diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3731d15..5d56350 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,10 @@
 
 ## Unreleased
 
+### Changed
+- Moved remaining type hints from `.pyi` files to the python stub modules, and
+  fixed numerous errors in the type hints throughout.
+
 ## 3.2.0b1-r1 - 2022-06-09
 
 ## Added
diff --git a/doc/main/iodevices/dcmotor.rst b/doc/main/iodevices/dcmotor.rst
index c776dae..18b1f16 100644
--- a/doc/main/iodevices/dcmotor.rst
+++ b/doc/main/iodevices/dcmotor.rst
@@ -9,12 +9,12 @@ EV3 DC Motor
 .. figure:: ../../main/images/rcxmotor.png
    :width: 40 %
 
-.. autoclass:: pybricks._common.DCMotor
+.. autoclass:: pybricks.iodevices.DCMotor
     :noindex:
     :no-members:
 
-    .. automethod:: pybricks._common.DCMotor.dc
+    .. automethod:: pybricks.iodevices.DCMotor.dc
         :noindex:
 
-    .. automethod:: pybricks._common.DCMotor.stop
+    .. automethod:: pybricks.iodevices.DCMotor.stop
         :noindex:
diff --git a/src/pybricks/_common.py b/src/pybricks/_common.py
index 47d2b42..b008d35 100644
--- a/src/pybricks/_common.py
+++ b/src/pybricks/_common.py
@@ -4,11 +4,10 @@
 """Generic cross-platform module for typical devices like lights, displays,
 speakers, and batteries."""
 
-from .parameters import Direction, Stop, Button, Port, Color, Side, Number
+from typing import Union, Iterable, overload, Optional, Tuple, Collection
 
 from .geometry import Matrix, Axis
-
-from typing import Union, Iterable, overload, Optional, Tuple, Collection
+from .parameters import Direction, Stop, Button, Port, Color, Side, Number
 
 
 class System:
@@ -63,12 +62,12 @@ class System:
         """
 
 
-class DCMotor:
+class CommonDCMotor:
     """Generic class to control simple motors without rotation sensors, such
     as train motors."""
 
     def __init__(self, port: Port, positive_direction: Direction = Direction.CLOCKWISE):
-        """DCMotor(port, positive_direction=Direction.CLOCKWISE)
+        """__init__(port, positive_direction=Direction.CLOCKWISE)
 
         Arguments:
             port (Port): Port to which the motor is connected.
@@ -290,7 +289,7 @@ class Control:
         """
 
 
-class Motor(DCMotor):
+class CommonMotor(CommonDCMotor):
     """Generic class to control motors with built-in rotation sensors."""
 
     control = Control()
@@ -306,7 +305,7 @@ class Motor(DCMotor):
         gears: Optional[Union[Collection[int], Collection[Collection[int]]]] = None,
         reset_angle: bool = True,
     ):
-        """Motor(port, positive_direction=Direction.CLOCKWISE, gears=None, reset_angle=True)
+        """__init__(port, positive_direction=Direction.CLOCKWISE, gears=None, reset_angle=True)
 
         Arguments:
             port (Port): Port to which the motor is connected.
diff --git a/src/pybricks/ev3devices.py b/src/pybricks/ev3devices.py
index 323ce50..4559402 100644
--- a/src/pybricks/ev3devices.py
+++ b/src/pybricks/ev3devices.py
@@ -3,14 +3,14 @@
 
 """LEGO® MINDSTORMS® EV3 motors and sensors."""
 
-from .parameters import Direction, Port, Color, Button
-from ._common import Motor as _Motor
-
 from typing import Optional, Tuple, List
 
+from ._common import CommonMotor
+from .parameters import Direction, Port, Color, Button
 
-class Motor(_Motor):
-    pass
+
+class Motor(CommonMotor):
+    """LEGO® MINDSTORMS® EV3 Motor."""
 
 
 class TouchSensor:
diff --git a/src/pybricks/iodevices.py b/src/pybricks/iodevices.py
index b94591d..cb8a093 100644
--- a/src/pybricks/iodevices.py
+++ b/src/pybricks/iodevices.py
@@ -5,6 +5,7 @@
 
 from typing import Dict, Tuple, Optional, overload
 
+from ._common import CommonDCMotor
 from .parameters import Port
 
 
@@ -74,6 +75,10 @@ class LUMPDevice:
         """
 
 
+class DCMotor(CommonDCMotor):
+    """DC Motor for LEGO® MINDSTORMS EV3."""
+
+
 class Ev3devSensor:
     """Read values of an ev3dev-compatible sensor."""
 
diff --git a/src/pybricks/media/ev3dev.py b/src/pybricks/media/ev3dev.py
index 5a5f9d1..70f33fc 100644
--- a/src/pybricks/media/ev3dev.py
+++ b/src/pybricks/media/ev3dev.py
@@ -5,10 +5,10 @@
 
 from __future__ import annotations
 
-from ..parameters import Color
-
 from typing import Union, Literal, overload, Optional, Any
 
+from ..parameters import Color
+
 
 class Image:
     """Object representing a graphics image. This can either be an in-memory
diff --git a/src/pybricks/nxtdevices.py b/src/pybricks/nxtdevices.py
index 835b8fc..a69d13a 100644
--- a/src/pybricks/nxtdevices.py
+++ b/src/pybricks/nxtdevices.py
@@ -6,8 +6,8 @@
 
 from .parameters import Port
 
-from .iodevices import AnalogSensor
 from ._common import ColorLight, CommonColorSensor
+from .iodevices import AnalogSensor
 
 
 from typing import Callable, Optional, Tuple
diff --git a/src/pybricks/parameters.py b/src/pybricks/parameters.py
index 6972d0d..5067474 100644
--- a/src/pybricks/parameters.py
+++ b/src/pybricks/parameters.py
@@ -5,15 +5,16 @@
 
 from __future__ import annotations
 
+from enum import Enum
 from typing import Union
-from enum import Enum as _Enum
+
 
 from .geometry import Matrix
 
 Number = Union[int, float]
 
