diff --git a/pybricks/_common.pyi b/pybricks/_common.pyi
index db0ee0b..b491d4d 100644
--- a/pybricks/_common.pyi
+++ b/pybricks/_common.pyi
@@ -1,9 +1,10 @@
 # SPDX-License-Identifier: MIT
 # Copyright (c) 2020 The Pybricks Authors
 
-from typing import Iterable, List, Optional, Tuple, Union, overload
+from pybricks.geometry import Matrix
+from typing import Collection, Iterable, List, Optional, Tuple, Union, overload
 
-from .parameters import Button, Color, Direction, Stop, Port
+from .parameters import Button, Color, Direction, Side, Stop, Port, Axis
 from .media.ev3dev import SoundFile
 
 class DCMotor:
@@ -59,7 +60,7 @@ class Motor(DCMotor):
         self,
         port: Port,
         positive_direction: Direction = Direction.CLOCKWISE,
-        gears: Optional[Union[List[int], List[List[int]]]] = None,
+        gears: Optional[Union[Collection[int], Collection[Collection[int]]]] = None,
     ): ...
     def angle(self) -> int: ...
     def speed(self) -> int: ...
@@ -97,15 +98,58 @@ class Speaker:
 class Light:
     def on(self, brightness: int = 100) -> None: ...
     def off(self) -> None: ...
+    def blink(self, durations: Collection[int]) -> None: ...
+    def animate(self, brightness_values: Collection[int], interval: int) -> None: ...
+    def reset(self) -> None: ...
 
 class ColorLight:
     def on(self, color: Optional[Color]) -> None: ...
     def off(self) -> None: ...
-    def rgb(self, red: int, green: int, blue: int) -> None: ...
+    def blink(self, color: Color, durations: Collection[int]) -> None: ...
+    def animate(self, colors: Collection[Color], interval: int) -> None: ...
+    def reset(self) -> None: ...
 
-class KeyPad:
-    def pressed(self) -> List[Button]:...
+class LightArray:
+    def __init__(self, n: int): ...
+    def on(self, brightness: int) -> None: ...
+    def off(self) -> None: ...
+    def blink(self, durations: Collection[int]) -> None: ...
+    def animate(self, brightness_values: Collection[int], interval: int) -> None: ...
+
+class LightMatrix:
+    def __init__(self, rows: int, columns: int): ...
+    def orientation(self, up: Side) -> None: ...
+    def image(self, matrix: Matrix) -> None: ...
+    def animate(self, matrices: Collection[Matrix], interval, int) -> None: ...
+    def pixel(self, row: int, column: int, brightness: int = 100) -> None: ...
+    def off(self) -> None: ...
+    def number(self, number: int) -> None: ...
+    def char(self, char: str) -> None: ...
+    def text(self, text: str, on: int = 500, off: int = 50) -> None: ...
+    def reset(self) -> None: ...
+
+class Keypad:
+    def pressed(self) -> List[Button]: ...
 
 class Battery:
     def voltage(self) -> int: ...
     def current(self) -> int: ...
+
+class Accelerometer:
+    def neutral(self, top: Axis, front: Axis) -> None: ...
+    @overload
+    def acceleration(self) -> vector[float, float, float]: ...
+    @overload
+    def acceleration(self, axis: Axis) -> int: ...
+    def tilt(self) -> Tuple[int, int]: ...
+    def tapped(self) -> bool: ...
+    def shaken(self) -> bool: ...
+    def up(self) -> Side: ...
+
+class IMU(Accelerometer):
+    def heading(self) -> int: ...
+    def reset_heading(self, angle): ...
+    @overload
+    def gyro(self) -> scalar[float, float, float]: ...
+    @overload
+    def gyro(self, axis: Axis) -> int: ...
diff --git a/pybricks/geometry.pyi b/pybricks/geometry.pyi
new file mode 100644
index 0000000..4215d61
--- /dev/null
+++ b/pybricks/geometry.pyi
@@ -0,0 +1,13 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from typing import Collection, Optional, Tuple
+
+class Matrix:
+    def __init__(self, rows: Collection[int]): ...
+    @property
+    def T(self) -> Matrix: ...
+    @property
+    def shape(self) -> Tuple[int, int]: ...
+
+def vector(x: float, y: float, z: Optional[float] = None) -> Matrix: ...
diff --git a/pybricks/hubs.pyi b/pybricks/hubs.pyi
index 744936b..1f7a1ca 100644
--- a/pybricks/hubs.pyi
+++ b/pybricks/hubs.pyi
@@ -1,7 +1,7 @@
 # SPDX-License-Identifier: MIT
 # Copyright (c) 2020 The Pybricks Authors
 
-from ._common import Speaker, Battery, ColorLight, KeyPad
+from ._common import Speaker, Battery, ColorLight, LightMatrix, Keypad
 from .media.ev3dev import Image
 
 class EV3Brick:
@@ -9,4 +9,30 @@ class EV3Brick:
     speaker: Speaker
     battery: Battery
     light: ColorLight
-    buttons = KeyPad
+    buttons = Keypad
+
+class MoveHub:
+    battery: Battery
+    light: ColorLight
+
+
+class CityHub:
+    battery: Battery
+    light: ColorLight
+
+
+class TechnicHub:
+    battery: Battery
+    light: ColorLight
+
+
+class PrimeHub:
+    battery: Battery
+    light: ColorLight
+    display: LightMatrix
+    buttons: Keypad
+    speaker: Speaker
+
+
+class InventorHub(PrimeHub): ...
+ 
\ No newline at end of file
diff --git a/pybricks/iodevices.py b/pybricks/iodevices.py
index 6e14aea..4efb7a4 100644
--- a/pybricks/iodevices.py
+++ b/pybricks/iodevices.py
@@ -34,7 +34,7 @@ class PUPDevice:
         """
         pass
 
