@pybricks/ide-docs v1.3.2

See https://github.com/pybricks/support/issues/253

* Update light_animate.py

corrected syntax

* Update light_animate.py

corrected syntax

* Update light_animate.py

corrected syntax

* Update light_animate.py

corrected syntax

doc/api/geometry.rst

@@ -1,49 +0,0 @@
-:mod:`geometry <pybricks.geometry>` -- Geometry and algebra
-============================================================
-
-.. module:: pybricks.geometry
-
-.. autoclass:: pybricks.geometry.Matrix
-    :no-members:
-
-    .. autoattribute:: pybricks.geometry::Matrix.T
-
-    .. autoattribute:: pybricks.geometry::Matrix.shape
-
-.. autofunction:: pybricks.geometry.vector
-
-.. autoclass:: pybricks.geometry.Axis
-    :no-members:
-
-.. _robotframe:
-
-Reference frames
------------------------
-
-The Pybricks module and this documentation use the following conventions:
-
-- X: Positive means forward. Negative means backward.
-- Y: Positive means to the left. Negative means to the right.
-- Z: Positive means upward. Negative means downward.
-
-To make sure that all hub measurements (such as acceleration) have the correct
-value and sign, you can specify how the hub is mounted in your creation. This
-adjust the measurements so that it is easy to see how your *robot* is moving,
-rather than how the *hub* is moving.
-
-For example, the hub may be mounted upside down in your design. If you
-configure the settings as shown in :numref:`fig_imuexamples`, the hub
-measurements will be adjusted accordingly. This way, a positive acceleration
-value in the X direction means that your *robot* accelerates forward, even
-though the *hub* accelerates backward.
-
-.. _fig_imuexamples:
-
-.. figure:: ../api/images/imuexamples_label.png
-   :width: 100 %
-
-   How to configure the ``top_side`` and ``front_side`` settings for three
-   different robot designs. The same technique can be applied to other hubs
-   and other creations, by noting which way the top and
-   front :class:`Side <.parameters.Side>` of the hub are pointing. The example
-   on the left is the default configuration.

doc/api/hubs/index.rst

@@ -10,46 +10,27 @@
    movehub
    cityhub
    technichub
-   primehub
    ev3brick
 
-.. class:: MoveHub
-    :noindex:
+.. pybricks-classlink:: MoveHub
 
 .. figure:: ../../api/images/movehub.png
     :height: 10 em
     :target: movehub.html
 
-.. class:: CityHub
-    :noindex:
+.. pybricks-classlink:: CityHub
 
 .. figure:: ../../api/images/cityhub.png
     :height: 10 em
     :target: cityhub.html
 
-.. class:: TechnicHub
-    :noindex:
+.. pybricks-classlink:: TechnicHub
 
 .. figure:: ../../api/images/technichub.png
     :height: 10 em
     :target: technichub.html
 
-.. class:: PrimeHub
-    :noindex:
-
-.. figure:: ../../api/images/primehub.png
-    :height: 10 em
-    :target: primehub.html
-
-.. class:: InventorHub
-    :noindex:
-
-.. figure:: ../../api/images/inventorhub.png
-    :height: 10 em
-    :target: primehub.html
-
-.. class:: EV3Brick
-    :noindex:
+.. pybricks-classlink:: EV3Brick
 