 
-class _PybricksEnumMeta(type(_Enum)):
+class _PybricksEnumMeta(type(Enum)):
     def __dir__(cls):
         yield "__class__"
         yield "__name__"
@@ -21,7 +22,7 @@ class _PybricksEnumMeta(type(_Enum)):
             yield member.name
 
 
-class _PybricksEnum(_Enum, metaclass=_PybricksEnumMeta):
+class _PybricksEnum(Enum, metaclass=_PybricksEnumMeta):
     def __dir__(self):
         yield "__class__"
         for member in type(self):
diff --git a/src/pybricks/pupdevices.py b/src/pybricks/pupdevices.py
index 1486f03..299ef01 100644
--- a/src/pybricks/pupdevices.py
+++ b/src/pybricks/pupdevices.py
@@ -6,24 +6,23 @@
 from typing import Collection, Optional, Union, overload, Tuple
 
 from ._common import (
-    Keypad as _Keypad,
-    DCMotor as _DCMotor,
-    ColorLight as _ColorLight,
-    Motor as _Motor,
-    LightArray as _LightArray,
-    CommonColorSensor,
     AmbientColorSensor,
+    ColorLight,
+    CommonColorSensor,
+    CommonDCMotor,
+    CommonMotor,
+    Keypad,
+    LightArray,
 )
-
-from .parameters import Button as _Button, Color, Direction, Port
+from .parameters import Button, Color, Direction, Port
 
 
-class DCMotor(_DCMotor):
-    pass
+class DCMotor(CommonDCMotor):
+    """LEGO® Powered Up motor without rotation sensors."""
 
 
-class Motor(_Motor):
-    """Generic class to control motors with built-in rotation sensors."""
+class Motor(CommonMotor):
+    """LEGO® Powered Up motor with rotation sensors."""
 
     def reset_angle(self, angle: Optional[int]) -> None:
         """reset_angle(angle=None)
@@ -41,16 +40,16 @@ class Motor(_Motor):
 class Remote:
     """LEGO® Powered Up Bluetooth Remote Control."""
 
-    light = _ColorLight()
-    buttons = _Keypad(
+    light = ColorLight()
+    buttons = Keypad(
         (
-            _Button.LEFT_MINUS,
-            _Button.RIGHT_MINUS,
-            _Button.LEFT,
-            _Button.CENTER,
-            _Button.RIGHT,
-            _Button.LEFT_PLUS,
-            _Button.RIGHT_PLUS,
+            Button.LEFT_MINUS,
+            Button.RIGHT_MINUS,
+            Button.LEFT,
+            Button.CENTER,
+            Button.RIGHT,
+            Button.LEFT_PLUS,
+            Button.RIGHT_PLUS,
         )
     )
     addresss: Union[str, None]
@@ -113,7 +112,7 @@ class TiltSensor:
 class ColorDistanceSensor(CommonColorSensor):
     """LEGO® Powered Up Color and Distance Sensor."""
 
-    light = _ColorLight()
+    light = ColorLight()
 
     def distance(self) -> int:
         """distance() -> int: %
@@ -156,13 +155,13 @@ class PFMotor(DCMotor):
 class ColorSensor(AmbientColorSensor):
     """LEGO® SPIKE Color Sensor."""
 
-    lights = _LightArray(3)
+    lights = LightArray(3)
 
 
 class UltrasonicSensor:
     """LEGO® SPIKE Color Sensor."""
 
-    lights = _LightArray(3)
+    lights = LightArray(3)
 
     def __init__(self, port: Port):
         """UltrasonicSensor(port)
diff --git a/src/pybricks/robotics.py b/src/pybricks/robotics.py
index c137824..b5accc2 100644
--- a/src/pybricks/robotics.py
+++ b/src/pybricks/robotics.py
@@ -3,12 +3,11 @@
 
 """Robotics module for the Pybricks API."""
 
-from ._common import Control, Motor
-
-from .parameters import Stop as _Stop, Number
-
 from typing import Tuple, Optional, overload
 
+from ._common import Control, CommonMotor as Motor
+from .parameters import Stop, Number
+
 
 class DriveBase:
     """A robotic vehicle with two powered wheels and an optional support
@@ -143,7 +142,7 @@ class DriveBase:
                 deceleration of the robot.
         """
 
-    def straight(self, distance, then=_Stop.HOLD, wait=True) -> None:
+    def straight(self, distance, then=Stop.HOLD, wait=True) -> None:
         """straight(distance, then=Stop.HOLD, wait=True)
 
         Drives straight for a given distance and then stops.
@@ -155,7 +154,7 @@ class DriveBase:
                          with the rest of the program.
         """
 
-    def turn(self, angle, then=_Stop.HOLD, wait=True) -> None:
+    def turn(self, angle, then=Stop.HOLD, wait=True) -> None:
         """turn(angle, then=Stop.HOLD, wait=True)
 
         Turns in place by a given angle and then stops.
@@ -167,7 +166,7 @@ class DriveBase:
                          with the rest of the program.
         """
 
-    def curve(self, radius, angle, then=_Stop.HOLD, wait=True) -> None:
+    def curve(self, radius, angle, then=Stop.HOLD, wait=True) -> None:
         """curve(radius, angle, then=Stop.HOLD, wait=True)
 
         Drives an arc along a circle of a given radius, by a given angle.