From d66e18b1135c7a1d04390c8b64ff59e957a4f5ed Mon Sep 17 00:00:00 2001
From: Laurens Valk <laurens@pybricks.com>
Date: Wed, 1 Jul 2020 13:33:01 +0200
Subject: [PATCH] api/pupdevices: add TiltSensor

This class and its methods are subject to change when the complete
API for IMUs is introduced.
---
 doc/api/pupdevices.rst | 20 ++++++++++++--------
 pybricks/pupdevices.py | 14 +++++++++++---
 2 files changed, 23 insertions(+), 11 deletions(-)

diff --git a/doc/api/pupdevices.rst b/doc/api/pupdevices.rst
index 3e1bae1..91f8442 100644
--- a/doc/api/pupdevices.rst
+++ b/doc/api/pupdevices.rst
@@ -205,19 +205,23 @@ Infrared Sensor
     .. automethod:: pybricks.pupdevices.InfraredSensor.count
 
 
-.. Tilt Sensor
-.. ^^^^^^^^^^^^^^^^^^^^^^^^^
+Tilt Sensor
+^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. .. autoclass:: pybricks.pupdevices.TiltSensor
+.. figure:: ../api/images/sensor_tilt.png
+   :width: 35 %
+
+
+.. autoclass:: pybricks.pupdevices.TiltSensor
     :no-members:
 
-    .. automethod:: neutral
-
-    .. automethod:: acceleration
-
     .. automethod:: tilt
 
-    .. automethod:: up
+..    .. automethod:: neutral
+
+..    .. automethod:: acceleration
+
+..    .. automethod:: up
 
 
 .. Remote Control
diff --git a/pybricks/pupdevices.py b/pybricks/pupdevices.py
index 4f296bc..dec45af 100644
--- a/pybricks/pupdevices.py
+++ b/pybricks/pupdevices.py
@@ -3,7 +3,7 @@
 
 """LEGO® Powered Up motor, sensors, and lights."""
 
-from ._common import (KeyPad as _KeyPad, Accelerometer as _Accelerometer,
+from ._common import (KeyPad as _KeyPad,
                       ColorLight as _ColorLight, Motor as _Motor,
                       LightArray as _LightArray, Light as _Light)
 
@@ -43,17 +43,25 @@ class RemoteControl:
         pass
 
 
-class TiltSensor(_Accelerometer):
+class TiltSensor:
     """LEGO® Powered Up Tilt Sensor."""
 
     def __init__(self, port):
-        """TiltSensor(port)
+        """
 
         Arguments:
             port (Port): Port to which the sensor is connected.
         """
         pass
 
+    def tilt(self):
+        """Measures the tilt relative to the horizontal plane.
+
+        Returns:
+            (:ref:`angle`, :ref:`angle`): Tuple of pitch and roll angles.
+        """
+        pass
+
 
 class ColorDistanceSensor:
     """LEGO® Powered Up Color and Distance Sensor."""