all: Format with black.

Also activate auto formatting. Bump flake8 and mark black
disagreements in setup.cfg.

examples/ev3/bluetooth_client/client.py

@@ -9,17 +9,17 @@
 from pybricks.messaging import BluetoothMailboxClient, TextMailbox
 
 # This is the name of the remote EV3 or PC we are connecting to.
-SERVER = 'ev3dev'
+SERVER = "ev3dev"
 
 client = BluetoothMailboxClient()
-mbox = TextMailbox('greeting', client)
+mbox = TextMailbox("greeting", client)
 
-print('establishing connection...')
+print("establishing connection...")
 client.connect(SERVER)
-print('connected!')
+print("connected!")
 
 # In this program, the client sends the first message and then waits for the
 # server to reply.
-mbox.send('hello!')
+mbox.send("hello!")
 mbox.wait()
 print(mbox.read())

examples/ev3/bluetooth_pc/pcclient.py

@@ -17,17 +17,17 @@ from pybricks.messaging import BluetoothMailboxClient, TextMailbox
 # 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'
+SERVER = "CC:78:AB:D8:4E:F6"
 
 client = BluetoothMailboxClient()
-mbox = TextMailbox('greeting', client)
+mbox = TextMailbox("greeting", client)
 
-print('establishing connection...')
+print("establishing connection...")
 client.connect(SERVER)
-print('connected!')
+print("connected!")
 
 # In this program, the client sends the first message and then waits for the
 # server to reply.
-mbox.send('hello!')
+mbox.send("hello!")
 mbox.wait()
 print(mbox.read())

examples/ev3/bluetooth_pc/pybricks/bluetooth.py

@@ -18,17 +18,17 @@ 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)
+    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.append("{:02X}".format(b))
     string.reverse()
-    return ':'.join(string).upper()
+    return ":".join(string).upper()
 
 
 class RFCOMMServer:
@@ -37,6 +37,7 @@ class RFCOMMServer:
     This is based on the ``socketserver.SocketServer`` class in the Python
     standard library.
     """
+
     request_queue_size = 1
 
     def __init__(self, server_address, RequestHandlerClass):
@@ -88,6 +89,7 @@ class StreamRequestHandler:
     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
@@ -113,6 +115,7 @@ class ThreadingRFCOMMServer(ThreadingMixIn, RFCOMMServer):
     """Version of :class:`RFCOMMServer` that handles connections in a new
     thread.
     """
+
     pass
 
 

examples/ev3/bluetooth_pc/pybricks/messaging.py

@@ -5,8 +5,12 @@ from _thread import allocate_lock
 from errno import ECONNRESET
 from struct import pack, unpack
 
-from .bluetooth import (BDADDR_ANY, ThreadingRFCOMMServer,
-                        ThreadingRFCOMMClient, StreamRequestHandler)
+from .bluetooth import (
+    BDADDR_ANY,
+    ThreadingRFCOMMServer,
+    ThreadingRFCOMMClient,
+    StreamRequestHandler,
+)
 
 
 def resolve(brick):
@@ -99,7 +103,7 @@ class LogicMailbox(Mailbox):
     """
 
     def encode(self, value):
-        return b'\x01' if value else b'\x00'
+        return b"\x01" if value else b"\x00"
 
     def decode(self, payload):
         return bool(payload[0])
@@ -113,10 +117,10 @@ class NumericMailbox(Mailbox):
     """
 
     def encode(self, value):
-        return pack('<f', value)
+        return pack("<f", value)
 
     def decode(self, payload):
-        return unpack('<f', payload)[0]
+        return unpack("<f", payload)[0]
 
 
 class TextMailbox(Mailbox):
@@ -127,10 +131,10 @@ class TextMailbox(Mailbox):
     """
 
     def encode(self, value):
-        return ('{}\0'.format(value)).encode('utf-8')
+        return ("{}\0".format(value)).encode("utf-8")
 
     def decode(self, payload):
-        return payload.decode().strip('\0')
+        return payload.decode().strip("\0")
 
