pybricks: add type hints for v2

This adds PEP 561 style type hints for Pybricks v2 (just EV3).
2026-09-11 17:14:41 +00:00 · 2020-12-28 16:21:56 -06:00
parent a48b77fea8
commit dca8518575
16 changed files with 942 additions and 140 deletions
@@ -1,8 +1,10 @@
 {
    "python.pythonPath": "${workspaceFolder}/.venv",
+    "python.formatting.provider": "black",
    "python.linting.pycodestyleEnabled": false,
    "python.linting.flake8Enabled": true,
    "python.linting.enabled": true,
+    "python.languageServer": "Pylance",
    "files.associations": {"*.inc": "restructuredtext"},
    "restructuredtext.confPath": "${workspaceFolder}/doc/api",
    "spellright.language": [
@@ -1,54 +1,91 @@
 [[package]]
-category = "dev"
-description = "A configurable sidebar-enabled Sphinx theme"
 name = "alabaster"
+version = "0.7.12"
+description = "A configurable sidebar-enabled Sphinx theme"
+category = "dev"
 optional = false
 python-versions = "*"
-version = "0.7.12"

 [[package]]
+name = "appdirs"
+version = "1.4.4"
+description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 category = "dev"
-description = "Internationalization utilities"
+optional = false
+python-versions = "*"
+
+[[package]]
 name = "babel"
+version = "2.8.0"
+description = "Internationalization utilities"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "2.8.0"

 [package.dependencies]
 pytz = ">=2015.7"

 [[package]]
+name = "black"
+version = "20.8b1"
+description = "The uncompromising code formatter."
 category = "dev"
-description = "Python package for providing Mozilla's CA Bundle."
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+appdirs = "*"
+click = ">=7.1.2"
+mypy-extensions = ">=0.4.3"
+pathspec = ">=0.6,<1"
+regex = ">=2020.1.8"
+toml = ">=0.10.1"
+typed-ast = ">=1.4.0"
+typing-extensions = ">=3.7.4"
+
+[package.extras]
+colorama = ["colorama (>=0.4.3)"]
+d = ["aiohttp (>=3.3.2)", "aiohttp-cors"]
+
+[[package]]
 name = "certifi"
-optional = false
-python-versions = "*"
 version = "2019.11.28"
-
-[[package]]
+description = "Python package for providing Mozilla's CA Bundle."
 category = "dev"
-description = "Universal encoding detector for Python 2 and 3"
-name = "chardet"
 optional = false
 python-versions = "*"
-version = "3.0.4"

 [[package]]
+name = "chardet"
+version = "3.0.4"
+description = "Universal encoding detector for Python 2 and 3"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "click"
+version = "7.1.2"
+description = "Composable command line interface toolkit"
 category = "dev"
-description = "Cross-platform colored terminal text."
-marker = "sys_platform == \"win32\""
-name = "colorama"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "0.4.3"

 [[package]]
+name = "colorama"
+version = "0.4.3"
+description = "Cross-platform colored terminal text."
 category = "dev"
-description = "Style checker for Sphinx (or other) RST documentation"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[[package]]
 name = "doc8"
+version = "0.8.0"
+description = "Style checker for Sphinx (or other) RST documentation"
+category = "dev"
 optional = false
 python-versions = "*"
-version = "0.8.0"

 [package.dependencies]
 chardet = "*"
@@ -58,28 +95,28 @@ six = "*"
 stevedore = "*"

 [[package]]
-category = "dev"
-description = "Docutils -- Python Documentation Utilities"
 name = "docutils"
+version = "0.16"
+description = "Docutils -- Python Documentation Utilities"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "0.16"

 [[package]]
-category = "dev"
-description = "Discover and load entry points from installed packages."
 name = "entrypoints"
+version = "0.3"
+description = "Discover and load entry points from installed packages."
+category = "dev"
 optional = false
 python-versions = ">=2.7"
-version = "0.3"

 [[package]]
-category = "dev"
-description = "the modular source code checker: pep8, pyflakes and co"
 name = "flake8"
+version = "3.7.9"
+description = "the modular source code checker: pep8, pyflakes and co"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "3.7.9"

 [package.dependencies]
 entrypoints = ">=0.3.0,<0.4.0"
@@ -88,28 +125,28 @@ pycodestyle = ">=2.5.0,<2.6.0"
 pyflakes = ">=2.1.0,<2.2.0"

 [[package]]
-category = "dev"
-description = "Internationalized Domain Names in Applications (IDNA)"
 name = "idna"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 version = "2.9"
-
-[[package]]
+description = "Internationalized Domain Names in Applications (IDNA)"
 category = "dev"
-description = "Getting image size from png/jpeg/jpeg2000/gif file"
-name = "imagesize"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "1.2.0"

 [[package]]
+name = "imagesize"
+version = "1.2.0"
+description = "Getting image size from png/jpeg/jpeg2000/gif file"
 category = "dev"
-description = "A very fast and expressive template engine."
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
 name = "jinja2"
+version = "2.11.1"
+description = "A very fast and expressive template engine."
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "2.11.1"

