diff --git a/doc/common/extensions/requirements-static.py b/doc/common/extensions/requirements-static.py
index 09d3035..36d2820 100644
--- a/doc/common/extensions/requirements-static.py
+++ b/doc/common/extensions/requirements-static.py
@@ -47,8 +47,8 @@ class PybricksRequirementsStaticDirective(Directive):
 
         for hub in HUB_FEATURES:
             for compat in ("true", "false"):
-                uri = "compat_{0}_{1}_label.png".format(hub, compat)
-                src_uri = path.join(env.app.builder.srcdir, "images", uri)
+                uri = "compat_{0}_{1}.png".format(hub, compat)
+                src_uri = path.join(env.app.builder.srcdir, "diagrams", uri)
                 build_uri = path.join(env.app.builder.outdir, "_images", uri)
                 copyfile(src_uri, build_uri)
 
diff --git a/doc/main/cad/copy-renders.sh b/doc/main/cad/copy-renders.sh
new file mode 100755
index 0000000..5e1e916
--- /dev/null
+++ b/doc/main/cad/copy-renders.sh
@@ -0,0 +1,62 @@
+rm output/*
+cp LPub3D/assem/main-*.png output/all.png 
+cp LPub3D/assem/main_1_ev3devices-*.png output/ev3device-all.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-color-*.png output/ev3device-color.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-ev3-*.png output/ev3device-ev3.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-gyro-*.png output/ev3device-gyro.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-infrared-*.png output/ev3device-infrared.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-motors-*.png output/ev3device-motors.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-touch-*.png output/ev3device-touch.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-ultrasonic-*.png output/ev3device-ultrasonic.png
+cp LPub3D/assem/main_1_hubs_2_hubs-lwp3-*.png output/hub-lwp3.png
+cp LPub3D/assem/main_1_hubs-*0_1_1*.png output/hub-spike-inventor.png
+cp LPub3D/assem/main_1_hubs-*0_1_2*.png output/hub-all.png
+cp LPub3D/assem/main_1_hubs_1_hub-city-*.png output/hub-city.png
+cp LPub3D/assem/main_1_hubs_1_hub-essential-*35_-35_0_ABS.png output/hub-essential.png
+cp LPub3D/assem/main_1_hubs_1_hub-essential-*45_45_0_ABS.png output/hub-essential-orientation.png
+cp LPub3D/assem/main_1_hubs_1_hub-inventor-*35_-35_0_ABS.png output/hub-inventor.png
+cp LPub3D/assem/main_1_hubs_1_hub-inventor-*45_45_0_ABS.png output/hub-inventor-orientation.png
+cp LPub3D/assem/main_1_hubs_1_hub-move-*35_-35_0_ABS.png output/hub-move.png
+cp LPub3D/assem/main_1_hubs_1_hub-move-*45_45_0_ABS.png output/hub-move-orientation.png
+cp LPub3D/assem/main_1_hubs_1_hub-move-*35_-125_0_ABS.png output/hub-move-motor-a.png
+cp LPub3D/assem/main_1_hubs_1_hub-move-*35_55_0_ABS.png output/hub-move-motor-b.png
+cp LPub3D/assem/main_1_hubs_1_hub-prime-*35_-35_0_ABS.png output/hub-prime.png
+cp LPub3D/assem/main_1_hubs_1_hub-prime-*45_45_0_ABS.png output/hub-prime-orientation.png
+cp LPub3D/assem/main_1_hubs_1_hub-prime-*90_0_0_ABS.png output/hub-prime-display.png
+cp LPub3D/assem/main_1_hubs_1_hub-technic-*35_-35_0_ABS.png output/hub-technic.png
+cp LPub3D/assem/main_1_hubs_1_hub-technic-*45_-135_0_ABS.png output/hub-technic-orientation.png
+cp LPub3D/assem/main_1_iodevices-*.png output/iodevice-all.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-dcmotor-*.png output/iodevice-dcmotor.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-pupdevice-*.png output/iodevice-pupdevice.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12blue-*.png output/iodevice-rj12blue.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12brown-*.png output/iodevice-rj12brown.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12cyan-*.png output/iodevice-rj12cyan.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12green-*.png output/iodevice-rj12green.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12grey-*.png output/iodevice-rj12grey.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12pcbbox-*.png output/iodevice-rj12pcbbox.png
+cp LPub3D/assem/main_1_nxtdevices-*.png output/nxtdevice-all.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-color-*.png output/nxtdevice-color.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-energy-*.png output/nxtdevice-energy.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-light-*.png output/nxtdevice-light.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-nxt-*.png output/nxtdevice-nxt.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-sound-*.png output/nxtdevice-sound.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-temperature-*.png output/nxtdevice-temperature.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-touch-*.png output/nxtdevice-touch.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-ultrasonic-*.png output/nxtdevice-ultrasonic.png
+cp LPub3D/assem/main_1_pupdcmotors-*.png output/pupdevice-dcmotors.png
+cp LPub3D/assem/main_1_pupdevices-*.png output/pupdevice-all.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-color-*0_0.png output/pupdevice-color-front.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-color-*ABS.png output/pupdevice-color.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-colordistance-*.png output/pupdevice-colordistance.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-force-*.png output/pupdevice-force.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-infrared-*.png output/pupdevice-infrared.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-light-*.png output/pupdevice-light.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-lightmatrix-*.png output/pupdevice-lightmatrix.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-pfmotor-*.png output/pupdevice-pfmotor.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-remote-*.png output/pupdevice-remote.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-tilt-*35_-35_0_ABS.png output/pupdevice-tilt.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-tilt-*45_-135_0_ABS.png output/pupdevice-tilt-orientation.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-ultrasonic-*0_0.png output/pupdevice-ultrasonic-front.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-ultrasonic-*ABS.png output/pupdevice-ultrasonic.png
+cp LPub3D/assem/main_1_pupmotors-*.png output/pupdevice-motors.png
+cp LPub3D/assem/main_1_imu-orientation-*.png output/imu-orientation.png
diff --git a/doc/main/cad/devices.mpd b/doc/main/cad/devices.mpd
new file mode 100644
index 0000000..870e4a3
--- /dev/null
+++ b/doc/main/cad/devices.mpd
@@ -0,0 +1,841 @@
+0 FILE main.ldr
+0 main
+0 Name: main.ldr
+0 Author: Pybricks
+0 !LPUB RESOLUTION GLOBAL 150 DPI
+0 !LPUB PAGE SIZE GLOBAL 33.1102 46.8110 A0
+0 !LPUB PAGE MARGINS GLOBAL 0.0000 0.0000
+0 !LPUB PLI SHOW GLOBAL FALSE
+0 !LPUB PAGE ORIENTATION GLOBAL LANDSCAPE
+0 !LPUB PAGE BACKGROUND GLOBAL TRANSPARENT
+0 !LPUB ASSEM MODEL_SCALE GLOBAL  0.3
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 0 730 0 -37 1 0 0 0 1 0 0 0 1 pupdevices.ldr
+1 0 0 0 140 1 0 0 0 1 0 0 0 1 hubs.ldr
+1 0 70 0 333 1 0 0 0 1 0 0 0 1 pupmotors.ldr
+1 0 1340 380 700 0 0 1 0 1 0 -1 0 0 pupdcmotors.ldr
+1 0 -590 380 570 1 0 0 0 1 0 0 0 1 nxtdevices.ldr
+1 0 -280 380 1730 1 0 0 0 1 0 0 0 1 ev3devices.ldr
+1 0 -720 380 1840 1 0 0 0 1 0 0 0 1 iodevices.ldr
+0 BUFEXCHG A STORE
+1 0 -720 380 1840 1 0 0 0 1 0 0 0 1 imu-orientation.ldr
+0 BUFEXCHG A RETRIEVE
+0 ROTSTEP 40 -35 0 ABS
+0 
+0 STEP
+0 !LPUB INSERT COVER_PAGE BACK
+0 NOFILE
+0
+0 FILE pupdevices.ldr
+0 New Model
+0 Name: pupdevices.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 !LPUB ASSEM MODEL_SCALE GLOBAL  0.35
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+0 BUFEXCHG A STORE
+0 GHOST 1 0 1043 0 -136 1 0 0 0 1 0 0 0 1 pupdevice-pfmotor.ldr
+0 BUFEXCHG A RETRIEVE
+1 0 349 0 -225 1 0 0 0 1 0 0 0 1 pupdevice-color.ldr
+1 0 -31 0 -215 1 0 0 0 1 0 0 0 1 pupdevice-force.ldr
+1 0 139 0 -235 1 0 0 0 1 0 0 0 1 pupdevice-ultrasonic.ldr
+1 0 460 0 20 1 0 0 0 1 0 0 0 1 pupdevice-tilt.ldr
+1 0 300 0 20 1 0 0 0 1 0 0 0 1 pupdevice-colordistance.ldr
+1 0 130 0 20 1 0 0 0 1 0 0 0 1 pupdevice-infrared.ldr
+1 0 510 0 -280 1 0 0 0 1 0 0 0 1 pupdevice-lightmatrix.ldr
+1 0 560 0 60 1 0 0 0 1 0 0 0 1 pupdevice-light.ldr
+1 0 330 0 350 1 0 0 0 1 0 0 0 1 pupdevice-remote.ldr
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 
+0 
+0 
+0 NOFILE
+0
+0 FILE hubs.ldr
+0 New Model
+0 Name: hubs.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 !LPUB ASSEM MODEL_SCALE GLOBAL  0.35
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 0 80 30 -270 1 0 0 0 1 0 0 0 1 hub-prime.ldr
+1 0 -150 30 -130 1 0 0 0 1 0 0 0 1 hub-inventor.ldr
+0 ROTSTEP 40 -35 0 ABS
+1 0 280 0 -460 1 0 0 0 1 0 0 0 1 hub-essential.ldr
+1 0 0 0 0 1 0 0 0 1 0 0 0 1 hubs-lwp3.ldr
+0 STEP
+0 
+0 NOFILE
+0
+0 FILE pupdevice-color.ldr
+0 New Model
+0 Name: pupdevice-color.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+0 GHOST 1 15 0 0 -50 -1 0 0 0 -1 0 0 0 1 37308.dat
+0 ROTSTEP 0 0 0 ABS
+1 15 0 0 0 -1 0 0 0 -1 0 0 0 1 37308c01.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE pupdevice-ultrasonic.ldr
+0 New Model
+0 Name: pupdevice-ultrasonic.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 37316.dat
+0 ROTSTEP 0 0 0 ABS
+1 511 0 14 0 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE pupdevice-force.ldr
+0 New Model
+0 Name: pupdevice-force.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 -1 0 0 0 -1 0 0 0 1 37312c01.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE pupdevice-colordistance.ldr
+0 New Model
+0 Name: pupdevice-colordistance.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 26912.dat
+1 256 0 8 35 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE pupdevice-infrared.ldr
+0 New Model
+0 Name: pupdevice-infrared.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 0 0 1 0 1 0 -1 0 0 20844.dat
+1 256 0 8 35 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE pupdevice-tilt.ldr
+0 New Model
+0 Name: pupdevice-tilt.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 256 0 8 35 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
+1 15 0 0 0 0 0 1 0 1 0 -1 0 0 20841.dat
+0 ROTSTEP 35 -35 0 ABS
+1 15 0 0 0 0 0 1 0 1 0 -1 0 0 20841.dat
+0 ROTSTEP 45 -135 0 ABS
+0 
+0 
+0 NOFILE
+0
+0 FILE hub-technic.ldr
+0 New Model
+0 Name: hub-technic.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 71 0 0 0 1 0 0 0 1 0 0 0 1 22127.dat
+0 ROTSTEP 35 -35 0 ABS
+1 71 0 0 0 1 0 0 0 1 0 0 0 1 22127.dat
+0 ROTSTEP 45 -135 0 ABS
+0 NOFILE
+0
+0 FILE hub-prime.ldr
+0 New Model
+0 Name: hub-prime.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 45601.dat
+1 14 0 0 0 1 0 0 0 1 0 0 0 1 45610.dat
+0 ROTSTEP 35 -35 0 ABS
+1 14 0 0 0 1 0 0 0 1 0 0 0 1 45610.dat
+0 ROTSTEP 45 45 0 ABS
+1 14 0 0 0 1 0 0 0 1 0 0 0 1 45610.dat
+0 ROTSTEP 90 0 0 ABS
+0 
+0 NOFILE
+0
+0 FILE hub-inventor.ldr
+0 New Model
+0 Name: hub-inventor.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 67718c01.dat
+0 ROTSTEP 35 -35 0 ABS
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 67718c01.dat
+0 ROTSTEP 45 45 0 ABS
+0 
+0 NOFILE
+0
+0 FILE hub-city.ldr
+0 New Model
+0 Name: hub-city.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 28738.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE hub-move.ldr
+0 New Model
+0 Name: hub-move.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 26910.dat
+0 ROTSTEP 35 -125 0 ABS
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 26910.dat
+0 ROTSTEP 35 55 0 ABS
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 26910.dat
+0 ROTSTEP 35 -35 0 ABS
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 26910.dat
+0 ROTSTEP 45 45 0 ABS
+0 
+0 NOFILE
+0
+0 FILE hub-essential.ldr
+0 New Model
+0 Name: hub-essential.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 67351c01.dat
+0 ROTSTEP 35 -35 0 ABS
+1 15 0 0 0 1 0 0 0 1 0 0 0 1 67351c01.dat
+0 ROTSTEP 45 45 0 ABS
+0 
+0 
+0 
+0 
+0 
+0 
+0 NOFILE
+0
+0 FILE pupdevice-lightmatrix.ldr
+0 New Model
+0 Name: pupdevice-lightmatrix.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 -1 0 0 0 -1 0 0 0 1 47592c01.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE pupdevice-light.ldr
+0 New Model
+0 Name: pupdevice-light.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 0 0 0 0 1 0 0 0 1 0 0 0 1 22168.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE pupdevice-pfmotor.ldr
+0 New Model
+0 Name: pupdevice-pfmotor.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 71 445 -9 202 0 0 -1 0 1 0 1 0 0 99499c01.dat
+1 71 120 0 230 0 0 1 0 1 0 -1 0 0 58123.dat
+1 15 2.655 -31 364.341 0.965925 0 -0.258819 0 1 0 0.258819 0 0.965925 26912.dat
+1 256 -6.404 -23 398.149 -0.965925 0 -0.258819 0 -1 0 -0.258819 0 0.965925 u9218c01.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE pupdevice-remote.ldr
+0 New Model
+0 Name: pupdevice-remote.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 0 0 0 -1 0 0 0 1 0 0 0 -1 28739.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 
+0 NOFILE
+0
+0 FILE pupmotors.ldr
+0 New Model
+0 Name: pupmotors.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 !LPUB ASSEM MODEL_SCALE GLOBAL  0.35
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 15 450 -76 -20 0 0 1 1 0 0 0 1 0 54675c01.dat
+1 15 -30 -76 280 0 0 1 1 0 0 0 1 0 68488c01.dat
+1 71 550 -76 200 0 0 1 1 0 0 0 1 0 69730c01.dat
+1 15 180 -72 140 0 0 1 1 0 0 0 1 0 54696c01.dat
+1 15 260 -72 350 0 0 1 1 0 0 0 1 0 54696p02c01.dat
+1 71 430 -84 470 1 0 0 0 1 0 0 0 1 22169c01.dat
+1 71 590 -86 360 1 0 0 0 1 0 0 0 1 22172c01.dat
+1 15 300 -110 630 1 0 0 0 1 0 0 0 1 26913c01.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 
+0 NOFILE
+0
+0 FILE pupdcmotors.ldr
+0 New Model
+0 Name: pupdcmotors.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 !LPUB ASSEM MODEL_SCALE GLOBAL  0.35
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 256 61 -346 -31 1 0 0 0 1 0 0 0 1 u9218c01.dat
+1 0 60 -312 -150 1 0 0 0 1 0 0 0 1 3706.dat
+1 0 100 -312 -150 0 0 -1 0 1 0 1 0 0 u9241.dat
+1 0 100 -312 -30 0 0 -1 0 1 0 1 0 0 u9241.dat
+1 0 20 -312 -30 0 0 1 0 1 0 -1 0 0 u9241.dat
+1 0 20 -312 -150 0 0 1 0 1 0 -1 0 0 u9241.dat
+1 0 60 -312 -30 1 0 0 0 1 0 0 0 1 3706.dat
+1 0 90 -344 -90 1 0 0 0 1 0 0 0 1 2871b.dat
+1 0 60 -352 -90 -1 0 0 0 1 0 0 0 -1 2894.dat
+1 0 30 -344 -90 -1 0 0 0 1 0 0 0 -1 2871b.dat
+1 15 10 -376 -310 0 0 -1 0 1 0 1 0 0 21980c01.dat
+0 ROTSTEP 25 45 0 ABS
+0 
+0 
+0 
+0 
+0 NOFILE
+0
+0 FILE nxtdevices.ldr
+0 New Model
+0 Name: nxtdevices.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 !LPUB ASSEM MODEL_SCALE GLOBAL  0.35
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+0 GHOST 1 0 20 0 600 1 0 0 0 1 0 0 0 1 nxtdevice-nxt.ldr
+1 0 60 0 110 1 0 0 0 1 0 0 0 1 nxtdevice-touch.ldr
+1 0 180 0 30 1 0 0 0 1 0 0 0 1 nxtdevice-light.ldr
+1 0 290 0 -60 1 0 0 0 1 0 0 0 1 nxtdevice-color.ldr
+1 0 -80 0 200 1 0 0 0 1 0 0 0 1 nxtdevice-ultrasonic.ldr
+1 0 410 0 -150 1 0 0 0 1 0 0 0 1 nxtdevice-sound.ldr
+1 0 -210 0 420 1 0 0 0 1 0 0 0 1 nxtdevice-temperature.ldr
+1 0 340 0 520 1 0 0 0 1 0 0 0 1 nxtdevice-energy.ldr
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE nxtdevice-nxt.ldr
+0 New Model
+0 Name: nxtdevice-nxt.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 151 0 0 0 1 0 0 0 1 0 0 0 1 53788c01.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE nxtdevice-touch.ldr
+0 New Model