 
 # EV3 standard firmware is hard-coded to use channel 1
@@ -155,16 +159,16 @@ class MailboxHandler(StreamRequestHandler):
                 if ex.args[0] == ECONNRESET:
                     break
                 raise
-            size, = unpack('<H', buf)
+            (size,) = unpack("<H", buf)
             buf = self.rfile.recv(size)
-            msg_count, cmd_type, cmd, name_size = unpack('<HBBB', buf[0:5])
+            msg_count, cmd_type, cmd, name_size = unpack("<HBBB", buf[0:5])
             if cmd_type != SYSTEM_COMMAND_NO_REPLY:
-                raise ValueError('Bad message type')
+                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]
+                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
@@ -216,9 +220,18 @@ class MailboxHandlerMixIn:
         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)
+        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():
@@ -255,7 +268,8 @@ class BluetoothMailboxServer(MailboxHandlerMixIn, ThreadingRFCOMMServer):
         """
         super().__init__()
         super(ThreadingRFCOMMServer, self).__init__(
-            (BDADDR_ANY, EV3_RFCOMM_CHANNEL), MailboxHandler)
+            (BDADDR_ANY, EV3_RFCOMM_CHANNEL), MailboxHandler
+        )
 
     def wait_for_connection(self, count=1):
         """Waits for a :class:`BluetoothMailboxClient` on a remote device to
@@ -326,7 +340,7 @@ class BluetoothMailboxClient(MailboxHandlerMixIn):
             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')
+            raise ValueError("connection with this address already exists")
         try:
             client.handle_request()
         except Exception:

examples/ev3/bluetooth_read_spike/connection.py

@@ -1,15 +1,9 @@
-
 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.bluetooth import str2ba, sockaddr_rc, AF_BLUETOOTH, BTPROTO_RFCOMM
 from pybricks.tools import wait, StopWatch
 
 
@@ -25,7 +19,7 @@ def get_bluetooth_rfcomm_socket(address, channel):
     return sock
 
 
-class SpikePrimeStreamReader():
+class SpikePrimeStreamReader:
     def __init__(self, address):
 
         try:
@@ -56,8 +50,8 @@ class SpikePrimeStreamReader():
                 break
             try:
                 data = eval(raw)
-                if data['m'] == 0:
-                    self._values = data['p']
+                if data["m"] == 0:
+                    self._values = data["p"]
             except (SyntaxError, KeyError):
                 pass
 
@@ -65,8 +59,8 @@ class SpikePrimeStreamReader():
         return self._values
 
     def device(self, port):
-        if 'A' <= port <= 'F':
-            return self.values()[ord(port)-ord('A')][1]
+        if "A" <= port <= "F":
+            return self.values()[ord(port) - ord("A")][1]
         else:
             raise ValueError
 

examples/ev3/bluetooth_read_spike/main.py

@@ -9,7 +9,7 @@ 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')
+spike = SpikePrimeStreamReader("F4:84:4C:AA:C8:A4")
 
 # Now you can simply read values!
 for i in range(100):

examples/ev3/bluetooth_read_spike/rover.py

@@ -12,7 +12,7 @@ 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')
+spike = SpikePrimeStreamReader("F4:84:4C:AA:C8:A4")
 
 # Initialize the motors and drive base
 left_motor = Motor(Port.B)
@@ -24,5 +24,5 @@ while True:
     yaw, pitch, roll = spike.orientation()
 
     # Set speed and turn rate based on orientation
-    robot.drive(-pitch*6, roll*2)
+    robot.drive(-pitch * 6, roll * 2)
     wait(20)

examples/ev3/bluetooth_server/server.py

@@ -9,15 +9,15 @@
 from pybricks.messaging import BluetoothMailboxServer, TextMailbox
 
 server = BluetoothMailboxServer()
-mbox = TextMailbox('greeting', server)
+mbox = TextMailbox("greeting", server)
 
 # The server must be started before the client!
-print('waiting for connection...')
+print("waiting for connection...")
 server.wait_for_connection()
-print('connected!')
+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!')
+mbox.send("hello to you!")

examples/ev3/buttons_quickstart/menu.py

@@ -8,7 +8,7 @@ def wait_for_button(ev3):
     """
 