 [package.dependencies]
 MarkupSafe = ">=0.23"
@@ -118,88 +155,112 @@ MarkupSafe = ">=0.23"
 i18n = ["Babel (>=0.8)"]

 [[package]]
-category = "dev"
-description = "Safely add untrusted strings to HTML/XML markup."
 name = "markupsafe"
+version = "1.1.1"
+description = "Safely add untrusted strings to HTML/XML markup."
+category = "dev"
 optional = false
 python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
-version = "1.1.1"

 [[package]]
-category = "dev"
-description = "McCabe checker, plugin for flake8"
 name = "mccabe"
+version = "0.6.1"
+description = "McCabe checker, plugin for flake8"
+category = "dev"
 optional = false
 python-versions = "*"
-version = "0.6.1"

 [[package]]
+name = "mypy-extensions"
+version = "0.4.3"
+description = "Experimental type system extensions for programs checked with the mypy typechecker."
 category = "dev"
-description = "Core utilities for Python packages"
+optional = false
+python-versions = "*"
+
+[[package]]
 name = "packaging"
+version = "20.3"
+description = "Core utilities for Python packages"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "20.3"

 [package.dependencies]
 pyparsing = ">=2.0.2"
 six = "*"

 [[package]]
+name = "pathspec"
+version = "0.8.1"
+description = "Utility library for gitignore style pattern matching of file paths."
 category = "dev"
-description = "Python Build Reasonableness"
-name = "pbr"
-optional = false
-python-versions = "*"
-version = "5.4.4"
-
-[[package]]
-category = "dev"
-description = "Python style guide checker"
-name = "pycodestyle"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "2.5.0"
-
-[[package]]
-category = "dev"
-description = "passive checker of Python programs"
-name = "pyflakes"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "2.1.1"
-
-[[package]]
-category = "dev"
-description = "Pygments is a syntax highlighting package written in Python."
-name = "pygments"
-optional = false
-python-versions = ">=3.5"
-version = "2.6.1"
-
-[[package]]
-category = "dev"
-description = "Python parsing module"
-name = "pyparsing"
-optional = false
-python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
-version = "2.4.6"
-
-[[package]]
-category = "dev"
-description = "World timezone definitions, modern and historical"
-name = "pytz"
-optional = false
-python-versions = "*"
-version = "2019.3"
-
-[[package]]
-category = "dev"
-description = "Python HTTP for Humans."
-name = "requests"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[[package]]
+name = "pbr"
+version = "5.4.4"
+description = "Python Build Reasonableness"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "pycodestyle"
+version = "2.5.0"
+description = "Python style guide checker"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
+name = "pyflakes"
+version = "2.1.1"
+description = "passive checker of Python programs"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
+name = "pygments"
+version = "2.6.1"
+description = "Pygments is a syntax highlighting package written in Python."
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[[package]]
+name = "pyparsing"
+version = "2.4.6"
+description = "Python parsing module"
+category = "dev"
+optional = false
+python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+
+[[package]]
+name = "pytz"
+version = "2019.3"
+description = "World timezone definitions, modern and historical"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "regex"
+version = "2020.11.13"
+description = "Alternative regular expression module, to replace re."
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "requests"
 version = "2.23.0"
+description = "Python HTTP for Humans."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"

 [package.dependencies]
 certifi = ">=2017.4.17"
@@ -212,51 +273,50 @@ security = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)"]
 socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7)", "win-inet-pton"]

 [[package]]
-category = "dev"
-description = "reStructuredText linter"
 name = "restructuredtext-lint"
+version = "1.3.0"
+description = "reStructuredText linter"
+category = "dev"
 optional = false
 python-versions = "*"
-version = "1.3.0"

 [package.dependencies]
 docutils = ">=0.11,<1.0"

 [[package]]
-category = "dev"
-description = "Python 2 and 3 compatibility utilities"
 name = "six"
+version = "1.14.0"
+description = "Python 2 and 3 compatibility utilities"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
-version = "1.14.0"

 [[package]]
-category = "dev"
-description = "This package provides 26 stemmers for 25 languages generated from Snowball algorithms."
 name = "snowballstemmer"
+version = "2.0.0"
+description = "This package provides 26 stemmers for 25 languages generated from Snowball algorithms."
+category = "dev"
 optional = false
 python-versions = "*"
-version = "2.0.0"

 [[package]]
-category = "dev"
-description = "Python documentation generator"
 name = "sphinx"
+version = "1.7.9"
+description = "Python documentation generator"
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "1.7.9"

 [package.dependencies]
-Jinja2 = ">=2.3"
-Pygments = ">=2.0"
 alabaster = ">=0.7,<0.8"
 babel = ">=1.3,<2.0 || >2.0"
-colorama = ">=0.3.5"
+colorama = {version = ">=0.3.5", markers = "sys_platform == \"win32\""}
 docutils = ">=0.11"
 imagesize = "*"
+Jinja2 = ">=2.3"
 packaging = "*"
+Pygments = ">=2.0"
 requests = ">=2.0.0"
-setuptools = "*"
 six = ">=1.5"
 snowballstemmer = ">=1.1"
 sphinxcontrib-websupport = "*"
@@ -266,66 +326,82 @@ test = ["mock", "pytest", "pytest-cov", "html5lib", "flake8 (>=3.5.0)", "flake8-
 websupport = ["sqlalchemy (>=0.9)", "whoosh (>=2.0)"]