+0 Name: nxtdevice-touch.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 151 0 0 0 1 0 0 0 1 0 0 0 1 53793.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE nxtdevice-light.ldr
+0 New Model
+0 Name: nxtdevice-light.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 151 0 0 0 1 0 0 0 1 0 0 0 1 55969.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE nxtdevice-color.ldr
+0 New Model
+0 Name: nxtdevice-color.ldr
+0 Author: Pybricks
+0 Unofficial Model
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diff --git a/doc/main/diagram_source/Makefile b/doc/main/diagram_source/Makefile
deleted file mode 100755
index f337dcd..0000000
--- a/doc/main/diagram_source/Makefile
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@@ -1,25 +0,0 @@
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-all: $(DIAGRAMS)
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-clean:
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deleted file mode 100644
index 575627e..0000000
--- a/doc/main/diagram_source/compat_movehub_true.svg
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deleted file mode 100644
index 18e766d..0000000
--- a/doc/main/diagram_source/ev3motors.ldr
+++ /dev/null
@@ -1,6 +0,0 @@
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deleted file mode 100644
index a60504c..0000000
Binary files a/doc/main/diagram_source/ev3motors.png and /dev/null differ
diff --git a/doc/main/diagram_source/ev3sensors.ldr b/doc/main/diagram_source/ev3sensors.ldr
deleted file mode 100644
index 035d8ea..0000000
--- a/doc/main/diagram_source/ev3sensors.ldr
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deleted file mode 100644
index 4987e02..0000000
--- a/doc/main/diagram_source/hubs.ldr
+++ /dev/null
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deleted file mode 100644
index f558dfe..0000000
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deleted file mode 100644
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diff --git a/doc/main/diagram_source/imuexamples.png b/doc/main/diagram_source/imuexamples.png
deleted file mode 100644
index b9d707a..0000000
Binary files a/doc/main/diagram_source/imuexamples.png and /dev/null differ
diff --git a/doc/main/diagram_source/iodevices.ldr b/doc/main/diagram_source/iodevices.ldr
deleted file mode 100644
index c2134ab..0000000
--- a/doc/main/diagram_source/iodevices.ldr
+++ /dev/null
@@ -1,486 +0,0 @@
-0 FILE main.ldr
-0 Name: ev3sensors
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=0] [GID=Iv9FbUdBPsB] [name=Group 1] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=1] [GID=IMOjEZg0eXo] [name=Group 2] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=2] [GID=7Zgg7xpsn7m] [name=Group 3] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=3] [GID=37IHSsFLUIW] [name=Group 4] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=4] [GID=78T5iMUZhPB] [name=Group 5] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=5] [GID=6l6RjlBcxBO] [name=Group 6] [center=0 0 0]
-0 !LDCAD GROUP_NXT [ids=2] [nrs=-1]
-1 1 1390 -320 -320 0 0 -30 0 1 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=2] [nrs=2]
-1 151 1390 -320 -370 1 0 0 0 1 0 0 0 1 54732b.dat
-0 !LDCAD GROUP_NXT [ids=3] [nrs=2]
-1 0 1510 -315 -390 0 0 -40 0 6 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=3] [nrs=-1]
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-0 !LDCAD GROUP_NXT [ids=0] [nrs=3]
-1 2 1350 -320 140 0 0 -30 0 1 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=0] [nrs=2]
-1 151 1350 -320 90 1 0 0 0 1 0 0 0 1 54732b.dat
-0 !LDCAD GROUP_NXT [ids=1] [nrs=2]
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-0 !LDCAD GROUP_NXT [ids=1] [nrs=3]
-1 0 1470 -320 110 1 0 0 0 1 0 0 0 1 u9218c01.dat
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-
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-1 0 695 -784 -314 -1 0 0 0 1 0 0 0 -1 elecCable2Brick-1.ldr
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-0 FILE elecCable2Brick-1.ldr
-0 Author: LDCad
-0 !LICENSE MIT
-0 !CATEGORY electric
-0 !KEYWORDS flexible, cable, 9V
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-
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-
-0 //Some general hints about the document.
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-0 BFC CERTIFY CCW
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-0 //Some of this content has been generated from other LDraw files, many thanks to all involved.
-0 // Credits for "ldcElecWire2Seg.dat":
-0 //  Author: LDCad
-0 // Credits for "7-8cyli.dat":
-0 //  Author: Guy Vivan
-0 //  History:
-0 //   2009-05-02 [PTadmin] Official Update 2009-01
-0 // Credits for "ldcConRing-7-8.dat":
-0 //  Author: LDCad
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-5 24 0.81118 2.614194 15.000001 1.385188 2.499961 15.000001 0.81118 2.614194 55.645161 0.81118 2.614194 14.000001
-5 24 1.385188 2.499961 15.000001 1.959225 2.61418 15.000001 1.385188 2.499961 55.645161 1.385188 2.499961 14.000001
-5 24 1.959225 2.61418 15.000001 2.445895 2.93932 15.000001 1.959225 2.61418 55.645161 1.959225 2.61418 14.000001
-5 24 2.445895 2.93932 15.000001 2.771006 3.42598 15.000001 2.445895 2.93932 55.645161 2.445895 2.93932 14.000001
-5 24 2.771006 3.42598 15.000001 2.885238 3.999988 15.000001 2.771006 3.42598 55.645161 2.771006 3.42598 14.000001
-5 24 2.885238 3.999988 15.000001 2.77102 4.574025 15.000001 2.885238 3.999988 55.645161 2.885238 3.999988 14.000001
-5 24 2.77102 4.574025 15.000001 2.44588 5.060695 15.000001 2.77102 4.574025 55.645161 2.77102 4.574025 14.000001
-5 24 2.44588 5.060695 15.000001 1.95922 5.385806 15.000001 2.44588 5.060695 55.645161 2.44588 5.060695 14.000001
-5 24 1.95922 5.385806 15.000001 1.385212 5.500039 15.000001 1.95922 5.385806 55.645161 1.95922 5.385806 14.000001
-5 24 1.385212 5.500039 15.000001 0.811175 5.38582 15.000001 1.385212 5.500039 55.645161 1.385212 5.500039 14.000001
-5 24 0.811175 5.38582 15.000001 0.324505 5.06068 15.000001 0.811175 5.38582 55.645161 0.811175 5.38582 14.000001
-5 24 0.324505 5.06068 15.000001 -0.000606 4.57402 15.000001 0.324505 5.06068 55.645161 0.324505 5.06068 14.000001
-5 24 -0.000606 4.57402 15.000001 -0.32452 5.060695 15.000001 -0.000606 4.57402 55.645161 0.00062 4.574025 14.000001
-5 24 -0.32452 5.060695 15.000001 -0.81118 5.385806 15.000001 -0.32452 5.060695 55.645161 -0.32452 5.060695 14.000001
-5 24 -0.81118 5.385806 15.000001 -1.385188 5.500039 15.000001 -0.81118 5.385806 55.645161 -0.81118 5.385806 14.000001
-5 24 -1.385188 5.500039 15.000001 -1.959225 5.38582 15.000001 -1.385188 5.500039 55.645161 -1.385188 5.500039 14.000001
-5 24 -1.959225 5.38582 15.000001 -2.445895 5.06068 15.000001 -1.959225 5.38582 55.645161 -1.959225 5.38582 14.000001
-5 24 -2.445895 5.06068 15.000001 -2.771006 4.57402 15.000001 -2.445895 5.06068 55.645161 -2.445895 5.06068 14.000001
-5 24 -2.771006 4.57402 15.000001 -2.885238 4.000011 15.000001 -2.771006 4.57402 55.645161 -2.771006 4.57402 14.000001
-5 24 -2.885238 4.000011 15.000001 -2.77102 3.425975 15.000001 -2.885238 4.000011 55.645161 -2.885238 4.000011 14.000001
-5 24 -2.77102 3.425975 15.000001 -2.44588 2.939305 15.000001 -2.77102 3.425975 55.645161 -2.77102 3.425975 14.000001
-5 24 -2.44588 2.939305 15.000001 -1.95922 2.614194 15.000001 -2.44588 2.939305 55.645161 -2.44588 2.939305 14.000001
-5 24 -1.95922 2.614194 15.000001 -1.385212 2.499961 15.000001 -1.95922 2.614194 55.645161 -1.95922 2.614194 14.000001
-5 24 -1.385212 2.499961 15.000001 -0.811175 2.61418 15.000001 -1.385212 2.499961 55.645161 -1.385212 2.499961 14.000001
-5 24 -0.811175 2.61418 15.000001 -0.324505 2.93932 15.000001 -0.811175 2.61418 55.645161 -0.811175 2.61418 14.000001
-5 24 -0.324505 2.93932 15.000001 -0.00062 3.425975 15.000001 -0.324505 2.93932 55.645161 -0.324505 2.93932 14.000001
-
-0 // Segment 2, this block is (recursively) generated from "ldcElecWire2Seg.dat"
-4 16 0.32452 2.939305 95.790321 -0.00062 3.425975 95.790321 -0.00062 3.425975 55.645161 0.32452 2.939305 55.645161
-4 16 0.81118 2.614194 95.790321 0.32452 2.939305 95.790321 0.32452 2.939305 55.645161 0.81118 2.614194 55.645161
-4 16 1.385188 2.499961 95.790321 0.81118 2.614194 95.790321 0.81118 2.614194 55.645161 1.385188 2.499961 55.645161
-4 16 1.959225 2.61418 95.790321 1.385188 2.499961 95.790321 1.385188 2.499961 55.645161 1.959225 2.61418 55.645161
-4 16 2.445895 2.93932 95.790321 1.959225 2.61418 95.790321 1.959225 2.61418 55.645161 2.445895 2.93932 55.645161
-4 16 2.771006 3.42598 95.790321 2.445895 2.93932 95.790321 2.445895 2.93932 55.645161 2.771006 3.42598 55.645161
-4 16 2.885238 3.999988 95.790321 2.771006 3.42598 95.790321 2.771006 3.42598 55.645161 2.885238 3.999988 55.645161
-4 16 2.77102 4.574025 95.790321 2.885238 3.999988 95.790321 2.885238 3.999988 55.645161 2.77102 4.574025 55.645161
-4 16 2.44588 5.060695 95.790321 2.77102 4.574025 95.790321 2.77102 4.574025 55.645161 2.44588 5.060695 55.645161
-4 16 1.95922 5.385806 95.790321 2.44588 5.060695 95.790321 2.44588 5.060695 55.645161 1.95922 5.385806 55.645161
-4 16 1.385212 5.500039 95.790321 1.95922 5.385806 95.790321 1.95922 5.385806 55.645161 1.385212 5.500039 55.645161
-4 16 0.811175 5.38582 95.790321 1.385212 5.500039 95.790321 1.385212 5.500039 55.645161 0.811175 5.38582 55.645161
-4 16 0.324505 5.06068 95.790321 0.811175 5.38582 95.790321 0.811175 5.38582 55.645161 0.324505 5.06068 55.645161
-4 16 -0.000606 4.57402 95.790321 0.324505 5.06068 95.790321 0.324505 5.06068 55.645161 -0.000606 4.57402 55.645161
-4 16 -0.32452 5.060695 95.790321 -0.000606 4.57402 95.790321 -0.000606 4.57402 55.645161 -0.32452 5.060695 55.645161
-4 16 -0.81118 5.385806 95.790321 -0.32452 5.060695 95.790321 -0.32452 5.060695 55.645161 -0.81118 5.385806 55.645161
-4 16 -1.385188 5.500039 95.790321 -0.81118 5.385806 95.790321 -0.81118 5.385806 55.645161 -1.385188 5.500039 55.645161
-4 16 -1.959225 5.38582 95.790321 -1.385188 5.500039 95.790321 -1.385188 5.500039 55.645161 -1.959225 5.38582 55.645161
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-4 16 -2.771006 4.57402 95.790321 -2.445895 5.06068 95.790321 -2.445895 5.06068 55.645161 -2.771006 4.57402 55.645161
-4 16 -2.885238 4.000011 95.790321 -2.771006 4.57402 95.790321 -2.771006 4.57402 55.645161 -2.885238 4.000011 55.645161
-4 16 -2.77102 3.425975 95.790321 -2.885238 4.000011 95.790321 -2.885238 4.000011 55.645161 -2.77102 3.425975 55.645161
-4 16 -2.44588 2.939305 95.790321 -2.77102 3.425975 95.790321 -2.77102 3.425975 55.645161 -2.44588 2.939305 55.645161
-4 16 -1.95922 2.614194 95.790321 -2.44588 2.939305 95.790321 -2.44588 2.939305 55.645161 -1.95922 2.614194 55.645161
-4 16 -1.385212 2.499961 95.790321 -1.95922 2.614194 95.790321 -1.95922 2.614194 55.645161 -1.385212 2.499961 55.645161
-4 16 -0.811175 2.61418 95.790321 -1.385212 2.499961 95.790321 -1.385212 2.499961 55.645161 -0.811175 2.61418 55.645161
-4 16 -0.324505 2.93932 95.790321 -0.811175 2.61418 95.790321 -0.811175 2.61418 55.645161 -0.324505 2.93932 55.645161
-4 16 -0.00062 3.425975 95.790321 -0.324505 2.93932 95.790321 -0.324505 2.93932 55.645161 -0.00062 3.425975 55.645161
-5 24 -0.00062 3.425975 55.645161 -0.00062 3.425975 95.790321 -0.574645 4.811795 55.645161 0.32452 2.939305 55.645161
-5 24 0.32452 2.939305 55.645161 0.32452 2.939305 95.790321 -0.00062 3.425975 55.645161 0.81118 2.614194 55.645161
-5 24 0.81118 2.614194 55.645161 0.81118 2.614194 95.790321 0.32452 2.939305 55.645161 1.385188 2.499961 55.645161
-5 24 1.385188 2.499961 55.645161 1.385188 2.499961 95.790321 0.81118 2.614194 55.645161 1.959225 2.61418 55.645161
-5 24 1.959225 2.61418 55.645161 1.959225 2.61418 95.790321 1.385188 2.499961 55.645161 2.445895 2.93932 55.645161
-5 24 2.445895 2.93932 55.645161 2.445895 2.93932 95.790321 1.959225 2.61418 55.645161 2.771006 3.42598 55.645161
-5 24 2.771006 3.42598 55.645161 2.771006 3.42598 95.790321 2.445895 2.93932 55.645161 2.885238 3.999988 55.645161
-5 24 2.885238 3.999988 55.645161 2.885238 3.999988 95.790321 2.771006 3.42598 55.645161 2.77102 4.574025 55.645161
-5 24 2.77102 4.574025 55.645161 2.77102 4.574025 95.790321 2.885238 3.999988 55.645161 2.44588 5.060695 55.645161
-5 24 2.44588 5.060695 55.645161 2.44588 5.060695 95.790321 2.77102 4.574025 55.645161 1.95922 5.385806 55.645161
-5 24 1.95922 5.385806 55.645161 1.95922 5.385806 95.790321 2.44588 5.060695 55.645161 1.385212 5.500039 55.645161
-5 24 1.385212 5.500039 55.645161 1.385212 5.500039 95.790321 1.95922 5.385806 55.645161 0.811175 5.38582 55.645161
-5 24 0.811175 5.38582 55.645161 0.811175 5.38582 95.790321 1.385212 5.500039 55.645161 0.324505 5.06068 55.645161
-5 24 0.324505 5.06068 55.645161 0.324505 5.06068 95.790321 0.811175 5.38582 55.645161 -0.000606 4.57402 55.645161
-5 24 -0.000606 4.57402 55.645161 -0.000606 4.57402 95.790321 -0.574627 3.188214 55.645161 0.324505 5.06068 55.645161
-5 24 -0.000606 4.57402 55.645161 -0.000606 4.57402 95.790321 0.574645 3.188205 55.645161 -0.32452 5.060695 55.645161
-5 24 -0.32452 5.060695 55.645161 -0.32452 5.060695 95.790321 -0.000606 4.57402 55.645161 -0.81118 5.385806 55.645161
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-5 24 -1.385188 5.500039 55.645161 -1.385188 5.500039 95.790321 -0.81118 5.385806 55.645161 -1.959225 5.38582 55.645161
-5 24 -1.959225 5.38582 55.645161 -1.959225 5.38582 95.790321 -1.385188 5.500039 55.645161 -2.445895 5.06068 55.645161
-5 24 -2.445895 5.06068 55.645161 -2.445895 5.06068 95.790321 -1.959225 5.38582 55.645161 -2.771006 4.57402 55.645161
-5 24 -2.771006 4.57402 55.645161 -2.771006 4.57402 95.790321 -2.445895 5.06068 55.645161 -2.885238 4.000011 55.645161
-5 24 -2.885238 4.000011 55.645161 -2.885238 4.000011 95.790321 -2.771006 4.57402 55.645161 -2.77102 3.425975 55.645161
-5 24 -2.77102 3.425975 55.645161 -2.77102 3.425975 95.790321 -2.885238 4.000011 55.645161 -2.44588 2.939305 55.645161
-5 24 -2.44588 2.939305 55.645161 -2.44588 2.939305 95.790321 -2.77102 3.425975 55.645161 -1.95922 2.614194 55.645161
-5 24 -1.95922 2.614194 55.645161 -1.95922 2.614194 95.790321 -2.44588 2.939305 55.645161 -1.385212 2.499961 55.645161
-5 24 -1.385212 2.499961 55.645161 -1.385212 2.499961 95.790321 -1.95922 2.614194 55.645161 -0.811175 2.61418 55.645161
-5 24 -0.811175 2.61418 55.645161 -0.811175 2.61418 95.790321 -1.385212 2.499961 55.645161 -0.324505 2.93932 55.645161
-5 24 -0.324505 2.93932 55.645161 -0.324505 2.93932 95.790321 -0.811175 2.61418 55.645161 -0.00062 3.425975 55.645161
-5 24 -0.00062 3.425975 55.645161 -0.00062 3.425975 95.790321 0.574627 4.811786 55.645161 -0.324505 2.93932 55.645161
-5 24 -0.00062 3.425975 95.790321 0.32452 2.939305 95.790321 -0.00062 3.425975 116.1129 -0.00062 3.425975 55.645161
-5 24 0.32452 2.939305 95.790321 0.81118 2.614194 95.790321 0.32452 2.939305 116.1129 0.32452 2.939305 55.645161
-5 24 0.81118 2.614194 95.790321 1.385188 2.499961 95.790321 0.81118 2.614194 116.1129 0.81118 2.614194 55.645161
-5 24 1.385188 2.499961 95.790321 1.959225 2.61418 95.790321 1.385188 2.499961 116.1129 1.385188 2.499961 55.645161
-5 24 1.959225 2.61418 95.790321 2.445895 2.93932 95.790321 1.959225 2.61418 116.1129 1.959225 2.61418 55.645161
-5 24 2.445895 2.93932 95.790321 2.771006 3.42598 95.790321 2.445895 2.93932 116.1129 2.445895 2.93932 55.645161
-5 24 2.771006 3.42598 95.790321 2.885238 3.999988 95.790321 2.771006 3.42598 116.1129 2.771006 3.42598 55.645161