     # Show a picture of the buttons on the screen.
-    ev3.screen.load_image('buttons.png')
+    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.

examples/ev3/datalog/main.py

@@ -8,7 +8,7 @@ from pybricks.tools import DataLog, StopWatch, wait
 #   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')
+data = DataLog("time", "angle")
 
 # Initialize a motor and make it move
 wheel = Motor(Port.B)

examples/ev3/datalog_extra/main.py

@@ -3,13 +3,13 @@ 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')
+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})
+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/class_example.py

@@ -13,22 +13,22 @@ class MySensor(Ev3devSensor):
         super().__init__(port)
 
         # Get the sysfs path.
-        self.path = '/sys/class/lego-sensor/sensor' + str(self.sensor_index)
+        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'
+        modes_path = self.path + "/modes"
 
         # Open the modes file.
-        with open(modes_path, 'r') as m:
+        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(' ')
+            return contents.strip().split(" ")
 
 
 # Initialize the sensor

examples/ev3/ev3devsensor/main.py

@@ -10,10 +10,10 @@ sensor = Ev3devSensor(Port.S3)
 
 while True:
     # Read the raw RGB values
-    r, g, b = sensor.read('RGB-RAW')
+    r, g, b = sensor.read("RGB-RAW")
 
     # Print results
-    print('R: {0}\t G: {1}\t B: {2}'.format(r, g, b))
+    print("R: {0}\t G: {1}\t B: {2}".format(r, g, b))
 
     # Wait
     wait(200)

examples/ev3/i2c_extra/main.py

@@ -10,7 +10,7 @@ ev3 = EV3Brick()
 device = I2CDevice(Port.S2, 0xD2 >> 1)
 
 # Recommended for reading
-result, = device.read(reg=0x0F, length=1)
+(result,) = device.read(reg=0x0F, length=1)
 
 # Read 1 byte from no particular register:
 device.read(reg=None, length=1)
@@ -23,10 +23,10 @@ device.read(reg=None, length=0)
 # can choose to skip the register or data as follows:
 
 # Recommended for writing:
-device.write(reg=0x22, data=b'\x08')
+device.write(reg=0x22, data=b"\x08")
 
 # Write 1 byte to no particular register:
-device.write(reg=None, data=b'\x08')
+device.write(reg=None, data=b"\x08")
 
 # Write 0 bytes to a particular register:
 device.write(reg=0x08, data=None)

examples/ev3/ps4/main.py

@@ -21,7 +21,7 @@ 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'
+FORMAT = "llHHi"
 EVENT_SIZE = struct.calcsize(FORMAT)
 event = in_file.read(EVENT_SIZE)
 
@@ -30,10 +30,11 @@ event = in_file.read(EVENT_SIZE)
 # numbers (-100 to 100)
 def scale(val, src, dst):
 
-    result = (float(val - src[0]) / (src[1] - src[0]))
+    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

examples/ev3/rcx_touch/main.py

@@ -7,7 +7,7 @@ from pybricks.tools import wait
 
 class RCXTouchSensor(AnalogSensor):
     def pressed(self):
-        return self.resistance() < 50*1000
+        return self.resistance() < 50 * 1000
 
 
 ev3 = EV3Brick()

examples/ev3/screen_extra/main.py

@@ -15,12 +15,24 @@ 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)
+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)
+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))
@@ -53,7 +65,7 @@ for t in range(200):
 
     # Print every 10th value on right side
     if t % 10 == 0:
-        right.print('{:10.2f}{:10.2f}'.format(x1, y1))
+        right.print("{:10.2f}{:10.2f}".format(x1, y1))
 
     wait(100)
 
@@ -64,8 +76,8 @@ for t in range(200):
 buf = Image(ev3.screen)
 
 # Load images from file
-bg = Image('background.png')
-sprite = Image('sprite.png')
+bg = Image("background.png")
+sprite = Image("sprite.png")
 