 [[package]]
-category = "dev"
-description = "Read the Docs theme for Sphinx"
 name = "sphinx-rtd-theme"
+version = "0.4.3"
+description = "Read the Docs theme for Sphinx"
+category = "dev"
 optional = false
 python-versions = "*"
-version = "0.4.3"

 [package.dependencies]
 sphinx = "*"

 [[package]]
-category = "dev"
-description = "Sphinx \"contentui\" extension"
 name = "sphinxcontrib-contentui"
+version = "0.2.2"
+description = "Sphinx \"contentui\" extension"
+category = "dev"
 optional = false
 python-versions = "*"
-version = "0.2.2"

 [package.dependencies]
 Sphinx = ">=1.0"

 [[package]]
-category = "dev"
-description = "Sphinx API for Web Apps"
 name = "sphinxcontrib-websupport"
+version = "1.2.0"
+description = "Sphinx API for Web Apps"
+category = "dev"
 optional = false
 python-versions = ">=3.5"
-version = "1.2.0"

 [package.extras]
 lint = ["flake8"]
 test = ["pytest", "sqlalchemy", "whoosh", "sphinx"]

 [[package]]
-category = "dev"
-description = "Manage dynamic plugins for Python applications"
 name = "stevedore"
+version = "1.32.0"
+description = "Manage dynamic plugins for Python applications"
+category = "dev"
 optional = false
 python-versions = "*"
-version = "1.32.0"

 [package.dependencies]
 pbr = ">=2.0.0,<2.1.0 || >2.1.0"
 six = ">=1.10.0"

 [[package]]
-category = "dev"
-description = "Python Library for Tom's Obvious, Minimal Language"
 name = "toml"
+version = "0.10.2"
+description = "Python Library for Tom's Obvious, Minimal Language"
+category = "dev"
 optional = false
-python-versions = "*"
-version = "0.10.0"
+python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"

 [[package]]
+name = "typed-ast"
+version = "1.4.1"
+description = "a fork of Python 2 and 3 ast modules with type comment support"
 category = "dev"
-description = "HTTP library with thread-safe connection pooling, file post, and more."
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "typing-extensions"
+version = "3.7.4.3"
+description = "Backported and Experimental Type Hints for Python 3.5+"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[[package]]
 name = "urllib3"
+version = "1.25.8"
+description = "HTTP library with thread-safe connection pooling, file post, and more."
+category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, <4"
-version = "1.25.8"

 [package.extras]
 brotli = ["brotlipy (>=0.6.0)"]
@@ -333,18 +409,27 @@ secure = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "cer
 socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7,<2.0)"]

 [metadata]
-content-hash = "4bb3b4633264fced6ec76a562fef02081becb8d883b5f81f63d5e125a33eaa12"
-python-versions = "^3.5"
+lock-version = "1.1"
+python-versions = "^3.8"
+content-hash = "8f38e4f82e091b428f68f7b905366d3a0cccbff71f12c10026e2eec7eb8a4774"