-5 24 2.885238 3.999988 95.790321 2.77102 4.574025 95.790321 2.885238 3.999988 116.1129 2.885238 3.999988 55.645161
-5 24 2.77102 4.574025 95.790321 2.44588 5.060695 95.790321 2.77102 4.574025 116.1129 2.77102 4.574025 55.645161
-5 24 2.44588 5.060695 95.790321 1.95922 5.385806 95.790321 2.44588 5.060695 116.1129 2.44588 5.060695 55.645161
-5 24 1.95922 5.385806 95.790321 1.385212 5.500039 95.790321 1.95922 5.385806 116.1129 1.95922 5.385806 55.645161
-5 24 1.385212 5.500039 95.790321 0.811175 5.38582 95.790321 1.385212 5.500039 116.1129 1.385212 5.500039 55.645161
-5 24 0.811175 5.38582 95.790321 0.324505 5.06068 95.790321 0.811175 5.38582 116.1129 0.811175 5.38582 55.645161
-5 24 0.324505 5.06068 95.790321 -0.000606 4.57402 95.790321 0.324505 5.06068 116.1129 0.324505 5.06068 55.645161
-5 24 -0.000606 4.57402 95.790321 -0.32452 5.060695 95.790321 0.00062 4.574025 116.1129 -0.000606 4.57402 55.645161
-5 24 -0.32452 5.060695 95.790321 -0.81118 5.385806 95.790321 -0.32452 5.060695 116.1129 -0.32452 5.060695 55.645161
-5 24 -0.81118 5.385806 95.790321 -1.385188 5.500039 95.790321 -0.81118 5.385806 116.1129 -0.81118 5.385806 55.645161
-5 24 -1.385188 5.500039 95.790321 -1.959225 5.38582 95.790321 -1.385188 5.500039 116.1129 -1.385188 5.500039 55.645161
-5 24 -1.959225 5.38582 95.790321 -2.445895 5.06068 95.790321 -1.959225 5.38582 116.1129 -1.959225 5.38582 55.645161
-5 24 -2.445895 5.06068 95.790321 -2.771006 4.57402 95.790321 -2.445895 5.06068 116.1129 -2.445895 5.06068 55.645161
-5 24 -2.771006 4.57402 95.790321 -2.885238 4.000011 95.790321 -2.771006 4.57402 116.1129 -2.771006 4.57402 55.645161
-5 24 -2.885238 4.000011 95.790321 -2.77102 3.425975 95.790321 -2.885238 4.000011 116.1129 -2.885238 4.000011 55.645161
-5 24 -2.77102 3.425975 95.790321 -2.44588 2.939305 95.790321 -2.77102 3.425975 116.1129 -2.77102 3.425975 55.645161
-5 24 -2.44588 2.939305 95.790321 -1.95922 2.614194 95.790321 -2.44588 2.939305 116.1129 -2.44588 2.939305 55.645161
-5 24 -1.95922 2.614194 95.790321 -1.385212 2.499961 95.790321 -1.95922 2.614194 116.1129 -1.95922 2.614194 55.645161
-5 24 -1.385212 2.499961 95.790321 -0.811175 2.61418 95.790321 -1.385212 2.499961 116.1129 -1.385212 2.499961 55.645161
-5 24 -0.811175 2.61418 95.790321 -0.324505 2.93932 95.790321 -0.811175 2.61418 116.1129 -0.811175 2.61418 55.645161
-5 24 -0.324505 2.93932 95.790321 -0.00062 3.425975 95.790321 -0.324505 2.93932 116.1129 -0.324505 2.93932 55.645161
-
-0 // Segment 3, this block is (recursively) generated from "ldcElecWire2Seg.dat"
-4 16 0.32452 2.939305 136.435486 -0.00062 3.425975 136.435486 -0.00062 3.425975 95.790321 0.32452 2.939305 95.790321
-4 16 0.81118 2.614194 136.435486 0.32452 2.939305 136.435486 0.32452 2.939305 95.790321 0.81118 2.614194 95.790321
-4 16 1.385188 2.499961 136.435486 0.81118 2.614194 136.435486 0.81118 2.614194 95.790321 1.385188 2.499961 95.790321
-4 16 1.959225 2.61418 136.435486 1.385188 2.499961 136.435486 1.385188 2.499961 95.790321 1.959225 2.61418 95.790321
-4 16 2.445895 2.93932 136.435486 1.959225 2.61418 136.435486 1.959225 2.61418 95.790321 2.445895 2.93932 95.790321
-4 16 2.771006 3.42598 136.435486 2.445895 2.93932 136.435486 2.445895 2.93932 95.790321 2.771006 3.42598 95.790321
-4 16 2.885238 3.999988 136.435486 2.771006 3.42598 136.435486 2.771006 3.42598 95.790321 2.885238 3.999988 95.790321
-4 16 2.77102 4.574025 136.435486 2.885238 3.999988 136.435486 2.885238 3.999988 95.790321 2.77102 4.574025 95.790321
-4 16 2.44588 5.060695 136.435486 2.77102 4.574025 136.435486 2.77102 4.574025 95.790321 2.44588 5.060695 95.790321
-4 16 1.95922 5.385806 136.435486 2.44588 5.060695 136.435486 2.44588 5.060695 95.790321 1.95922 5.385806 95.790321
-4 16 1.385212 5.500039 136.435486 1.95922 5.385806 136.435486 1.95922 5.385806 95.790321 1.385212 5.500039 95.790321
-4 16 0.811175 5.38582 136.435486 1.385212 5.500039 136.435486 1.385212 5.500039 95.790321 0.811175 5.38582 95.790321
-4 16 0.324505 5.06068 136.435486 0.811175 5.38582 136.435486 0.811175 5.38582 95.790321 0.324505 5.06068 95.790321
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-4 16 -2.44588 2.939305 136.435486 -2.77102 3.425975 136.435486 -2.77102 3.425975 95.790321 -2.44588 2.939305 95.790321
-4 16 -1.95922 2.614194 136.435486 -2.44588 2.939305 136.435486 -2.44588 2.939305 95.790321 -1.95922 2.614194 95.790321
-4 16 -1.385212 2.499961 136.435486 -1.95922 2.614194 136.435486 -1.95922 2.614194 95.790321 -1.385212 2.499961 95.790321
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-
-0 // Segment 4, this block is (recursively) generated from "ldcElecWire2Seg.dat"
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-5 24 -0.324505 2.93932 140 -0.00062 3.425975 140 -0.324505 2.93932 141 -0.324505 2.93932 136.435486
diff --git a/doc/main/diagram_source/iodevices.png b/doc/main/diagram_source/iodevices.png
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diff --git a/doc/main/diagrams/messaging_network.png b/doc/main/diagrams/messaging_network.png
new file mode 100644
index 0000000..430dee9
Binary files /dev/null and b/doc/main/diagrams/messaging_network.png differ
diff --git a/doc/main/diagrams/movehub.png b/doc/main/diagrams/movehub.png
new file mode 100644
index 0000000..2b60e93
Binary files /dev/null and b/doc/main/diagrams/movehub.png differ
diff --git a/doc/main/diagrams/newproject.png b/doc/main/diagrams/newproject.png
new file mode 100644
index 0000000..5fab55b
Binary files /dev/null and b/doc/main/diagrams/newproject.png differ
diff --git a/doc/main/diagrams/onoff.png b/doc/main/diagrams/onoff.png
new file mode 100644
index 0000000..fae58e2
Binary files /dev/null and b/doc/main/diagrams/onoff.png differ
diff --git a/doc/main/diagrams/orientation_essentialhub.png b/doc/main/diagrams/orientation_essentialhub.png
new file mode 100644
index 0000000..191efae
Binary files /dev/null and b/doc/main/diagrams/orientation_essentialhub.png differ
diff --git a/doc/main/diagrams/orientation_inventorhub.png b/doc/main/diagrams/orientation_inventorhub.png
new file mode 100644
index 0000000..5c99a6c
Binary files /dev/null and b/doc/main/diagrams/orientation_inventorhub.png differ
diff --git a/doc/main/diagrams/orientation_movehub.png b/doc/main/diagrams/orientation_movehub.png
new file mode 100644
index 0000000..135d22a
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diff --git a/doc/main/diagrams/orientation_primehub.png b/doc/main/diagrams/orientation_primehub.png
new file mode 100644
index 0000000..e3aae1d
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diff --git a/doc/main/diagrams/orientation_technichub.png b/doc/main/diagrams/orientation_technichub.png
new file mode 100644
index 0000000..2f2bb68
Binary files /dev/null and b/doc/main/diagrams/orientation_technichub.png differ
diff --git a/doc/main/diagrams/orientation_tiltsensor.png b/doc/main/diagrams/orientation_tiltsensor.png
new file mode 100644
index 0000000..2d1e34e
Binary files /dev/null and b/doc/main/diagrams/orientation_tiltsensor.png differ
diff --git a/doc/main/diagrams/overview.png b/doc/main/diagrams/overview.png
new file mode 100644
index 0000000..5ee8ab4
Binary files /dev/null and b/doc/main/diagrams/overview.png differ
diff --git a/doc/main/diagrams/primehub_buttons.png b/doc/main/diagrams/primehub_buttons.png
new file mode 100644
index 0000000..edd1c3f
Binary files /dev/null and b/doc/main/diagrams/primehub_buttons.png differ
diff --git a/doc/main/diagrams/primehub_display.png b/doc/main/diagrams/primehub_display.png
new file mode 100644
index 0000000..d6b242e
Binary files /dev/null and b/doc/main/diagrams/primehub_display.png differ
diff --git a/doc/main/diagrams/primehub_light.png b/doc/main/diagrams/primehub_light.png
new file mode 100644
index 0000000..90a0c23
Binary files /dev/null and b/doc/main/diagrams/primehub_light.png differ
diff --git a/doc/main/images/projectoverview_label.png b/doc/main/diagrams/projectoverview.png
similarity index 51%
rename from doc/main/images/projectoverview_label.png
rename to doc/main/diagrams/projectoverview.png
index 5c74703..5c6a2c5 100644
Binary files a/doc/main/images/projectoverview_label.png and b/doc/main/diagrams/projectoverview.png differ
diff --git a/doc/main/diagrams/projectstructure.png b/doc/main/diagrams/projectstructure.png
new file mode 100644
index 0000000..ec14013
Binary files /dev/null and b/doc/main/diagrams/projectstructure.png differ
diff --git a/doc/main/diagrams/pupdcmotors.png b/doc/main/diagrams/pupdcmotors.png
new file mode 100644
index 0000000..bf5df4c
Binary files /dev/null and b/doc/main/diagrams/pupdcmotors.png differ
diff --git a/doc/main/diagrams/pupmotors.png b/doc/main/diagrams/pupmotors.png
new file mode 100644
index 0000000..8df0dd8
Binary files /dev/null and b/doc/main/diagrams/pupmotors.png differ
diff --git a/doc/main/diagrams/running.png b/doc/main/diagrams/running.png
new file mode 100644
index 0000000..1a77a46
Binary files /dev/null and b/doc/main/diagrams/running.png differ
diff --git a/doc/main/diagrams/sd.png b/doc/main/diagrams/sd.png
new file mode 100644
index 0000000..8f662bb
Binary files /dev/null and b/doc/main/diagrams/sd.png differ
diff --git a/doc/main/diagrams/sensor_color_lights.png b/doc/main/diagrams/sensor_color_lights.png
new file mode 100644
index 0000000..9c26a0e
Binary files /dev/null and b/doc/main/diagrams/sensor_color_lights.png differ
diff --git a/doc/main/diagrams/sensor_colorlightmatrix.png b/doc/main/diagrams/sensor_colorlightmatrix.png
new file mode 100644
index 0000000..2b96aeb
Binary files /dev/null and b/doc/main/diagrams/sensor_colorlightmatrix.png differ
diff --git a/doc/main/diagrams/sensor_ultrasonic_lights.png b/doc/main/diagrams/sensor_ultrasonic_lights.png
new file mode 100644
index 0000000..77a90f2
Binary files /dev/null and b/doc/main/diagrams/sensor_ultrasonic_lights.png differ
diff --git a/doc/main/diagrams/store.png b/doc/main/diagrams/store.png
new file mode 100644
index 0000000..382a84b
Binary files /dev/null and b/doc/main/diagrams/store.png differ
diff --git a/doc/main/diagrams/terminal.png b/doc/main/diagrams/terminal.png
new file mode 100644
index 0000000..5f7ecd1
Binary files /dev/null and b/doc/main/diagrams/terminal.png differ
diff --git a/doc/main/diagrams_source/Makefile b/doc/main/diagrams_source/Makefile
new file mode 100755
index 0000000..fd743e8
--- /dev/null
+++ b/doc/main/diagrams_source/Makefile
@@ -0,0 +1,19 @@
+
+SRC_DIR = .
+OUT_DIR = ../diagrams
+SVG := $(wildcard $(SRC_DIR)/*.svg)
+DIAGRAMS := $(patsubst $(SRC_DIR)/%.svg,$(OUT_DIR)/%$(POSTFIX).png,$(SVG))
+DIR := ${CURDIR}
+
+all: $(DIAGRAMS)
+
+clean:
+	rm -f $(DIAGRAMS)
+
+$(OUT_DIR)/%.png: $(SRC_DIR)/%.svg
+	inkscape \
+		--export-area-page \
+		--export-background=none \
+		--export-background-opacity=0.0 \
+		--export-filename=$(DIR)/$@ \
+		$(DIR)/$<; \
diff --git a/doc/main/diagram_source/bluetooth_on.svg b/doc/main/diagrams_source/bluetooth_on.svg
similarity index 100%
rename from doc/main/diagram_source/bluetooth_on.svg
rename to doc/main/diagrams_source/bluetooth_on.svg
diff --git a/doc/main/diagram_source/bluetooth_on1.png b/doc/main/diagrams_source/bluetooth_on1.png
similarity index 100%
rename from doc/main/diagram_source/bluetooth_on1.png
rename to doc/main/diagrams_source/bluetooth_on1.png
diff --git a/doc/main/diagram_source/bluetooth_on2.png b/doc/main/diagrams_source/bluetooth_on2.png
similarity index 100%
rename from doc/main/diagram_source/bluetooth_on2.png
rename to doc/main/diagrams_source/bluetooth_on2.png
diff --git a/doc/main/diagram_source/bluetooth_on3.png b/doc/main/diagrams_source/bluetooth_on3.png
similarity index 100%
rename from doc/main/diagram_source/bluetooth_on3.png
rename to doc/main/diagrams_source/bluetooth_on3.png
diff --git a/doc/main/diagram_source/bluetooth_on4.png b/doc/main/diagrams_source/bluetooth_on4.png
similarity index 100%
rename from doc/main/diagram_source/bluetooth_on4.png
rename to doc/main/diagrams_source/bluetooth_on4.png
diff --git a/doc/main/diagram_source/bluetooth_pair.svg b/doc/main/diagrams_source/bluetooth_pair.svg
similarity index 100%
rename from doc/main/diagram_source/bluetooth_pair.svg
rename to doc/main/diagrams_source/bluetooth_pair.svg
diff --git a/doc/main/diagram_source/bluetooth_pair1.png b/doc/main/diagrams_source/bluetooth_pair1.png
similarity index 100%
rename from doc/main/diagram_source/bluetooth_pair1.png
rename to doc/main/diagrams_source/bluetooth_pair1.png
diff --git a/doc/main/diagram_source/bluetooth_pair2.png b/doc/main/diagrams_source/bluetooth_pair2.png
similarity index 100%
rename from doc/main/diagram_source/bluetooth_pair2.png
rename to doc/main/diagrams_source/bluetooth_pair2.png
diff --git a/doc/main/diagram_source/bluetooth_pair3.png b/doc/main/diagrams_source/bluetooth_pair3.png
similarity index 100%
rename from doc/main/diagram_source/bluetooth_pair3.png
rename to doc/main/diagrams_source/bluetooth_pair3.png
diff --git a/doc/main/diagram_source/bluetooth_pair4.png b/doc/main/diagrams_source/bluetooth_pair4.png
similarity index 100%
rename from doc/main/diagram_source/bluetooth_pair4.png
rename to doc/main/diagrams_source/bluetooth_pair4.png
diff --git a/doc/main/diagram_source/compat_cityhub_false.svg b/doc/main/diagrams_source/compat_cityhub_false.svg
similarity index 71%
rename from doc/main/diagram_source/compat_cityhub_false.svg
rename to doc/main/diagrams_source/compat_cityhub_false.svg
index 51a05b1..878d7e0 100644
--- a/doc/main/diagram_source/compat_cityhub_false.svg
+++ b/doc/main/diagrams_source/compat_cityhub_false.svg
@@ -2,21 +2,21 @@
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-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:xlink="http://www.w3.org/1999/xlink"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    width="150"
    height="135"
    viewBox="0 0 39.687499 35.718751"
    version="1.1"
    id="svg887"
-   inkscape:version="0.92.3 (2405546, 2018-03-11)"
-   sodipodi:docname="compat_cityhub_false.svg">
+   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
+   sodipodi:docname="compat_cityhub_false.svg"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:dc="http://purl.org/dc/elements/1.1/">
   <defs
      id="defs881">
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@@ -38,19 +38,20 @@
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      inkscape:pageopacity="1"
      inkscape:pageshadow="2"
-     inkscape:zoom="3.959798"
-     inkscape:cx="10.681815"
-     inkscape:cy="89.597718"
+     inkscape:zoom="3.0825819"
+     inkscape:cx="78.505619"
+     inkscape:cy="101.70046"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
      units="px"
-     inkscape:window-width="1920"
-     inkscape:window-height="1172"
-     inkscape:window-x="1920"
-     inkscape:window-y="0"
+     inkscape:window-width="1856"
+     inkscape:window-height="1136"
+     inkscape:window-x="64"
+     inkscape:window-y="27"
      inkscape:window-maximized="1"
-     inkscape:snap-global="false" />
+     inkscape:snap-global="false"
+     inkscape:pagecheckerboard="0" />
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@@ -59,7 +60,6 @@
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-       xlink:href="../images/cityhub.png"
-       style="stroke-width:5.6583333"
-       width="30.908323"
-       height="31.75"
-       preserveAspectRatio="none"
+       xlink:href="../cad/output/hub-city.png"
