading individual images
+walk_right = [Image(sprite, sub=True, x1=x * CELL_WIDTH, y1=0,
+                    x2=(x + 1) * CELL_WIDTH - 1, y2=CELL_HEIGHT - 1)
+              for x in range(NUM_CELLS)]
+walk_left = [Image(sprite, sub=True, x1=x * CELL_WIDTH, y1=CELL_HEIGHT,
+                   x2=(x + 1) * CELL_WIDTH - 1, y2=2 * CELL_HEIGHT - 1)
+             for x in range(NUM_CELLS)]
+
+
+# Walk from left to right
+for x in range(-100, 200, 2):
+    # Start with the background image
+    buf.draw_image(0, 0, bg)
+    # Draw the current sprite - purple is treated as transparent
+    buf.draw_image(x, 5, walk_right[x // 5 % NUM_CELLS], Color.PURPLE)
+    # Copy the double-buffer to the screen
+    ev3.screen.draw_image(0, 0, buf)
+    # 20 frames per second
+    wait(50)
+
+# Walk from right to left
+for x in range(200, -100, -2):
+    buf.draw_image(0, 0, bg)
+    buf.draw_image(x, 5, walk_left[x // 5 % NUM_CELLS], Color.PURPLE)
+    ev3.screen.draw_image(0, 0, buf)
+    wait(50)
+
+wait(1000)

examples/ev3/screen_image/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+.venv/

examples/ev3/screen_image/.vscode/extensions.json

@@ -0,0 +1,13 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
+	// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
+
+	// List of extensions which should be recommended for users of this workspace.
+	"recommendations": [
+		"lego-education.ev3-micropython"
+	],
+	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
+	"unwantedRecommendations": [
+		"ms-python.python"
+	]
+}

examples/ev3/screen_image/.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+	// Use IntelliSense to learn about possible attributes.
+	// Hover to view descriptions of existing attributes.
+	// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+	"version": "0.2.0",
+	"configurations": [
+		{
+			"name": "Download and Run",
+			"type": "ev3devBrowser",
+			"request": "launch",
+			"program": "/home/robot/${workspaceRootFolderName}/main.py"
+		}
+	]
+}

examples/ev3/screen_image/.vscode/settings.json

@@ -0,0 +1,6 @@
+// Place your settings in this file to overwrite default and user settings.
+{
+	"files.eol": "\n",
+	"debug.openDebug": "neverOpen",
+	"python.linting.enabled": false
+}

examples/ev3/screen_image/main.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env pybricks-micropython
+
+from pybricks.hubs import EV3Brick
+from pybricks.tools import wait
+from pybricks.media.ev3dev import Image, ImageFile
+
+# It takes some time to load images from the SD card, so it is best to load
+# them once at the beginning of a program like this:
+ev3_img = Image(ImageFile.EV3_ICON)
+
+
+# Initialize the EV3
+ev3 = EV3Brick()
+
+
+# Show an image
+ev3.screen.load_image(ev3_img)
+
+# Wait some time to look at the image
+wait(5000)

examples/ev3/screen_print/.gitignore

@@ -0,0 +1,3 @@
+__pycache__/
+*.pyc
+.venv/