 [metadata.files]
 alabaster = [
    {file = "alabaster-0.7.12-py2.py3-none-any.whl", hash = "sha256:446438bdcca0e05bd45ea2de1668c1d9b032e1a9154c2c259092d77031ddd359"},
    {file = "alabaster-0.7.12.tar.gz", hash = "sha256:a661d72d58e6ea8a57f7a86e37d86716863ee5e92788398526d58b26a4e4dc02"},
 ]
+appdirs = [
+    {file = "appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"},
+    {file = "appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41"},
+]
 babel = [
    {file = "Babel-2.8.0-py2.py3-none-any.whl", hash = "sha256:d670ea0b10f8b723672d3a6abeb87b565b244da220d76b4dba1b66269ec152d4"},
    {file = "Babel-2.8.0.tar.gz", hash = "sha256:1aac2ae2d0d8ea368fa90906567f5c08463d98ade155c0c4bfedd6a0f7160e38"},
 ]
+black = [
+    {file = "black-20.8b1-py3-none-any.whl", hash = "sha256:70b62ef1527c950db59062cda342ea224d772abdf6adc58b86a45421bab20a6b"},
+    {file = "black-20.8b1.tar.gz", hash = "sha256:1c02557aa099101b9d21496f8a914e9ed2222ef70336404eeeac8edba836fbea"},
+]
 certifi = [
    {file = "certifi-2019.11.28-py2.py3-none-any.whl", hash = "sha256:017c25db2a153ce562900032d5bc68e9f191e44e9a0f762f373977de9df1fbb3"},
    {file = "certifi-2019.11.28.tar.gz", hash = "sha256:25b64c7da4cd7479594d035c08c2d809eb4aab3a26e5a990ea98cc450c320f1f"},
@@ -353,6 +438,10 @@ chardet = [
    {file = "chardet-3.0.4-py2.py3-none-any.whl", hash = "sha256:fc323ffcaeaed0e0a02bf4d117757b98aed530d9ed4531e3e15460124c106691"},
    {file = "chardet-3.0.4.tar.gz", hash = "sha256:84ab92ed1c4d4f16916e05906b6b75a6c0fb5db821cc65e70cbd64a3e2a5eaae"},
 ]
+click = [
+    {file = "click-7.1.2-py2.py3-none-any.whl", hash = "sha256:dacca89f4bfadd5de3d7489b7c8a566eee0d3676333fbb50030263894c38c0dc"},
+    {file = "click-7.1.2.tar.gz", hash = "sha256:d2b5255c7c6349bc1bd1e59e08cd12acbbd63ce649f2588755783aa94dfb6b1a"},
+]
 colorama = [
    {file = "colorama-0.4.3-py2.py3-none-any.whl", hash = "sha256:7d73d2a99753107a36ac6b455ee49046802e59d9d076ef8e47b61499fa29afff"},
    {file = "colorama-0.4.3.tar.gz", hash = "sha256:e96da0d330793e2cb9485e9ddfd918d456036c7149416295932478192f4436a1"},
@@ -424,10 +513,18 @@ mccabe = [
    {file = "mccabe-0.6.1-py2.py3-none-any.whl", hash = "sha256:ab8a6258860da4b6677da4bd2fe5dc2c659cff31b3ee4f7f5d64e79735b80d42"},
    {file = "mccabe-0.6.1.tar.gz", hash = "sha256:dd8d182285a0fe56bace7f45b5e7d1a6ebcbf524e8f3bd87eb0f125271b8831f"},
 ]
+mypy-extensions = [
+    {file = "mypy_extensions-0.4.3-py2.py3-none-any.whl", hash = "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d"},
+    {file = "mypy_extensions-0.4.3.tar.gz", hash = "sha256:2d82818f5bb3e369420cb3c4060a7970edba416647068eb4c5343488a6c604a8"},
+]
 packaging = [
    {file = "packaging-20.3-py2.py3-none-any.whl", hash = "sha256:82f77b9bee21c1bafbf35a84905d604d5d1223801d639cf3ed140bd651c08752"},
    {file = "packaging-20.3.tar.gz", hash = "sha256:3c292b474fda1671ec57d46d739d072bfd495a4f51ad01a055121d81e952b7a3"},
 ]
+pathspec = [
+    {file = "pathspec-0.8.1-py2.py3-none-any.whl", hash = "sha256:aa0cb481c4041bf52ffa7b0d8fa6cd3e88a2ca4879c533c9153882ee2556790d"},
+    {file = "pathspec-0.8.1.tar.gz", hash = "sha256:86379d6b86d75816baba717e64b1a3a3469deb93bb76d613c9ce79edc5cb68fd"},
+]
 pbr = [
    {file = "pbr-5.4.4-py2.py3-none-any.whl", hash = "sha256:61aa52a0f18b71c5cc58232d2cf8f8d09cd67fcad60b742a60124cb8d6951488"},
    {file = "pbr-5.4.4.tar.gz", hash = "sha256:139d2625547dbfa5fb0b81daebb39601c478c21956dc57e2e07b74450a8c506b"},
@@ -452,6 +549,49 @@ pytz = [
    {file = "pytz-2019.3-py2.py3-none-any.whl", hash = "sha256:1c557d7d0e871de1f5ccd5833f60fb2550652da6be2693c1e02300743d21500d"},
    {file = "pytz-2019.3.tar.gz", hash = "sha256:b02c06db6cf09c12dd25137e563b31700d3b80fcc4ad23abb7a315f2789819be"},
 ]
+regex = [
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@@ -0,0 +1,111 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from typing import Iterable, List, Optional, Tuple, Union, overload
+
+from .parameters import Button, Color, Direction, Stop, Port
+from .media.ev3dev import SoundFile
+
+class DCMotor:
+    def __init__(
+        self, port: Port, positive_direction: Direction = Direction.CLOCKWISE
+    ): ...
+    def dc(self, duty: int) -> None: ...
+    def stop(self) -> None: ...
+    def brake(self) -> None: ...
+
+class Control:
+    @overload
+    def limits(self) -> Tuple[int, int, int]: ...
+    @overload
+    def limits(
+        self,
+        speed: Optional[int] = None,