        id="image1470"
-       x="5.2042809"
-       y="263.16479" />
+       x="8.0035677"
+       y="265.09711"
+       width="23.382999"
+       height="26.799999" />
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similarity index 70%
rename from doc/main/diagram_source/compat_cityhub_true.svg
rename to doc/main/diagrams_source/compat_cityhub_true.svg
index 71688ad..38c6927 100644
--- a/doc/main/diagram_source/compat_cityhub_true.svg
+++ b/doc/main/diagrams_source/compat_cityhub_true.svg
@@ -2,21 +2,21 @@
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-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:xlink="http://www.w3.org/1999/xlink"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
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    id="svg887"
-   inkscape:version="0.92.3 (2405546, 2018-03-11)"
-   sodipodi:docname="compat_cityhub_true.svg">
+   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
+   sodipodi:docname="compat_cityhub_true.svg"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:dc="http://purl.org/dc/elements/1.1/">
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      inkscape:pageshadow="2"
-     inkscape:zoom="3.959798"
-     inkscape:cx="10.681815"
-     inkscape:cy="89.597718"
+     inkscape:zoom="3.3219805"
+     inkscape:cx="34.617903"
+     inkscape:cy="95.726028"
      inkscape:document-units="px"
      inkscape:current-layer="layer1"
      showgrid="false"
      units="px"
      inkscape:window-width="1920"
-     inkscape:window-height="1172"
+     inkscape:window-height="1163"
      inkscape:window-x="1920"
      inkscape:window-y="0"
      inkscape:window-maximized="1"
-     inkscape:snap-global="false" />
+     inkscape:snap-global="false"
+     inkscape:pagecheckerboard="0" />
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-       xlink:href="../images/cityhub.png"
-       style="stroke-width:5.6583333"
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-       preserveAspectRatio="none"
+       xlink:href="../cad/output/hub-city.png"
        id="image1470"
-       x="5.2042809"
-       y="263.16479" />
+       x="8.0035677"
+       y="265.09711"
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diff --git a/doc/main/diagrams_source/compat_essentialhub_false.svg b/doc/main/diagrams_source/compat_essentialhub_false.svg
new file mode 100644
index 0000000..a51db0d
--- /dev/null
+++ b/doc/main/diagrams_source/compat_essentialhub_false.svg
@@ -0,0 +1,94 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
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new file mode 100644
index 0000000..822791b
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similarity index 100%
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similarity index 100%
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similarity index 100%
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similarity index 100%
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diff --git a/doc/main/diagram_source/firstprogram2.png b/doc/main/diagrams_source/firstprogram2.png
similarity index 100%
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861"
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+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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@@ -268,7 +266,7 @@
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861">front_side = -Axis.X</tspan></text>
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+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861"
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@@ -322,7 +320,7 @@
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+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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@@ -330,7 +328,7 @@
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861">top_side = -Axis.X</tspan></text>
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@@ -353,7 +351,7 @@
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+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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@@ -361,7 +359,7 @@
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861">top_side = Axis.Z</tspan></text>
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@@ -386,9 +384,9 @@
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+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861"
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diff --git a/doc/main/diagram_source/manualrun.svg b/doc/main/diagrams_source/manualrun.svg
similarity index 100%
rename from doc/main/diagram_source/manualrun.svg
rename to doc/main/diagrams_source/manualrun.svg
diff --git a/doc/main/diagram_source/manualrun1.png b/doc/main/diagrams_source/manualrun1.png
similarity index 100%
rename from doc/main/diagram_source/manualrun1.png
rename to doc/main/diagrams_source/manualrun1.png
diff --git a/doc/main/diagram_source/manualrun2.png b/doc/main/diagrams_source/manualrun2.png
similarity index 100%
rename from doc/main/diagram_source/manualrun2.png
rename to doc/main/diagrams_source/manualrun2.png
diff --git a/doc/main/diagram_source/manualrun3.png b/doc/main/diagrams_source/manualrun3.png
similarity index 100%
rename from doc/main/diagram_source/manualrun3.png
rename to doc/main/diagrams_source/manualrun3.png
diff --git a/doc/main/diagram_source/messaging.svg b/doc/main/diagrams_source/messaging.svg
similarity index 84%
rename from doc/main/diagram_source/messaging.svg
rename to doc/main/diagrams_source/messaging.svg
index 729224c..608b958 100644
--- a/doc/main/diagram_source/messaging.svg
+++ b/doc/main/diagrams_source/messaging.svg
@@ -2,21 +2,21 @@
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-   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:xlink="http://www.w3.org/1999/xlink"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
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    id="svg2"
    width="900"
    height="600"
    viewBox="0 0 899.99999 600"
    sodipodi:docname="messaging.svg"
-   inkscape:version="0.92.3 (2405546, 2018-03-11)">
+   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:dc="http://purl.org/dc/elements/1.1/">
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@@ -25,7 +25,6 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
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@@ -247,14 +246,14 @@
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      inkscape:pageopacity="1"
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-     inkscape:window-width="1853"
-     inkscape:window-height="1145"
+     inkscape:window-width="1856"
+     inkscape:window-height="1136"
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      showgrid="false"
      inkscape:zoom="1"
-     inkscape:cx="270.88803"
-     inkscape:cy="394.52384"
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+     inkscape:cx="405"
+     inkscape:cy="374.5"
+     inkscape:window-x="64"
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@@ -266,13 +265,13 @@
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      inkscape:bbox-nodes="true"
      inkscape:snap-bbox-edge-midpoints="true"
-     inkscape:snap-bbox-midpoints="true" />
+     inkscape:snap-bbox-midpoints="true"
+     inkscape:pagecheckerboard="0" />
   <image
-     sodipodi:absref="../images/ev3brick.png"
-     xlink:href="../images/ev3brick.png"
+     xlink:href="../cad/output/ev3device-ev3.png"
      style="fill:#fcfcfc;fill-opacity:1"
      width="212.79999"
-     height="190"
+     height="189.70542"
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@@ -295,9 +294,9 @@
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+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861"
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@@ -311,7 +310,7 @@
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   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:15.79568195px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
+     style="font-style:normal;font-weight:normal;font-size:15.7957px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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@@ -319,38 +318,36 @@
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861">server = BluetoothMailboxServer()</tspan><tspan
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan2601">mbox = TextMailbox(<tspan
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        id="tspan7991">server.wait_for_connection()</tspan><tspan
        sodipodi:role="line"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan2609">mbox.wait()</tspan><tspan
        sodipodi:role="line"
        x="482.98624"
        y="195.7337"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan1999">mbox.send(<tspan
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    id="tspan2679">'hello to you!'</tspan>)</tspan></text>
@@ -370,19 +367,14 @@
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+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
      x="482.98816"
-     y="353.45187"
+     y="405.94217"
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-       sodipodi:role="line"
-       id="tspan9723"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan9725">Client </tspan></text>
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@@ -393,7 +385,7 @@
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   <text
      xml:space="preserve"
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+     style="font-style:normal;font-weight:normal;font-size:15.7957px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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@@ -401,46 +393,43 @@
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861">client = BluetoothMailboxClient()</tspan><tspan
        sodipodi:role="line"
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        y="467.97412"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan2655">mbox = TextMailbox(<tspan
    style="fill:#4671a1;fill-opacity:1"
    id="tspan2675">'greeting'</tspan>, client)</tspan><tspan
        sodipodi:role="line"
        x="482.98624"
        y="487.71872"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan2657" /><tspan
        sodipodi:role="line"
        x="482.98624"
        y="507.46332"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan11697">client.connect(<tspan
    style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
    id="tspan1136">'ev3dev'</tspan>)</tspan><tspan
        id="tspan11699"
        sodipodi:role="line"
        x="482.98624"
-       y="527.20795"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054" /><tspan
+       y="527.20795" /><tspan
        sodipodi:role="line"
        x="482.98624"
        y="546.95251"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan2003">mbox.send(<tspan
    style="fill:#4671a1;fill-opacity:1"
    id="tspan2673">'hello!'</tspan>)</tspan></text>
   <image
-     sodipodi:absref="../images/ev3brick.png"
-     xlink:href="../images/ev3brick.png"
+     xlink:href="../cad/output/ev3device-ev3.png"
      y="25.149244"
      x="122.18381"
      id="image1089"
      preserveAspectRatio="none"
-     height="190"
+     height="189.70542"
      width="212.79999"
      style="fill:#fcfcfc;fill-opacity:1" />
   <path
@@ -472,7 +461,7 @@
   </g>
   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:24.4154644px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
+     style="font-style:normal;font-weight:normal;font-size:24.4155px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
      x="287.89365"
      y="312.11832"
      id="text2581"><tspan
@@ -480,14 +469,14 @@
        id="tspan2579"
        x="287.89365"
        y="312.11832"
-       style="font-size:16px;stroke-width:0.99999994">'Hello to you!'</tspan></text>
+       style="font-size:16px;stroke-width:1">'Hello to you!'</tspan></text>
   <text
      id="text2585"
      y="268.67685"
      x="310.78723"
-     style="font-style:normal;font-weight:normal;font-size:13.60246944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
+     style="font-style:normal;font-weight:normal;font-size:13.6025px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
      xml:space="preserve"><tspan
-       style="font-size:13.33333302px;stroke-width:0.99999994"
+       style="font-size:13.3333px;stroke-width:1"
        y="268.67685"
        x="310.78723"
        id="tspan2583"
@@ -513,16 +502,16 @@
      id="text2595"
      y="312.11832"
      x="87.259087"
-     style="font-style:normal;font-weight:normal;font-size:24.4154644px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
+     style="font-style:normal;font-weight:normal;font-size:24.4155px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
      xml:space="preserve"><tspan
-       style="font-size:16px;stroke-width:0.99999994"
+       style="font-size:16px;stroke-width:1"
        y="312.11832"
        x="87.259087"
        id="tspan2593"
        sodipodi:role="line">'Hello!'</tspan></text>
   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:13.60246944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
+     style="font-style:normal;font-weight:normal;font-size:13.6025px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
      x="84.92907"
      y="268.67685"
      id="text2599"><tspan
@@ -530,5 +519,5 @@
        id="tspan2597"
        x="84.92907"
        y="268.67685"
-       style="font-size:13.33333302px;stroke-width:0.99999994">'greeting'</tspan></text>
+       style="font-size:13.3333px;stroke-width:1">'greeting'</tspan></text>
 </svg>
diff --git a/doc/main/diagram_source/messaging_network.svg b/doc/main/diagrams_source/messaging_network.svg
similarity index 82%
rename from doc/main/diagram_source/messaging_network.svg
rename to doc/main/diagrams_source/messaging_network.svg
index b4661fc..4c1e9d6 100644
--- a/doc/main/diagram_source/messaging_network.svg
+++ b/doc/main/diagrams_source/messaging_network.svg
@@ -2,21 +2,21 @@
 <!-- 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:xlink="http://www.w3.org/1999/xlink"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    version="1.1"
    id="svg2"
    width="900"
    height="750"
    viewBox="0 0 899.99999 750"
-   sodipodi:docname="messaging.svg"
-   inkscape:version="0.92.3 (2405546, 2018-03-11)">
+   sodipodi:docname="messaging_network.svg"
+   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:dc="http://purl.org/dc/elements/1.1/">
   <metadata
      id="metadata8">
     <rdf:RDF>
@@ -25,7 +25,6 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -247,14 +246,14 @@
      guidetolerance="10"
      inkscape:pageopacity="1"
      inkscape:pageshadow="2"
-     inkscape:window-width="1853"
-     inkscape:window-height="1145"
+     inkscape:window-width="1856"
+     inkscape:window-height="1136"
      id="namedview4"
      showgrid="false"
-     inkscape:zoom="1"
-     inkscape:cx="436.75623"
-     inkscape:cy="478.53312"
-     inkscape:window-x="67"
+     inkscape:zoom="0.16357187"
+     inkscape:cx="1503.926"
+     inkscape:cy="473.79784"
+     inkscape:window-x="64"
      inkscape:window-y="27"
      inkscape:window-maximized="1"
      inkscape:current-layer="svg2"
@@ -266,37 +265,32 @@
      inkscape:bbox-paths="true"
      inkscape:bbox-nodes="true"