-    def write(self, mode, values):
+    def write(self, mode, data):
         """Writes values to the sensor. Only selected sensors and modes support
         this.
 
diff --git a/pybricks/iodevices.pyi b/pybricks/iodevices.pyi
index 3badad3..b474374 100644
--- a/pybricks/iodevices.pyi
+++ b/pybricks/iodevices.pyi
@@ -1,14 +1,19 @@
 # SPDX-License-Identifier: MIT
 # Copyright (c) 2020 The Pybricks Authors
 
-from typing import Optional, Tuple
+from typing import Dict, Optional, Tuple
 
 from .parameters import Port
 
+class PUPDevice:
+    def __init__(self, port: Port): ...
+    def info(self) -> Dict[str, str]: ...
+    def read(self, mode: int) -> Tuple: ...
+    def write(self, mode: int, data: Tuple) -> None: ...
+
 class LUMPDevice:
     def __init__(self, port: Port): ...
     def read(self, mode: int) -> Tuple: ...
-    def write(self, mode: int, values: Tuple): ...
 
 class Ev3devSensor:
     sensor_index: int
diff --git a/pybricks/parameters.pyi b/pybricks/parameters.pyi
index ca9665b..60caa0c 100644
--- a/pybricks/parameters.pyi
+++ b/pybricks/parameters.pyi
@@ -11,6 +11,10 @@ class Color:
     BROWN: Color
     ORANGE: Color
     PURPLE: Color
+    def __mul__(self, scale: float) -> Color: ...
+    def __rmul__(self, scale: float) -> Color: ...
+    def __truediv__(self, scale: float) -> Color: ...
+    def __floordiv__(self, scale: int) -> Color: ...
 
 class Port:
     A: Port
@@ -42,3 +46,17 @@ class Button:
     UP: Button
     BEACON: Button
     RIGHT_UP: Button
+
+class Axis:
+    X: Axis
+    Y: Axis
+    Z: Axis
+    ALL: Axis
+
+class Side:
+    RIGHT: Side
+    FRONT: Side
+    TOP: Side
+    LEFT: Side
+    BACK: Side
+    BOTTOM: Side
diff --git a/pybricks/pupdevices.pyi b/pybricks/pupdevices.pyi
new file mode 100644
index 0000000..4fb9a32
--- /dev/null
+++ b/pybricks/pupdevices.pyi
@@ -0,0 +1,71 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from typing import Collection, List, Optional, Tuple
+
+from ._common import Keypad, DCMotor, ColorLight, LightArray, Motor as BaseMotor, Light as BaseLight
+
+from .parameters import Color, Direction, Port
+
+class Motor(BaseMotor): ...
+
+class RemoteControl:
+    light: ColorLight
+    buttons: Keypad
+    def __init__(self, device: str = None, timeout: int = 10000): ...
+
+class TiltSensor:
+    def __init__(self, port: Port): ...
+    def tilt(self) -> Tuple[int, int]: ...
+
+class ColorDistanceSensor:
+    """LEGO® Powered Up Color and Distance Sensor."""
+
+    light: ColorLight
+    def __init__(self, port: Port): ...
+    def color(self) -> Optional[Color]: ...
+    def ambient(self) -> int: ...
+    def reflection(self) -> int: ...
+    def detectable_colors(self, colors: Collection[Color]) -> None: ...
+    def hsv(self) -> Color: ...
+    def distance(self) -> int: ...
+
+class PFMotor(DCMotor):
+    def __init__(
+        self,
+        sensor: ColorDistanceSensor,
+        channel: int,
+        color: Color,
+        positive_direction: Direction = Direction.CLOCKWISE,
+    ): ...
+
+class ColorSensor:
+    lights: LightArray
+    def __init__(self, port: Port): ...
+    def color(self, surface: bool = True) -> Optional[Color]: ...
+    def detectable_colors(self, colors: Collection[Color]) -> None: ...
+    def hsv(self, surface: bool = True) -> Color: ...
+    def ambient(self) -> int: ...
+    def reflection(self) -> int: ...
+
+class UltrasonicSensor:
+    lights: LightArray
+    def __init__(self, port: Port): ...
+    def distance(self) -> int: ...
+    def presence(self) -> bool: ...
+
+class ForceSensor:
+    def __init__(self, port: Port): ...
+    def force(self) -> int: ...
+    def distance(self) -> int: ...
+    def pressed(self, force: int = 3) -> bool: ...
+    def touched(self) -> bool: ...
+
+class InfraredSensor:
+    def __init__(self, port: Port): ...
+    def reflection(self) -> int: ...
+    def distance(self) -> int: ...
+    def count(self) -> int: ...
+
+class Light(BaseLight):
+    def __init__(self, port: Port): ...