+        acceleration: Optional[int] = None,
+        actuation: Optional[int] = None,
+    ) -> None: ...
+    def pid(self) -> Tuple[int, int, int, int, int, int]: ...
+    @overload
+    def pid(
+        self,
+        kp: Optional[int] = None,
+        ki: Optional[int] = None,
+        kd: Optional[int] = None,
+        integral_range: Optional[int] = None,
+        integral_rate: Optional[int] = None,
+        feed_forward: Optional[int] = None,
+    ) -> None: ...
+    @overload
+    def target_tolerances(self) -> Tuple[int, int]: ...
+    @overload
+    def target_tolerances(
+        self, speed: Optional[int] = None, position: Optional[int] = None
+    ) -> None: ...
+    @overload
+    def stall_tolerances(self) -> Tuple[int, int]: ...
+    @overload
+    def stall_tolerances(
+        self, speed: Optional[int] = None, time: Optional[int] = None
+    ) -> None: ...
+    def trajectory(
+        self,
+    ) -> Tuple[int, int, int, int, int, int, int, int, int, int, int, int]: ...
+    def stalled(self) -> bool: ...
+    def done(self) -> bool: ...
+
+class Motor(DCMotor):
+    control: Control
+    def __init__(
+        self,
+        port: Port,
+        positive_direction: Direction = Direction.CLOCKWISE,
+        gears: Optional[Union[List[int], List[List[int]]]] = None,
+    ): ...
+    def angle(self) -> int: ...
+    def speed(self) -> int: ...
+    def reset_angle(self, angle: int) -> None: ...
+    def hold(self) -> None: ...
+    def run(self, speed: int) -> None: ...
+    def run_time(
+        self, speed: int, time: int, then: Stop = Stop.HOLD, wait: bool = True
+    ) -> None: ...
+    def run_angle(
+        self, speed: int, rotation_angle: int, then: Stop = Stop.HOLD, wait: bool = True
+    ) -> None: ...
+    def run_target(
+        self, speed: int, target_angle: int, then: Stop = Stop.HOLD, wait: bool = True
+    ) -> None: ...
+    def run_until_stalled(
+        self, speed: int, then: Stop = Stop.COAST, duty_limit: Optional[int] = None
+    ) -> int: ...
+    def track_target(self, target_angle: int) -> None: ...
+
+class Speaker:
+    def beep(self, frequency: int = 500, duration: int = 100) -> None: ...
+    def play_notes(self, notes: Iterable[str], tempo: int = 120) -> None: ...
+    def play_file(self, file_name: Union[SoundFile, str]) -> None: ...
+    def say(self, text: str) -> None: ...
+    def set_speech_options(
+        self,
+        language: Optional[str] = None,
+        voice: Optional[str] = None,
+        speed: Optional[int] = None,
+        pitch: Optional[int] = None,
+    ): ...
+    def set_volume(self, volume: int, which: str = "_all_") -> None: ...
+
+class Light:
+    def on(self, brightness: int = 100) -> None: ...
+    def off(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: ...
+
+class KeyPad:
+    def pressed(self) -> List[Button]:...
+
+class Battery:
+    def voltage(self) -> int: ...
+    def current(self) -> int: ...
@@ -0,0 +1,38 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from typing import List, Optional, Tuple
+
+from .parameters import Color, Direction, Port, Button
+from ._common import Motor  # noqa E402
+
+class TouchSensor:
+    def __init__(self, port: Port): ...
+    def pressed(self) -> bool: ...
+
+class ColorSensor:
+    def __init__(self, port: Port): ...
+    def color(self) -> Optional[Color]: ...
+    def ambient(self) -> int: ...
+    def reflection(self) -> int: ...
+    def rgb(self) -> Tuple[int, int, int]: ...
+
+class InfraredSensor:
+    def __init__(self, port: Port): ...
+    def distance(self) -> int: ...
+    def beacon(self, channel: int) -> Tuple[Optional[int], Optional[int]]: ...
+    def buttons(self, channel: int) -> List[Button]: ...
+    def keypad(self) -> List[Button]: ...
+
+class GyroSensor:
+    def __init__(
+        self, port: Port, positive_direction: Direction = Direction.CLOCKWISE
+    ): ...
+    def speed(self) -> int: ...
+    def angle(self) -> int: ...
+    def reset_angle(self, angle: int) -> None: ...
+
+class UltrasonicSensor:
+    def __init__(self, port: Port): ...
+    def distance(self, silent: bool = False) -> int: ...
+    def presence(self) -> bool: ...
@@ -0,0 +1,12 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from ._common import Speaker, Battery, ColorLight, KeyPad
+from .media.ev3dev import Image
+
+class EV3Brick:
+    screen: Image
+    speaker: Speaker