      inkscape:snap-bbox-edge-midpoints="true"
-     inkscape:snap-bbox-midpoints="true" />
+     inkscape:snap-bbox-midpoints="true"
+     inkscape:pagecheckerboard="0" />
   <image
-     sodipodi:absref="../images/ev3brick.png"
-     xlink:href="../images/ev3brick.png"
-     style="fill:#fcfcfc;fill-opacity:1"
-     width="212.79999"
-     height="190"
+     width="207.70872"
+     height="185.16669"
      preserveAspectRatio="none"
-     id="image1076"
-     x="408.05026"
-     y="101.87006" />
+     xlink:href="../cad/output/ev3device-ev3.png"
+     id="image1189"
+     x="98.735443"
+     y="371.40686" />
   <image
-     sodipodi:absref="../images/ev3brick.png"
-     xlink:href="../images/ev3brick.png"
-     y="359.87003"
-     x="598.05029"
-     id="image1070"
+     width="207.70872"
+     height="185.16669"
      preserveAspectRatio="none"
-     height="190"
-     width="212.79999"
-     style="fill:#fcfcfc;fill-opacity:1" />
+     xlink:href="../cad/output/ev3device-ev3.png"
+     id="image1107"
+     x="601.39569"
+     y="360.5351" />
   <image
-     sodipodi:absref="../images/ev3brick.png"
-     xlink:href="../images/ev3brick.png"
-     style="fill:#fcfcfc;fill-opacity:1"
-     width="212.79999"
-     height="190"
+     width="207.70872"
+     height="185.16669"
      preserveAspectRatio="none"
-     id="image1072"
-     x="95.786835"
-     y="369.87003" />
+     xlink:href="../cad/output/ev3device-ev3.png"
+     id="image1023"
+     x="410.03784"
+     y="103.51874" />
   <rect
      style="opacity:1;fill:#e7f2fa;fill-opacity:1;stroke:none;stroke-width:2.13333321;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1"
      id="rect871"
@@ -315,9 +309,9 @@
      id="text877"
      y="37.892525"
      x="420.1922"
-     style="font-style:normal;font-weight:normal;font-size:24.19441986px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
      xml:space="preserve"><tspan
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861"
        y="37.892525"
        x="420.1922"
        id="tspan875"
@@ -347,7 +341,7 @@
   </g>
   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:16.64243126px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
+     style="font-style:normal;font-weight:normal;font-size:16.6424px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
      x="394.85461"
      y="366.78806"
      id="text7649"><tspan
@@ -360,9 +354,9 @@
      id="text7659"
      y="407.4787"
      x="400.70319"
-     style="font-style:normal;font-weight:normal;font-size:24.4154644px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
+     style="font-style:normal;font-weight:normal;font-size:24.4155px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
      xml:space="preserve"><tspan
-       style="font-size:18.66666603px;stroke-width:0.99999994"
+       style="font-size:18.6667px;stroke-width:1"
        y="407.4787"
        x="400.70319"
        id="tspan7657"
@@ -388,7 +382,7 @@
      id="text7693"
      y="237.28807"
      x="232.565"
-     style="font-style:normal;font-weight:normal;font-size:16.64243126px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
+     style="font-style:normal;font-weight:normal;font-size:16.6424px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
      xml:space="preserve"><tspan
        style="font-size:16px;stroke-width:1"
        y="237.28807"
@@ -397,7 +391,7 @@
        sodipodi:role="line">'cond'</tspan></text>
   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:24.4154644px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
+     style="font-style:normal;font-weight:normal;font-size:24.4155px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
      x="221.79655"
      y="276.91803"
      id="text7697"><tspan
@@ -405,7 +399,7 @@
        id="tspan7695"
        x="221.79655"
        y="276.91803"
-       style="font-size:18.66666603px;stroke-width:0.99999994">'Sunny'</tspan></text>
+       style="font-size:18.6667px;stroke-width:1">'Sunny'</tspan></text>
   <g
      style="fill:#e7f2fa;fill-opacity:1;stroke-width:0.52550077"
      id="g7703"
@@ -427,7 +421,7 @@
      id="text7707"
      y="270.2421"
      x="667.43671"
-     style="font-style:normal;font-weight:normal;font-size:16.64243126px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
+     style="font-style:normal;font-weight:normal;font-size:16.6424px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
      xml:space="preserve"><tspan
        style="font-size:16px;stroke-width:1"
        y="270.2421"
@@ -436,7 +430,7 @@
        sodipodi:role="line">'amb'</tspan></text>
   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:24.4154644px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
+     style="font-style:normal;font-weight:normal;font-size:24.4155px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
      x="676.82086"
      y="309.16498"
      id="text7711"><tspan
@@ -444,7 +438,7 @@
        id="tspan7709"
        x="676.82086"
        y="309.16498"
-       style="font-size:18.66666603px;stroke-width:0.99999994">35</tspan></text>
+       style="font-size:18.6667px;stroke-width:1">35</tspan></text>
   <rect
      y="8.4151917"
      x="10.810917"
@@ -454,7 +448,7 @@
      style="opacity:1;fill:#eefece;fill-opacity:1;stroke:#e1e4e5;stroke-width:2.22698116;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1" />
   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:15.79568195px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
+     style="font-style:normal;font-weight:normal;font-size:15.7957px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
      x="21.244511"
      y="32.619339"
      id="text7989"><tspan
@@ -462,49 +456,47 @@
        id="tspan7987"
        x="21.244511"
        y="32.619339"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054">server = BluetoothMailboxServer()</tspan><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861">server = BluetoothMailboxServer()</tspan><tspan
        sodipodi:role="line"
        x="21.244511"
        y="52.363941"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan7991">server.wait_for_connection(<tspan
    style="fill:#126f2a;fill-opacity:1"
    id="tspan1152">2</tspan>)</tspan><tspan
        sodipodi:role="line"
        x="21.244511"
        y="72.108543"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan11709" /><tspan
        sodipodi:role="line"
        x="21.244511"
        y="91.853149"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan11719">temp = NumericMailbox(<tspan
    style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
    id="tspan1126">'temp'</tspan>, server)</tspan><tspan
        sodipodi:role="line"
        x="21.244511"
        y="111.59775"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan11721">condition = TextMailbox(<tspan
    style="fill:#4671a1;fill-opacity:1"
    id="tspan1130">'cond'</tspan>, server)</tspan><tspan
        sodipodi:role="line"
        x="21.244511"
        y="131.34236"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan11713">ambient = NumericMailbox(<tspan
    style="fill:#4671a1;fill-opacity:1"
    id="tspan1132">'amb'</tspan>, server)</tspan><tspan
        sodipodi:role="line"
        x="21.244511"
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        id="tspan1997" /><tspan
        sodipodi:role="line"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan1999">condition.send(<tspan
    style="fill:#4671a1;fill-opacity:1"
    id="tspan1134">'Sunny'</tspan>)</tspan></text>
@@ -519,38 +511,36 @@
      id="text8001"
      y="611.47217"
      x="509.414"
-     style="font-style:normal;font-weight:normal;font-size:15.79568195px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
+     style="font-style:normal;font-weight:normal;font-size:15.7957px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
      xml:space="preserve"><tspan
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        y="611.47217"
        x="509.414"
        id="tspan7997"
        sodipodi:role="line">client = BluetoothMailboxClient()</tspan><tspan
        id="tspan7999"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        y="631.2168"
        x="509.414"
        sodipodi:role="line">client.connect(<tspan
    style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
    id="tspan1148">'ev3dev'</tspan>)</tspan><tspan
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        y="650.96136"
        x="509.414"
        sodipodi:role="line"
        id="tspan11687" /><tspan
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        y="670.70599"
        x="509.414"
        sodipodi:role="line"
        id="tspan11689">ambient = NumericMailbox(<tspan
    style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
    id="tspan1146">'amb'</tspan>, client)</tspan><tspan
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        y="690.45056"
        x="509.414"
        sodipodi:role="line"
        id="tspan2005" /><tspan
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        y="710.19519"
        x="509.414"
        sodipodi:role="line"
@@ -573,19 +563,14 @@
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   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:24.19441986px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
      x="16.005072"
-     y="516.69452"
+     y="569.18481"
      id="text9727"><tspan
-       sodipodi:role="line"
-       id="tspan9723"
-       x="16.005072"
-       y="538.10095"
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        sodipodi:role="line"
        x="16.005072"
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-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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        id="tspan9725">Client A </tspan></text>
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@@ -596,7 +581,7 @@
      style="opacity:1;fill:#eefece;fill-opacity:1;stroke:#e1e4e5;stroke-width:2.13333321;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1" />
   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:15.79568195px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
+     style="font-style:normal;font-weight:normal;font-size:15.7957px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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      id="text11703"><tspan
@@ -604,42 +589,40 @@
        id="tspan11695"
        x="20.150545"
        y="611.47217"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054">client = BluetoothMailboxClient()</tspan><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861">client = BluetoothMailboxClient()</tspan><tspan
        sodipodi:role="line"
        x="20.150545"
        y="631.2168"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan11697">client.connect(<tspan
    style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
    id="tspan1136">'ev3dev'</tspan>)</tspan><tspan
        id="tspan11699"
        sodipodi:role="line"
        x="20.150545"
-       y="650.96136"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054" /><tspan
+       y="650.96136" /><tspan
        sodipodi:role="line"
        x="20.150545"
        y="670.70599"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan11707">temp = NumericMailbox(<tspan
    style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
    id="tspan1142">'temp'</tspan>, client)</tspan><tspan
        sodipodi:role="line"
        x="20.150545"
        y="690.45056"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan11717">condition = TextMailbox(<tspan
    style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
    id="tspan1144">'cond'</tspan>, client)</tspan><tspan
        sodipodi:role="line"
        x="20.150545"
        y="710.19519"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan2001" /><tspan
        sodipodi:role="line"
        x="20.150545"
        y="729.93976"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
        id="tspan2003">temp.send(<tspan
    style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#126f2a;fill-opacity:1"
    id="tspan1154">25.3</tspan>)</tspan></text>
@@ -659,17 +642,12 @@
      y="535.77826" />
   <text
      id="text11733"
-     y="516.69452"
+     y="569.18481"
      x="504.22729"
-     style="font-style:normal;font-weight:normal;font-size:24.19441986px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
+     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
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-       sodipodi:role="line" /><tspan
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861"
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        sodipodi:role="line">Client B </tspan></text>
diff --git a/doc/main/diagram_source/movehub.svg b/doc/main/diagrams_source/movehub.svg
similarity index 65%
rename from doc/main/diagram_source/movehub.svg
rename to doc/main/diagrams_source/movehub.svg
index 2e1a217..4e0fde6 100644
--- a/doc/main/diagram_source/movehub.svg
+++ b/doc/main/diagrams_source/movehub.svg
@@ -2,21 +2,21 @@
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-   xmlns:svg="http://www.w3.org/2000/svg"
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-   xmlns:xlink="http://www.w3.org/1999/xlink"
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-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="1600"
-   height="800"
-   viewBox="0 0 423.33333 211.66666"
+   width="1400"
+   height="600"
+   viewBox="0 0 370.41666 158.75"
    version="1.1"
    id="svg8"
-   inkscape:version="0.92.3 (2405546, 2018-03-11)"
-   sodipodi:docname="movehub.svg">
+   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
+   sodipodi:docname="movehub.svg"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:dc="http://purl.org/dc/elements/1.1/">
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+         style="fill:none;fill-opacity:1;stroke:#e8f2fa;stroke-width:2;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
          clip-path="none" />
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-       xlink:href="../images/movehub.png"
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diff --git a/doc/main/diagram_source/running.png b/doc/main/diagrams_source/running.png
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similarity index 100%
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diff --git a/doc/main/diagram_source/store.svg b/doc/main/diagrams_source/store.svg
similarity index 100%
rename from doc/main/diagram_source/store.svg
rename to doc/main/diagrams_source/store.svg
diff --git a/doc/main/diagram_source/store0.png b/doc/main/diagrams_source/store0.png
similarity index 100%
rename from doc/main/diagram_source/store0.png
rename to doc/main/diagrams_source/store0.png
diff --git a/doc/main/diagram_source/terminal.png b/doc/main/diagrams_source/terminal.png
similarity index 100%
rename from doc/main/diagram_source/terminal.png
rename to doc/main/diagrams_source/terminal.png
diff --git a/doc/main/diagram_source/terminal.svg b/doc/main/diagrams_source/terminal.svg
similarity index 100%
rename from doc/main/diagram_source/terminal.svg
rename to doc/main/diagrams_source/terminal.svg
diff --git a/doc/main/ev3devices.rst b/doc/main/ev3devices.rst
index ec6c9fd..c6dc088 100644
--- a/doc/main/ev3devices.rst
+++ b/doc/main/ev3devices.rst
@@ -9,7 +9,7 @@ Motors
 