 # Number of cells in each sprite animation
 NUM_CELLS = 8
@@ -75,12 +87,28 @@ 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_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

examples/ev3/screen_print/main.py

@@ -8,7 +8,7 @@ from pybricks.media.ev3dev import Font
 # load them once at the beginning of the program like this:
 tiny_font = Font(size=6)
 big_font = Font(size=24, bold=True)
-chinese_font = Font(size=24, lang='zh-cn')
+chinese_font = Font(size=24, lang="zh-cn")
 
 
 # Initialize the EV3
@@ -16,19 +16,19 @@ ev3 = EV3Brick()
 
 
 # Say hello
-ev3.screen.print('Hello!')
+ev3.screen.print("Hello!")
 
 # Say tiny hello
 ev3.screen.set_font(tiny_font)
-ev3.screen.print('hello')
+ev3.screen.print("hello")
 
 # Say big hello
 ev3.screen.set_font(big_font)
-ev3.screen.print('HELLO')
+ev3.screen.print("HELLO")
 
 # Say Chinese hello
 ev3.screen.set_font(chinese_font)
-ev3.screen.print('你好')
+ev3.screen.print("你好")
 
 # Wait some time to look at the screen
 wait(5000)

examples/ev3/speaker_basics/main.py

@@ -26,9 +26,23 @@ wait(1000)
 # PLAY NOTES ##################################################################
 
 # Twinkle, Twinkle Little Star
-A = ['C4/4', 'C4/4', 'G4/4', 'G4/4', 'A4/4', 'A4/4', 'G4/2',
-     'F4/4', 'F4/4', 'E4/4', 'E4/4', 'D4/4', 'D4/4', 'C4/2']
-B = ['G4/4', 'G4/4', 'F4/4', 'F4/4', 'E4/4', 'E4/4', 'D4/2'] * 2
+A = [
+    "C4/4",
+    "C4/4",
+    "G4/4",
+    "G4/4",
+    "A4/4",
+    "A4/4",
+    "G4/2",
+    "F4/4",
+    "F4/4",
+    "E4/4",
+    "E4/4",
+    "D4/4",
+    "D4/4",
+    "C4/2",
+]
+B = ["G4/4", "G4/4", "F4/4", "F4/4", "E4/4", "E4/4", "D4/2"] * 2
 TWINKLE = A + B + A
 
 ev3.speaker.play_notes(TWINKLE)
@@ -46,10 +60,10 @@ wait(1000)
 # TEXT TO SPEECH ##############################################################
 
 # Say something in English
-ev3.speaker.say('I am am E V 3. Pleased to meet you.')
+ev3.speaker.say("I am am E V 3. Pleased to meet you.")
 
 # Say something in Danish + female
-ev3.speaker.set_speech_options(voice='da+f5')
-ev3.speaker.say('Leg godt!')
+ev3.speaker.set_speech_options(voice="da+f5")
+ev3.speaker.say("Leg godt!")
 
 wait(1000)

examples/ev3/uart_basics/main.py

@@ -11,7 +11,7 @@ ev3 = EV3Brick()
 ser = UARTDevice(Port.S2, baudrate=115200)
 
 # Write some data
-ser.write(b'\r\nHello, world!\r\n')
+ser.write(b"\r\nHello, world!\r\n")
 
 # Play a sound while we wait for some data
 for i in range(3):

examples/ev3/vernier_surface_temperature/main.py

@@ -10,8 +10,8 @@ def convert_raw_to_temperature(voltage):
 
     # Convert the raw voltage to the NTC resistance
     # according to the Vernier Adapter EV3 block.
-    counts = voltage/5000*4096
-    ntc = 15000*(counts)/(4130-counts)
+    counts = voltage / 5000 * 4096
+    ntc = 15000 * (counts) / (4130 - counts)
 
     # Handle log(0) safely: make sure that ntc value is positive.
     if ntc <= 0:
@@ -21,7 +21,7 @@ def convert_raw_to_temperature(voltage):
     K0 = 1.02119e-3
     K1 = 2.22468e-4
     K2 = 1.33342e-7
-    return 1/(K0 + K1*log(ntc) + K2*log(ntc)**3)
+    return 1 / (K0 + K1 * log(ntc) + K2 * log(ntc) ** 3)
 
 
 # Initialize the adapter on port 1