+    battery: Battery
+    light: ColorLight
+    buttons = KeyPad
@@ -0,0 +1,37 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from typing import Optional, Tuple
+
+from .parameters import Port
+
+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
+    port_index: int
+    def __init__(self, port: Port): ...
+    def read(self, mode: int) -> Tuple: ...
+
+class AnalogSensor:
+    def __init__(self, port: Port): ...
+    def voltage(self) -> int: ...
+    def resistance(self) -> int: ...
+    def active(self) -> None: ...
+    def passive(self) -> None: ...
+
+class I2CDevice:
+    def __init__(self, port: Port, address: int): ...
+    def read(self, reg: Optional[int], length: Optional[int] = 1) -> bytes: ...
+    def write(self, reg: Optional[int], data: Optional[bytes] = None) -> None: ...
+
+class UARTDevice:
+    def __init__(self, port: Port, baudrate: int, timeout: Optional[int] = None): ...
+    def read(self, length: int = 1) -> bytes: ...
+    def read_all(self) -> bytes: ...
+    def write(self, data: bytes) -> None: ...
+    def waiting(self) -> int: ...
+    def clear(self) -> None: ...
@@ -0,0 +1,232 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from typing import Any, Literal, Optional, Union, overload
+
+from ..parameters import Color
+
+class Image:
+    @overload
+    def __init__(self, /, source: Union[Image, ImageFile, str]): ...
+    @overload
+    def __init__(
+        self, /, source: Image, sub: Literal[True], x1: int, y1: int, x2: int, y2: int
+    ): ...
+    @property
+    def width(self) -> int: ...
+    @property
+    def height(self) -> int: ...
+    def clear(self) -> None: ...
+    def draw_pixel(self, x: int, y: int, color: Color = Color.BLACK) -> None: ...
+    def draw_line(
+        self,
+        x1: int,
+        y1: int,
+        x2: int,
+        y2: int,
+        width: int = 1,
+        color: Color = Color.BLACK,
+    ) -> None: ...
+    def draw_box(
+        self,
+        x1: int,
+        y1: int,
+        x2: int,
+        y2: int,
+        r: int = 0,
+        fill: bool = False,
+        color: Color = Color.BLACK,
+    ) -> None: ...
+    def draw_circle(
+        self, x: int, y: int, r: int, fill: bool = False, color: Color = Color.BLACK
+    ) -> None: ...
+    def draw_image(
+        self,
+        x: int,
+        y: int,
+        source: Union[Image, ImageFile, str],
+        transparent: Optional[Color] = None,
+    ) -> None: ...
+    def load_image(self, source: Union[Image, ImageFile, str]) -> None: ...
+    def draw_text(
+        self,
+        x: int,
+        y: int,
+        text: str,
+        text_color: Color = Color.BLACK,
+        background_color: Optional[Color] = None,
+    ) -> None: ...
+    def print(self, *args: Any, sep: str = " ", end: str = "\n") -> None: ...
+    def set_font(self, font: Font) -> None: ...
+    @staticmethod
+    def empty(width: int = 178, height: int = 128) -> Image: ...
+    def save(self, filename: str) -> None: ...
+
+class Font:
+    DEFAULT: Font
+    def __init__(
+        self,
+        family: Optional[str] = None,
+        size: int = 12,
+        bold: bool = False,
+        monospace: bool = False,
+        lang: Optional[str] = None,
+        script: Optional[str] = None,
+    ): ...
+    @property
+    def family(self) -> str: ...
+    @property
+    def style(self) -> str: ...
+    @property
+    def width(self) -> int: ...
+    @property
+    def height(self) -> int: ...
+    def text_width(self, text: str) -> int: ...
+    def text_height(self, text: str) -> int: ...
+
+class SoundFile:
+    SHOUTING: SoundFile
+    CHEERING: SoundFile
+    CRYING: SoundFile
+    OUCH: SoundFile
+    LAUGHING_2: SoundFile
+    SNEEZING: SoundFile
+    SMACK: SoundFile
+    BOING: SoundFile
+    BOO: SoundFile
+    UH_OH: SoundFile
+    SNORING: SoundFile
+    KUNG_FU: SoundFile
+    FANFARE: SoundFile
+    CRUNCHING: SoundFile
+    MAGIC_WAND: SoundFile
+    LAUGHING_1: SoundFile
+    LEFT: SoundFile
+    BACKWARDS: SoundFile
+    RIGHT: SoundFile
+    OBJECT: SoundFile
+    COLOR: SoundFile
+    FLASHING: SoundFile
+    ERROR: SoundFile
+    ERROR_ALARM: SoundFile
+    DOWN: SoundFile
+    FORWARD: SoundFile
+    ACTIVATE: SoundFile
+    SEARCHING: SoundFile
+    TOUCH: SoundFile
+    UP: SoundFile
+    ANALYZE: SoundFile
+    STOP: SoundFile
+    DETECTED: SoundFile
+    TURN: SoundFile
+    START: SoundFile