 .. _fig_ev3motors:
 
-.. figure:: ../main/images/ev3motors_label.png
+.. figure:: ../main/diagrams/ev3motors.png
    :width: 100 %
 
    EV3-compatible motors. The arrows indicate the default positive direction.
@@ -84,7 +84,7 @@ Motors
 Touch Sensor
 ^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_ev3_touch.png
+.. figure:: ../main/cad/output/ev3device-touch.png
    :width: 18 %
 
 .. autoclass:: pybricks.ev3devices.TouchSensor
@@ -92,7 +92,7 @@ Touch Sensor
 Color Sensor
 ^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_ev3_color.png
+.. figure:: ../main/cad/output/ev3device-color.png
    :width: 18 %
 
 .. autoclass:: pybricks.ev3devices.ColorSensor
@@ -104,7 +104,7 @@ Each method of this class puts the sensor in a different *mode*. Switching
 modes takes about one second on this sensor. To make sure that your program
 runs quickly, use only of these methods in your program.
 
-.. figure:: ../main/images/sensor_ev3_ir.png
+.. figure:: ../main/cad/output/ev3device-infrared.png
    :width: 60 %
 
 .. autoclass:: pybricks.ev3devices.InfraredSensor
@@ -112,7 +112,7 @@ runs quickly, use only of these methods in your program.
 Ultrasonic Sensor
 ^^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_ev3_ultrasonic.png
+.. figure:: ../main/cad/output/ev3device-ultrasonic.png
    :width: 22 %
 
 .. autoclass:: pybricks.ev3devices.UltrasonicSensor
@@ -120,7 +120,7 @@ Ultrasonic Sensor
 Gyroscopic Sensor
 ^^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_ev3_gyro.png
+.. figure:: ../main/cad/output/ev3device-gyro.png
    :width: 18 %
 
 .. autoclass:: pybricks.ev3devices.GyroSensor
diff --git a/doc/main/geometry.rst b/doc/main/geometry.rst
index 86b2104..0e1077d 100644
--- a/doc/main/geometry.rst
+++ b/doc/main/geometry.rst
@@ -41,7 +41,7 @@ though the *hub* accelerates backward.
 
 .. _fig_imuexamples:
 
-.. figure:: ../main/images/imuexamples_label.png
+.. figure:: ../main/diagrams/imuexamples.png
    :width: 100 %
 
    How to configure the ``top_side`` and ``front_side`` settings for three
diff --git a/doc/main/hubs/cityhub.rst b/doc/main/hubs/cityhub.rst
index 0e04408..4172fc1 100644
--- a/doc/main/hubs/cityhub.rst
+++ b/doc/main/hubs/cityhub.rst
@@ -3,7 +3,7 @@
 City Hub
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/cityhub.png
+.. figure:: ../../main/cad/output/hub-city.png
     :height: 15 em
 
 .. autoclass:: pybricks.hubs.CityHub
diff --git a/doc/main/hubs/essentialhub.rst b/doc/main/hubs/essentialhub.rst
index c127711..5cf6cb0 100644
--- a/doc/main/hubs/essentialhub.rst
+++ b/doc/main/hubs/essentialhub.rst
@@ -3,8 +3,8 @@
 Essential Hub
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/essentialhub.png
-    :height: 15 em
+.. figure:: ../../main/cad/output/hub-essential.png
+    :width: 30%
 
 
 .. note:: Pybricks support for this hub is in beta.
diff --git a/doc/main/hubs/ev3brick.rst b/doc/main/hubs/ev3brick.rst
index 91805cc..810428f 100644
--- a/doc/main/hubs/ev3brick.rst
+++ b/doc/main/hubs/ev3brick.rst
@@ -1,7 +1,7 @@
 MINDSTORMS EV3 Brick
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/ev3brick.png
+.. figure:: ../../main/cad/output/ev3device-ev3.png
     :height: 15 em
 
 .. autoclass:: pybricks.hubs.EV3Brick
diff --git a/doc/main/hubs/index.rst b/doc/main/hubs/index.rst
index e29cd03..76088ee 100644
--- a/doc/main/hubs/index.rst
+++ b/doc/main/hubs/index.rst
@@ -17,36 +17,36 @@
 
 .. pybricks-classlink:: MoveHub
 
-.. figure:: ../../main/images/movehub.png
-    :height: 10 em
+.. figure:: ../../main/cad/output/hub-move.png
+    :width: 30%
     :target: movehub.html
 
 .. pybricks-classlink:: CityHub
 
-.. figure:: ../../main/images/cityhub.png
-    :height: 10 em
+.. figure:: ../../main/cad/output/hub-city.png
+    :width: 20%
     :target: cityhub.html
 
 .. pybricks-classlink:: TechnicHub
 
-.. figure:: ../../main/images/technichub.png
-    :height: 10 em
+.. figure:: ../../main/cad/output/hub-technic.png
+    :width: 25%
     :target: technichub.html
 
-.. pybricks-classlink:: PrimeHub
-
-.. figure:: ../../main/images/primehub.png
-    :height: 10 em
-    :target: primehub.html
-
 .. pybricks-classlink:: InventorHub PrimeHub
 
-.. figure:: ../../main/images/inventorhub.png
-    :height: 10 em
+.. figure:: ../../main/cad/output/hub-inventor.png
+    :width: 25%
+    :target: primehub.html
+
+.. pybricks-classlink:: PrimeHub
+
+.. figure:: ../../main/cad/output/hub-prime.png
+    :width: 25%
     :target: primehub.html
 