+    MORNING: SoundFile
+    EV3: SoundFile
+    GO: SoundFile
+    GOOD_JOB: SoundFile
+    OKEY_DOKEY: SoundFile
+    GOOD: SoundFile
+    NO: SoundFile
+    THANK_YOU: SoundFile
+    YES: SoundFile
+    GAME_OVER: SoundFile
+    OKAY: SoundFile
+    SORRY: SoundFile
+    BRAVO: SoundFile
+    GOODBYE: SoundFile
+    HI: SoundFile
+    HELLO: SoundFile
+    MINDSTORMS: SoundFile
+    LEGO: SoundFile
+    FANTASTIC: SoundFile
+    SPEED_IDLE: SoundFile
+    SPEED_DOWN: SoundFile
+    SPEED_UP: SoundFile
+    BROWN: SoundFile
+    GREEN: SoundFile
+    BLACK: SoundFile
+    WHITE: SoundFile
+    RED: SoundFile
+    BLUE: SoundFile
+    YELLOW: SoundFile
+    TICK_TACK: SoundFile
+    HORN_1: SoundFile
+    BACKING_ALERT: SoundFile
+    MOTOR_IDLE: SoundFile
+    AIR_RELEASE: SoundFile
+    AIRBRAKE: SoundFile
+    RATCHET: SoundFile
+    MOTOR_STOP: SoundFile
+    HORN_2: SoundFile
+    LASER: SoundFile
+    SONAR: SoundFile
+    MOTOR_START: SoundFile
+    INSECT_BUZZ_2: SoundFile
+    ELEPHANT_CALL: SoundFile
+    SNAKE_HISS: SoundFile
+    DOG_BARK_2: SoundFile
+    DOG_WHINE: SoundFile
+    INSECT_BUZZ_1: SoundFile
+    DOG_SNIFF: SoundFile
+    T_REX_ROAR: SoundFile
+    INSECT_CHIRP: SoundFile
+    DOG_GROWL: SoundFile
+    SNAKE_RATTLE: SoundFile
+    DOG_BARK_1: SoundFile
+    CAT_PURR: SoundFile
+    EIGHT: SoundFile
+    SEVEN: SoundFile
+    SIX: SoundFile
+    FOUR: SoundFile
+    TEN: SoundFile
+    ONE: SoundFile
+    TWO: SoundFile
+    THREE: SoundFile
+    ZERO: SoundFile
+    FIVE: SoundFile
+    NINE: SoundFile
+    READY: SoundFile
+    CONFIRM: SoundFile
+    GENERAL_ALERT: SoundFile
+    CLICK: SoundFile
+    OVERPOWER: SoundFile
+
+class ImageFile:
+    RIGHT: ImageFile
+    FORWARD: ImageFile
+    ACCEPT: ImageFile
+    QUESTION_MARK: ImageFile
+    STOP_1: ImageFile
+    LEFT: ImageFile
+    DECLINE: ImageFile
+    THUMBS_DOWN: ImageFile
+    BACKWARD: ImageFile
+    NO_GO: ImageFile
+    WARNING: ImageFile
+    STOP_2: ImageFile
+    THUMBS_UP: ImageFile
+    EV3: ImageFile
+    EV3_ICON: ImageFile
+    TARGET: ImageFile
+    BOTTOM_RIGHT: ImageFile
+    BOTTOM_LEFT: ImageFile
+    EVIL: ImageFile
+    CRAZY_2: ImageFile
+    KNOCKED_OUT: ImageFile
+    PINCHED_RIGHT: ImageFile
+    WINKING: ImageFile
+    DIZZY: ImageFile
+    DOWN: ImageFile
+    TIRED_MIDDLE: ImageFile
+    MIDDLE_RIGHT: ImageFile
+    SLEEPING: ImageFile
+    MIDDLE_LEFT: ImageFile
+    TIRED_RIGHT: ImageFile
+    PINCHED_LEFT: ImageFile
+    PINCHED_MIDDLE: ImageFile
+    CRAZY_1: ImageFile
+    NEUTRAL: ImageFile
+    AWAKE: ImageFile
+    UP: ImageFile
+    TIRED_LEFT: ImageFile
+    ANGRY: ImageFile
@@ -0,0 +1,49 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from abc import abstractmethod
+from typing import Callable, Generic, Optional, TypeVar
+
+T = TypeVar("T")
+
+class Connection:
+    @abstractmethod
+    def read_from_mailbox(self, name: str) -> bytes: ...
+    @abstractmethod
+    def send_to_mailbox(self, name: str, data: bytes) -> None: ...
+    @abstractmethod
+    def wait_for_mailbox_update(self, name: str) -> None: ...
+
+class Mailbox(Generic[T]):
+    def __init__(
+        self,
+        name: str,
+        connection: Connection,
+        encode: Optional[Callable[[T], bytes]] = None,
+        decode: Optional[Callable[[bytes], T]] = None,
+    ): ...
+    def read(self) -> T: ...
+    def send(self, value: T, brick: Optional[str] = None) -> None: ...
+    def wait(self) -> None: ...
+    def wait_new(self) -> T: ...
+
+class LogicMailbox(Mailbox[bool]):
+    def __init__(self, name, connection: Connection): ...
+
+class NumericMailbox(Mailbox[float]):
+    def __init__(self, name, connection: Connection): ...
+
+class TextMailbox(Mailbox[str]):
+    def __init__(self, name, connection: Connection): ...
+
+class BluetoothMailboxServer(Connection):
+    def __enter__(self) -> BluetoothMailboxServer: ...
+    def __exit__(self, type, value, traceback) -> None: ...
+    def wait_for_connection(self, count: int = 1) -> None: ...
+    def close(self) -> None: ...
+
+class BluetoothMailboxClient(Connection):
+    def __enter__(self) -> BluetoothMailboxClient: ...
+    def __exit__(self, type, value, traceback) -> None: ...
+    def connect(self, brick: str) -> None: ...
+    def close(self) -> None: ...
@@ -0,0 +1,51 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from typing import Callable, Optional, Tuple
+