 .. pybricks-classlink:: EssentialHub
 
-.. figure:: ../../main/images/essentialhub.png
-    :height: 10 em
+.. figure:: ../../main/cad/output/hub-essential.png
+    :width: 20%
     :target: essentialhub.html
diff --git a/doc/main/hubs/movehub.rst b/doc/main/hubs/movehub.rst
index af56454..3ef1c0f 100644
--- a/doc/main/hubs/movehub.rst
+++ b/doc/main/hubs/movehub.rst
@@ -5,7 +5,7 @@ Move Hub
 
 .. _fig_movehub:
 
-.. figure:: ../../main/images/movehub_label.png
+.. figure:: ../../main/diagrams/movehub.png
     :height: 15 em
 
 .. autoclass:: pybricks.hubs.MoveHub
diff --git a/doc/main/hubs/primehub.rst b/doc/main/hubs/primehub.rst
index c76b85c..354d11b 100644
--- a/doc/main/hubs/primehub.rst
+++ b/doc/main/hubs/primehub.rst
@@ -3,7 +3,7 @@
 Prime Hub / Inventor Hub
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/primeinventorhub.png
+.. figure:: ../../main/cad/output/hub-spike-inventor.png
     :height: 15 em
 
 
@@ -23,7 +23,7 @@ Prime Hub / Inventor Hub
 
     .. rubric:: Using the hub status light
 
-    .. figure:: ../../main/images/primehub_light_label.png
+    .. figure:: ../../main/diagrams/primehub_light.png
         :width: 22 em
 
     .. automethod:: pybricks.hubs::PrimeHub.light.on
@@ -36,7 +36,7 @@ Prime Hub / Inventor Hub
 
     .. rubric:: Using the light matrix display
 
-    .. figure:: ../../main/images/primehub_display_label.png
+    .. figure:: ../../main/diagrams/primehub_display.png
         :width: 22 em
 
     .. automethod:: pybricks.hubs::PrimeHub.display.orientation
@@ -57,7 +57,7 @@ Prime Hub / Inventor Hub
 
     .. rubric:: Using the buttons
 
-    .. figure:: ../../main/images/primehub_buttons_label.png
+    .. figure:: ../../main/diagrams/primehub_buttons.png
         :width: 22 em
 
     .. automethod:: pybricks.hubs::PrimeHub.buttons.pressed
diff --git a/doc/main/hubs/technichub.rst b/doc/main/hubs/technichub.rst
index 9ac9eb2..befeb22 100644
--- a/doc/main/hubs/technichub.rst
+++ b/doc/main/hubs/technichub.rst
@@ -3,7 +3,7 @@
 Technic Hub
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/technichub.png
+.. figure:: ../../main/cad/output/hub-technic.png
     :height: 15 em
 
 .. autoclass:: pybricks.hubs.TechnicHub
diff --git a/doc/main/images/bluetooth_on_label.png b/doc/main/images/bluetooth_on_label.png
deleted file mode 100644
index e1d9da1..0000000
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diff --git a/doc/main/images/bluetooth_pair_label.png b/doc/main/images/bluetooth_pair_label.png
deleted file mode 100644
index fe37a00..0000000
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diff --git a/doc/main/images/cityhub.png b/doc/main/images/cityhub.png
deleted file mode 100644
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deleted file mode 100644
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deleted file mode 100644
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diff --git a/doc/main/images/store_label.png b/doc/main/images/store_label.png
deleted file mode 100644
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diff --git a/doc/main/images/technichub.png b/doc/main/images/technichub.png
deleted file mode 100644
index d779700..0000000
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diff --git a/doc/main/images/terminal_label.png b/doc/main/images/terminal_label.png
deleted file mode 100644
index a78899b..0000000
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diff --git a/doc/main/index.rst b/doc/main/index.rst
index ece5271..56eadf7 100644
--- a/doc/main/index.rst
+++ b/doc/main/index.rst
@@ -1,84 +1,40 @@
 Pybricks Documentation
 ==================================================================
 
+`Pybricks <https://pybricks.com/>`_ is Python coding for smart LEGO® hubs.
+Run MicroPython scripts
+directly on the hub, and get full control of your motors and sensors.
+
+Pybricks runs on LEGO® BOOST, City, Technic, MINDSTORMS®, and SPIKE®. You
+can code using Windows, Mac, Linux, Chromebook, and Android.
+
+To run Pybricks MicroPython scripts, you must install the Pybricks firmware
+on your hub. Check `pybricks.com/install`_ to learn how.
+
 .. only:: main
 
-   `Pybricks <https://pybricks.com/>`_ is Python coding for smart LEGO® hubs.
-   Run MicroPython scripts
-   directly on the hub, and get full control of your motors and sensors.
-
-   Pybricks runs on LEGO® BOOST, City, Technic, MINDSTORMS®, and SPIKE®. You
-   can code using Windows, Mac, Linux, Chromebook, and Android.
-
-   **What's on this page?**
-
-   This page provides API documentation and short example snippets. If you're
-   new to Pybricks, or if you're looking for bigger example projects, check out
-   the `Pybricks website`_ instead.
-
-
    .. note:: Are you using LEGO MINDSTORMS EV3? Check out the
             `EV3 documentation`_ instead.
 
+.. rubric:: Programmable hubs
 
-   **Installation**
+.. figure:: ../main/cad/output/hub-all.png
+   :width: 100 %
+   :target: hubs/index.html
 
-   To run Pybricks MicroPython scripts, you must update the firmware on the
-   hub. To get started, click one of the platforms below.
-
-   .. list-table::
-
-      * - **Technic, City, and BOOST Move Hubs**
-        - **SPIKE Essential/Prime, and MINDSTORMS Inventor Hubs**
-
-      * - .. figure:: ../main/images/powereduphubs.png
-            :target: https://pybricks.com/install/technic-boost-city/
-
-        - .. figure:: ../main/images/primeinventorhub.png
-            :target: https://pybricks.com/install/spike-mindstorms/
-
-   Once installed, Pybricks works the same for all hubs.
-   check out the Pybricks modules in the left hand menu to see what
-   you can do.
-
-   **Get involved!**
-
-   Got questions or issues? Please share your
-   findings on our `support page`_ so we can make Pybricks even better.
-   *Thank you!*
-
-.. only:: ide
-
-   .. note::
-
-      **You are using a new beta version of Pybricks!**
-
-      This is great for trying the very latest features, but some things
-      might not work.
-
-      If in doubt, use the `latest stable release`_. Please report any
-      issues via our `support page`_. Thanks!
-
-   To begin, install the Pybricks firmware on your hub. Check
-   `pybricks.com/install`_ to learn how.
-
-   Use the ☰ menu to navigate all available classes, methods, and tools. A few
-   commonly used devices and classes are listed below for quick reference.
-
-   .. rubric:: Programmable hubs
-
-   .. figure:: ../main/images/hubsoverview.png
-      :width: 100 %
-      :target: hubs/index.html
-
-   .. rubric:: Powered Up motors and sensors
-
-   .. figure:: ../main/images/pupdevicesoverview.png
-      :width: 100 %
-      :target: pupdevices/index.html
+.. rubric:: Powered Up motors and sensors
 
+.. figure:: ../main/cad/output/pupdevice-all.png
+   :width: 100 %
+   :target: pupdevices/index.html
 
+.. figure:: ../main/cad/output/pupdevice-motors.png
+   :width: 100 %
+   :target: pupdevices/motor.html
 
+.. figure:: ../main/cad/output/pupdevice-dcmotors.png
+   :width: 70 %
+   :target: pupdevices/dcmotor.html
 
 .. _support page: https://github.com/pybricks/support/issues/
 .. _EV3 documentation: https://pybricks.com/ev3-micropython/
diff --git a/doc/main/iodevices/analogsensor.rst b/doc/main/iodevices/analogsensor.rst
index 2017233..031dffe 100644
--- a/doc/main/iodevices/analogsensor.rst
+++ b/doc/main/iodevices/analogsensor.rst
@@ -5,7 +5,7 @@ EV3 Analog Sensor
 
    This class is only available on EV3.
 
-.. figure:: ../../main/images/sensor_rj12_brown.png
+.. figure:: ../../main/cad/output/iodevice-rj12brown.png
    :width: 25 %
 
 .. autoclass:: pybricks.iodevices.AnalogSensor
diff --git a/doc/main/iodevices/dcmotor.rst b/doc/main/iodevices/dcmotor.rst
index 18b1f16..5570cbe 100644
--- a/doc/main/iodevices/dcmotor.rst
+++ b/doc/main/iodevices/dcmotor.rst
@@ -6,7 +6,7 @@ EV3 DC Motor
    This class is specifically for on EV3. For Powered Up DC Motors, just use
    the :class:`DCMotor <pybricks.pupdevices.DCMotor>` class.
 
-.. figure:: ../../main/images/rcxmotor.png
+.. figure:: ../../main/cad/output/iodevice-dcmotor.png
    :width: 40 %
 
 .. autoclass:: pybricks.iodevices.DCMotor
diff --git a/doc/main/iodevices/ev3devsensor.rst b/doc/main/iodevices/ev3devsensor.rst
index 70a81b0..7d46f2f 100644
--- a/doc/main/iodevices/ev3devsensor.rst
+++ b/doc/main/iodevices/ev3devsensor.rst
@@ -5,8 +5,8 @@ Ev3dev sensors
 
    This class is only available on EV3.
 
-.. figure:: ../../main/images/sensor_ev3dev.png
-   :width: 70 %
+.. figure:: ../../main/cad/output/iodevice-rj12pcbbox.png
+   :width: 30 %
 
 EV3 MicroPython is built on top of ev3dev, which means that a sensor
 may be supported even if it is not listed in this documentation. If so, you can
diff --git a/doc/main/iodevices/i2cdevice.rst b/doc/main/iodevices/i2cdevice.rst
index b94d996..39a39d7 100644
--- a/doc/main/iodevices/i2cdevice.rst
+++ b/doc/main/iodevices/i2cdevice.rst
@@ -10,7 +10,7 @@ Generic I2C Device
 .. _support page: https://github.com/pybricks/support/issues/
 
 
-.. figure:: ../../main/images/sensor_rj12_bluegreen.png
+.. figure:: ../../main/cad/output/iodevice-rj12cyan.png
    :width: 25 %
 
 .. autoclass:: pybricks.iodevices.I2CDevice
diff --git a/doc/main/iodevices/index.rst b/doc/main/iodevices/index.rst
index 98a82c4..e04fe43 100644
--- a/doc/main/iodevices/index.rst
+++ b/doc/main/iodevices/index.rst
@@ -16,12 +16,12 @@ This module has classes for generic input/output devices.
 
 .. pybricks-classlink:: PUPDevice
 
-.. figure:: ../../main/images/sensor_pup.png
-   :width: 70 %
+.. figure:: ../../main/cad/output/iodevice-pupdevice.png
+   :width: 50 %
    :target: pupdevice.html
 
 .. pybricks-classlink:: LWP3Device
 
-.. figure:: ../../main/images/powereduphubs.png
-   :width: 70 %
+.. figure:: ../../main/cad/output/hub-lwp3.png
+   :width: 80 %
    :target: lwp3device.html
diff --git a/doc/main/iodevices/lumpdevice.rst b/doc/main/iodevices/lumpdevice.rst
index bf01d93..f0f21da 100644
--- a/doc/main/iodevices/lumpdevice.rst
+++ b/doc/main/iodevices/lumpdevice.rst
@@ -5,7 +5,7 @@ EV3 UART Device
 
    This class is only available on EV3.
 
-.. figure:: ../../main/images/sensor_rj12_green.png
+.. figure:: ../../main/cad/output/iodevice-rj12green.png
    :width: 25 %
 
 .. autoclass:: pybricks.iodevices.LUMPDevice
diff --git a/doc/main/iodevices/lwp3device.rst b/doc/main/iodevices/lwp3device.rst
index 598a06b..10af18a 100644
--- a/doc/main/iodevices/lwp3device.rst
+++ b/doc/main/iodevices/lwp3device.rst
@@ -6,7 +6,7 @@ LEGO Wireless Protocol v3 device
    This is an experimental class. It has not been well tested and may be
    changed in future.
 
-.. figure:: ../../main/images/powereduphubs.png
-   :width: 25 %
+.. figure:: ../../main/cad/output/hub-lwp3.png
+   :width: 80 %
 
 .. autoclass:: pybricks.iodevices.LWP3Device
diff --git a/doc/main/iodevices/pupdevice.rst b/doc/main/iodevices/pupdevice.rst
index 9c12fa9..8c0ac00 100644
--- a/doc/main/iodevices/pupdevice.rst
+++ b/doc/main/iodevices/pupdevice.rst
@@ -3,8 +3,8 @@
 Powered Up Device
 ^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/sensor_pup.png
-   :width: 70 %
+.. figure:: ../cad/output/iodevice-pupdevice.png
+   :width: 60 %
 
 .. autoclass:: pybricks.iodevices.PUPDevice
     :no-members:
diff --git a/doc/main/iodevices/uartdevice.rst b/doc/main/iodevices/uartdevice.rst
index 0c647a1..0bdf45b 100644
--- a/doc/main/iodevices/uartdevice.rst
+++ b/doc/main/iodevices/uartdevice.rst
@@ -9,7 +9,7 @@ Generic UART Device
 
 .. _support page: https://github.com/pybricks/support/issues/
 
-.. figure:: ../../main/images/sensor_rj12_gray.png
+.. figure:: ../../main/cad/output/iodevice-rj12grey.png
    :width: 25 %
 
 .. autoclass:: pybricks.iodevices.UARTDevice
diff --git a/doc/main/messaging.rst b/doc/main/messaging.rst
index 3f1ce35..3e9bb1e 100644
--- a/doc/main/messaging.rst
+++ b/doc/main/messaging.rst
@@ -18,7 +18,7 @@ EV3 bricks as shown in :numref:`fig_bluetooth_on`.
 
 .. _fig_bluetooth_on:
 
-.. figure:: ../main/images/bluetooth_on_label.png
+.. figure:: ../main/diagrams/bluetooth_on.png
    :width: 100 %
    :alt: bluetooth_on
    :align: center
@@ -33,7 +33,7 @@ The connection will be made when you run your programs, as described below.
 
 .. _fig_bluetooth_pair:
 
-.. figure:: ../main/images/bluetooth_pair_label.png
+.. figure:: ../main/diagrams/bluetooth_pair.png
    :width: 100 %
    :alt: bluetooth_pair
    :align: center
@@ -57,7 +57,7 @@ and the client can send a message to the server.
 
 .. _fig_messaging:
 
-.. figure:: ../main/images/messaging_label.png
+.. figure:: ../main/diagrams/messaging.png
    :width: 90 %
    :alt: messaging
    :align: center
@@ -128,7 +128,7 @@ is shown in :numref:`fig_messaging_network`.
 
 .. _fig_messaging_network:
 
-.. figure:: ../main/images/messaging_network_label.png
+.. figure:: ../main/diagrams/messaging_network.png
    :width: 90 %
    :alt: messaging
    :align: center
diff --git a/doc/main/nxtdevices.rst b/doc/main/nxtdevices.rst
index c02bd0b..ba478bf 100644
--- a/doc/main/nxtdevices.rst
+++ b/doc/main/nxtdevices.rst
@@ -12,7 +12,7 @@ your programs using the :mod:`Motor <.ev3devices>` class.
 NXT Touch Sensor
 ^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_nxt_touch.png
+.. figure:: ../main/cad/output/nxtdevice-touch.png
    :width: 18 %
 
 .. autoclass:: pybricks.nxtdevices.TouchSensor
@@ -23,7 +23,7 @@ NXT Touch Sensor
 NXT Light Sensor
 ^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_nxt_light.png
+.. figure:: ../main/cad/output/nxtdevice-light.png
    :width: 18 %
 
 .. autoclass:: pybricks.nxtdevices.LightSensor
@@ -31,7 +31,7 @@ NXT Light Sensor
 NXT Color Sensor
 ^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_nxt_color.png
+.. figure:: ../main/cad/output/nxtdevice-color.png
    :width: 18 %
 
 .. autoclass:: pybricks.nxtdevices.ColorSensor
@@ -63,7 +63,7 @@ NXT Color Sensor
 NXT Ultrasonic Sensor
 ^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_nxt_ultrasonic.png
+.. figure:: ../main/cad/output/nxtdevice-ultrasonic.png
    :width: 24 %
 
 .. autoclass:: pybricks.nxtdevices.UltrasonicSensor
@@ -71,7 +71,7 @@ NXT Ultrasonic Sensor
 NXT Sound Sensor
 ^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_nxt_sound.png
+.. figure:: ../main/cad/output/nxtdevice-sound.png
    :width: 18 %
 
 .. autoclass:: pybricks.nxtdevices.SoundSensor
@@ -79,7 +79,7 @@ NXT Sound Sensor
 NXT Temperature Sensor
 ^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_nxt_temp.png
+.. figure:: ../main/cad/output/nxtdevice-temperature.png
    :width: 32 %
 
 .. autoclass:: pybricks.nxtdevices.TemperatureSensor
@@ -87,7 +87,7 @@ NXT Temperature Sensor
 NXT Energy Meter
 ^^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/energymeter.png
+.. figure:: ../main/cad/output/nxtdevice-energy.png
    :width: 30 %
 
 .. autoclass:: pybricks.nxtdevices.EnergyMeter
diff --git a/doc/main/parameters/side.rst b/doc/main/parameters/side.rst
index 6f6164e..45a629e 100644
--- a/doc/main/parameters/side.rst
+++ b/doc/main/parameters/side.rst
@@ -33,30 +33,30 @@ Side
 
     **Prime Hub**
 
-    .. figure:: ../../main/images/orientation_primehub_label.png
+    .. figure:: ../../main/diagrams/orientation_primehub.png
         :height: 17 em
 
     **Inventor Hub**
 
-    .. figure:: ../../main/images/orientation_inventorhub_label.png
+    .. figure:: ../../main/diagrams/orientation_inventorhub.png
         :height: 17 em
 
     **Essential Hub**
 
-    .. figure:: ../../main/images/orientation_essentialhub_label.png
+    .. figure:: ../../main/diagrams/orientation_essentialhub.png
         :height: 17 em
 
     **Move Hub**
 
-    .. figure:: ../../main/images/orientation_movehub_label.png
+    .. figure:: ../../main/diagrams/orientation_movehub.png
         :height: 17 em
 
     **Technic Hub**
 
-    .. figure:: ../../main/images/orientation_technichub_label.png
+    .. figure:: ../../main/diagrams/orientation_technichub.png
         :height: 17 em
 
     **Tilt Sensor**
 
-    .. figure:: ../../main/images/orientation_tiltsensor_label.png
+    .. figure:: ../../main/diagrams/orientation_tiltsensor.png
         :height: 17 em
diff --git a/doc/main/pupdevices/colordistancesensor.rst b/doc/main/pupdevices/colordistancesensor.rst
index d22c3ce..f5c587f 100644
--- a/doc/main/pupdevices/colordistancesensor.rst
+++ b/doc/main/pupdevices/colordistancesensor.rst
@@ -3,7 +3,7 @@
 Color and Distance Sensor
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/sensor_colordistance.png
+.. figure:: ../../main/cad/output/pupdevice-colordistance.png
    :width: 35 %
 
 .. autoclass:: pybricks.pupdevices.ColorDistanceSensor
diff --git a/doc/main/pupdevices/colorlightmatrix.rst b/doc/main/pupdevices/colorlightmatrix.rst
index a0d77e1..25ef724 100644
--- a/doc/main/pupdevices/colorlightmatrix.rst
+++ b/doc/main/pupdevices/colorlightmatrix.rst
@@ -3,7 +3,7 @@
 Color Light Matrix
 ^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/sensor_colorlightmatrix_label.png
+.. figure:: ../../main/diagrams/sensor_colorlightmatrix.png
    :width: 35 %
 
 .. autoclass:: pybricks.pupdevices.ColorLightMatrix
diff --git a/doc/main/pupdevices/colorsensor.rst b/doc/main/pupdevices/colorsensor.rst
index cde1edd..a897c79 100644
--- a/doc/main/pupdevices/colorsensor.rst
+++ b/doc/main/pupdevices/colorsensor.rst
@@ -3,7 +3,7 @@
 Color Sensor
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/sensor_color_lights_label.png
+.. figure:: ../../main/diagrams/sensor_color_lights.png
    :width: 70 %
 
 .. autoclass:: pybricks.pupdevices.ColorSensor
diff --git a/doc/main/pupdevices/dcmotor.rst b/doc/main/pupdevices/dcmotor.rst
index bb85f85..d10b76e 100644
--- a/doc/main/pupdevices/dcmotor.rst
+++ b/doc/main/pupdevices/dcmotor.rst
@@ -5,7 +5,7 @@ Motors without rotation sensors
 
 .. _fig_pupdcmotors:
 
-.. figure:: ../../main/images/pupdcmotors_label.png
+.. figure:: ../../main/diagrams/pupdcmotors.png
    :width: 70 %
    :alt: pupmotors
    :align: center
diff --git a/doc/main/pupdevices/forcesensor.rst b/doc/main/pupdevices/forcesensor.rst
index 23866b4..abab947 100644
--- a/doc/main/pupdevices/forcesensor.rst
+++ b/doc/main/pupdevices/forcesensor.rst
@@ -3,7 +3,7 @@
 Force Sensor
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/sensor_force.png
+.. figure:: ../../main/cad/output/pupdevice-force.png
    :width: 35 %
 
 .. autoclass:: pybricks.pupdevices.ForceSensor
diff --git a/doc/main/pupdevices/index.rst b/doc/main/pupdevices/index.rst
index 34d9d66..9d49215 100644
--- a/doc/main/pupdevices/index.rst
+++ b/doc/main/pupdevices/index.rst
@@ -25,72 +25,72 @@
 
 .. pybricks-classlink:: DCMotor
 
-.. figure:: ../../main/images/pupdcmotors_label.png
+.. figure:: ../../main/cad/output/pupdevice-dcmotors.png
     :width: 70 %
     :target: dcmotor.html
 
 .. pybricks-classlink:: Motor
 
-.. figure:: ../../main/images/pupmotors_label.png
+.. figure:: ../../main/cad/output/pupdevice-motors.png
     :width: 100 %
     :target: motor.html
 
 .. pybricks-classlink:: TiltSensor
 
-.. figure:: ../../main/images/sensor_tilt.png
+.. figure:: ../../main/cad/output/pupdevice-tilt.png
    :width: 35 %
    :target: tiltsensor.html
 
 .. pybricks-classlink:: InfraredSensor
 
-.. figure:: ../../main/images/sensor_proximity.png
+.. figure:: ../../main/cad/output/pupdevice-infrared.png
    :width: 35 %
    :target: infraredsensor.html
 
 .. pybricks-classlink:: ColorDistanceSensor
 
-.. figure:: ../../main/images/sensor_colordistance.png
+.. figure:: ../../main/cad/output/pupdevice-colordistance.png
    :width: 32 %
    :target: colordistancesensor.html
 
 .. pybricks-classlink:: PFMotor
 
-.. figure:: ../../main/images/pfmotor.png
+.. figure:: ../../main/cad/output/pupdevice-pfmotor.png
    :width: 95 %
    :target: pfmotor.html
 
 .. pybricks-classlink:: ColorSensor
 
-.. figure:: ../../main/images/sensor_color.png
+.. figure:: ../../main/cad/output/pupdevice-color.png
    :width: 32 %
    :target: colorsensor.html
 
 .. pybricks-classlink:: UltrasonicSensor
 
-.. figure:: ../../main/images/sensor_ultrasonic.png
+.. figure:: ../../main/cad/output/pupdevice-ultrasonic.png
    :width: 37 %
    :target: ultrasonicsensor.html
 
 .. pybricks-classlink:: ForceSensor
 
-.. figure:: ../../main/images/sensor_force.png
+.. figure:: ../../main/cad/output/pupdevice-force.png
    :width: 35 %
    :target: forcesensor.html
 
 .. pybricks-classlink:: ColorLightMatrix
 
-.. figure:: ../../main/images/sensor_colorlightmatrix_label.png
+.. figure:: ../../main/diagrams/sensor_colorlightmatrix.png
    :width: 35 %
    :target: colorlightmatrix.html
 
 .. pybricks-classlink:: Light
 
-.. figure:: ../../main/images/light.png
-   :width: 90 %
+.. figure:: ../../main/cad/output/pupdevice-light.png
+   :width: 35 %
    :target: light.html
 
 .. pybricks-classlink:: Remote
 
-.. figure:: ../../main/images/pupremote.png
+.. figure:: ../../main/cad/output/pupdevice-remote.png
    :width: 50 %
    :target: remote.html
diff --git a/doc/main/pupdevices/infraredsensor.rst b/doc/main/pupdevices/infraredsensor.rst
index 179c5b1..b8986d9 100644
--- a/doc/main/pupdevices/infraredsensor.rst
+++ b/doc/main/pupdevices/infraredsensor.rst
@@ -3,7 +3,7 @@
 Infrared Sensor
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/sensor_proximity.png
+.. figure:: ../../main/cad/output/pupdevice-infrared.png
    :width: 35 %
 
 .. autoclass:: pybricks.pupdevices.InfraredSensor
diff --git a/doc/main/pupdevices/light.rst b/doc/main/pupdevices/light.rst
index a5a12c9..983a627 100644
--- a/doc/main/pupdevices/light.rst
+++ b/doc/main/pupdevices/light.rst
@@ -3,8 +3,8 @@
 Light
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/light.png
-   :width: 90 %
+.. figure:: ../../main/cad/output/pupdevice-light.png
+   :width: 35 %
 
 .. autoclass:: pybricks.pupdevices.Light
     :no-members:
diff --git a/doc/main/pupdevices/motor.rst b/doc/main/pupdevices/motor.rst
index 5542097..96b7388 100644
--- a/doc/main/pupdevices/motor.rst
+++ b/doc/main/pupdevices/motor.rst
@@ -5,7 +5,7 @@ Motors with rotation sensors
 
 .. _fig_pupmotors:
 
-.. figure:: ../../main/images/pupmotors_label.png
+.. figure:: ../../main/diagrams/pupmotors.png
    :width: 100 %
    :alt: pupmotors
 
diff --git a/doc/main/pupdevices/pfmotor.rst b/doc/main/pupdevices/pfmotor.rst
index 2543db0..24985f9 100644
--- a/doc/main/pupdevices/pfmotor.rst
+++ b/doc/main/pupdevices/pfmotor.rst
@@ -9,7 +9,7 @@ use this technique to control medium, large, extra large, and train
 motors. The infrared range is limited to about 30 cm, depending on the angle
 and ambient conditions.
 
-.. figure:: ../../main/images/pfmotor.png
+.. figure:: ../../main/cad/output/pupdevice-pfmotor.png
    :width: 95 %
 
    Powered Up
diff --git a/doc/main/pupdevices/remote.rst b/doc/main/pupdevices/remote.rst
index 85ab4d0..fae164d 100644
--- a/doc/main/pupdevices/remote.rst
+++ b/doc/main/pupdevices/remote.rst
@@ -3,7 +3,7 @@
 Remote Control
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/pupremote.png
+.. figure:: ../../main/cad/output/pupdevice-remote.png
    :width: 60 %
 
 .. autoclass:: pybricks.pupdevices.Remote
diff --git a/doc/main/pupdevices/tiltsensor.rst b/doc/main/pupdevices/tiltsensor.rst
index 5fc816e..6d36331 100644
--- a/doc/main/pupdevices/tiltsensor.rst
+++ b/doc/main/pupdevices/tiltsensor.rst
@@ -3,7 +3,7 @@
 Tilt Sensor
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/sensor_tilt.png
+.. figure:: ../../main/cad/output/pupdevice-tilt.png
    :width: 35 %
 
 .. autoclass:: pybricks.pupdevices.TiltSensor
diff --git a/doc/main/pupdevices/ultrasonicsensor.rst b/doc/main/pupdevices/ultrasonicsensor.rst
index 2b6858d..4898d0a 100644
--- a/doc/main/pupdevices/ultrasonicsensor.rst
+++ b/doc/main/pupdevices/ultrasonicsensor.rst
@@ -3,7 +3,7 @@
 Ultrasonic Sensor
 ^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/sensor_ultrasonic_lights_label.png
+.. figure:: ../../main/diagrams/sensor_ultrasonic_lights.png
    :width: 80 %
 
 .. autoclass:: pybricks.pupdevices.UltrasonicSensor