+from ._common import ColorLight
+from .iodevices import AnalogSensor
+from .parameters import Color, Port
+
+class TouchSensor:
+    def __init__(self, port: Port): ...
+    def pressed(self) -> bool: ...
+
+class LightSensor:
+    def __init__(self, port: Port): ...
+    def ambient(self) -> int: ...
+    def reflection(self) -> int: ...
+
+class ColorSensor:
+    light: ColorLight
+    def __init__(self, port: Port): ...
+    def color(self) -> Optional[Color]: ...
+    def ambient(self) -> int: ...
+    def reflection(self) -> int: ...
+    def rgb(self) -> Tuple[int, int, int]: ...
+
+class UltrasonicSensor:
+    def __init__(self, port: Port): ...
+    def distance(self) -> int: ...
+
+class SoundSensor:
+    def __init__(self, port: Port): ...
+    def intensity(self, audible_only: bool = True) -> int: ...
+
+class TemperatureSensor:
+    def __init__(self, port: Port): ...
+    def temperature(self) -> int: ...
+
+class EnergyMeter:
+    def __init__(self, port: Port): ...
+    def storage(self) -> int: ...
+    def input(self) -> Tuple[int, int, int]: ...
+    def output(self) -> Tuple[int, int, int]: ...
+
+class VernierAdapter(AnalogSensor):
+    def __init__(
+        self, port: Port, conversion: Optional[Callable[[int], float]] = None
+    ): ...
+    def voltage(self) -> int: ...
+    def conversion(self, voltage: int) -> float: ...
+    def value(self) -> float: ...
@@ -0,0 +1,44 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+class Color:
+    BLACK: Color
+    BLUE: Color
+    GREEN: Color
+    YELLOW: Color
+    RED: Color
+    WHITE: Color
+    BROWN: Color
+    ORANGE: Color
+    PURPLE: Color
+
+class Port:
+    A: Port
+    B: Port
+    C: Port
+    D: Port
+    S1: Port
+    S2: Port
+    S3: Port
+    S4: Port
+
+class Stop:
+    COAST: Stop
+    BRAKE: Stop
+    HOLD: Stop
+
+class Direction:
+    CLOCKWISE: Direction
+    COUNTERCLOCKWISE: Direction
+
+class Button:
+    LEFT_DOWN: Button
+    DOWN: Button
+    RIGHT_DOWN: Button
+    LEFT: Button
+    CENTER: Button
+    RIGHT: Button
+    LEFT_UP: Button
+    UP: Button
+    BEACON: Button
+    RIGHT_UP: Button
@@ -0,0 +1,34 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from typing import Optional, Tuple, overload
+from ._common import Control, Motor
+
+class DriveBase:
+    distance_control: Control
+    heading_control: Control
+    def __init__(
+        self,
+        left_motor: Motor,
+        right_motor: Motor,
+        wheel_diameter: int,
+        axle_track: int,
+    ): ...
+    def drive(self, drive_speed: int, turn_rate: int) -> None: ...
+    def stop(self) -> None: ...
+    def distance(self) -> int: ...
+    def angle(self) -> int: ...
+    def state(self) -> Tuple[int, int, int, int]: ...
+    def reset(self) -> None: ...
+    @overload
+    def settings(self) -> Tuple[int, int, int, int]: ...
+    @overload
+    def settings(
+        self,
+        straight_speed: Optional[int],
+        straight_acceleration: Optional[int],
+        turn_rate: Optional[int],
+        turn_acceleration: Optional[int],
+    ) -> None: ...
+    def straight(self, distance: int) -> None: ...
+    def turn(self, angle: int) -> None: ...
@@ -0,0 +1,23 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+from typing import Any
+
+def wait(time: int) -> None: ...
+
+class StopWatch:
+    def time(self) -> int: ...
+    def pause(self) -> None: ...
+    def resume(self) -> None: ...
+    def reset(self) -> None: ...
+
+class DataLog:
+    def __init__(
+        self,
+        *headers: str,
+        name: str = "log",
+        timestamp: bool = True,
+        extension: str = "csv",
+        append: bool = False
+    ): ...
+    def log(self, *values: Any) -> None: ...
@@ -13,11 +13,13 @@ classifiers = [
    "Development Status :: 3 - Alpha",
    "Programming Language :: Python :: Implementation :: MicroPython",
 ]
+include = ["pybricks/py.typed"]

 [tool.poetry.dependencies]
-python = "^3.5"
+python = "^3.8"

 [tool.poetry.dev-dependencies]
+black = {version = "^20.8b1", allow-prereleases = true}
 doc8 = "*"
 flake8 = "*"
 sphinx = "==1.7.9"
@@ -26,5 +28,5 @@ sphinxcontrib-contentui = "==0.2.2"
 toml = "^0.10.0"

 [build-system]
-requires = ["poetry>=0.12"]
-build-backend = "poetry.masonry.api"
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"
@@ -1,6 +1,6 @@

 [flake8]
-exclude = .venv/
+exclude = .venv/,*.pyi
 max-line-length = 88

 [doc8]