 .. figure:: ../../api/images/ev3brick.png
     :height: 10 em

doc/api/hubs/movehub.rst

@@ -39,3 +39,4 @@ Making the light blink
 
 .. literalinclude::
     ../../../examples/pup/hub_movehub/light_blink.py
+

doc/api/hubs/primehub.rst

@@ -1,210 +0,0 @@
-Prime Hub / Inventor Hub
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. figure:: ../../api/images/primeinventorhub.png
-    :height: 15 em
-
-.. class:: InventorHub
-
-    This class is the same as the ``PrimeHub`` class, shown below. Both classes
-    work on both hubs.
-
-    These hubs are completely identical. They use the same Pybricks firmware.
-
-.. autoclass:: pybricks.hubs.PrimeHub
-    :no-members:
-
-    .. rubric:: Using the hub status light
-
-    .. figure:: ../../api/images/primehub_light_label.png
-        :width: 22 em
-
-    .. automethod:: pybricks.hubs::PrimeHub.light.on
-
-    .. automethod:: pybricks.hubs::PrimeHub.light.off
-
-    .. automethod:: pybricks.hubs::PrimeHub.light.blink
-
-    .. automethod:: pybricks.hubs::PrimeHub.light.animate
-
-    .. rubric:: Using the light matrix display
-
-    .. figure:: ../../api/images/primehub_display_label.png
-        :width: 22 em
-
-    .. automethod:: pybricks.hubs::PrimeHub.display.orientation
-
-    .. automethod:: pybricks.hubs::PrimeHub.display.off
-
-    .. automethod:: pybricks.hubs::PrimeHub.display.pixel
-
-    .. automethod:: pybricks.hubs::PrimeHub.display.image
-
-    .. automethod:: pybricks.hubs::PrimeHub.display.animate
-
-    .. automethod:: pybricks.hubs::PrimeHub.display.number
-
-    .. automethod:: pybricks.hubs::PrimeHub.display.char
-
-    .. automethod:: pybricks.hubs::PrimeHub.display.text
-
-    .. rubric:: Using the buttons
-
-    .. figure:: ../../api/images/primehub_buttons_label.png
-        :width: 22 em
-
-    .. automethod:: pybricks.hubs::PrimeHub.buttons.pressed
-
-    .. rubric:: Using the IMU
-
-    .. automethod:: pybricks.hubs::PrimeHub.imu.up
-
-    .. automethod:: pybricks.hubs::PrimeHub.imu.tilt
-
-    .. automethod:: pybricks.hubs::PrimeHub.imu.acceleration
-
-    .. automethod:: pybricks.hubs::PrimeHub.imu.angular_velocity
-
-    .. automethod:: pybricks.hubs::PrimeHub.imu.heading
-
-    .. automethod:: pybricks.hubs::PrimeHub.imu.reset_heading
-
-    .. rubric:: Using the speaker
-
-    .. automethod:: pybricks.hubs::PrimeHub.speaker.beep
-
-    .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes
-
-    .. rubric:: Using the battery
-
-    .. automethod:: pybricks.hubs::PrimeHub.battery.voltage
-
-    .. automethod:: pybricks.hubs::PrimeHub.battery.current
-
-.. note:: The examples below use the ``PrimeHub`` class. The examples work fine
-          on both hubs because they are the identical. If you prefer, you can
-          change this to ``InventorHub``.
-
-Status light examples
----------------------
-
-Turning the light on and off
-****************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/light_off.py
-
-Changing brightness and using custom colors
-*******************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/light_hsv.py
-
-Making the light blink
-**********************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/light_blink.py
-
-Creating light animations
-*************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/light_animate.py
-
-Matrix display examples
------------------------
-
-Displaying images
-*****************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_image.py
-
-Displaying numbers
-******************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_number.py
-
-Displaying text
-***************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_text.py
-
-Displaying individual pixels
-****************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_pixel.py
-
-Changing the display orientation
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_orientation.py
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_orientation_imu.py
-
-Making your own images
-**********************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_matrix.py
-
-Combining images to make expressions
-************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_expression.py
-
-Displaying animations
-*********************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_animate.py
-
-Button examples
----------------
-
-Detecting button presses
-************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/button_main.py
-
-IMU examples
----------------
-
-Testing which way is up
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_up.py
-
-
-Reading the tilt value
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_tilt.py
-
-Using a custom hub orientation
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_tilt_blast.py
-
-Reading acceleration and angular velocity vectors
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_read_vector.py
-
-Reading acceleration and angular velocity on one axis
-*****************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_read_scalar.py

doc/api/hubs/technichub.rst

@@ -4,8 +4,7 @@ Technic Hub
 .. figure:: ../../api/images/technichub.png
     :height: 15 em
 
-.. autoclass:: pybricks.hubs.TechnicHub
-    :no-members:
+.. class:: TechnicHub
 
     .. rubric:: Using the hub status light
 
@@ -17,20 +16,6 @@ Technic Hub
 
     .. automethod:: pybricks.hubs::TechnicHub.light.animate
 
-    .. rubric:: Using the IMU
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.up
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.tilt
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.acceleration
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.angular_velocity
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.heading
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.reset_heading
-
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::TechnicHub.battery.voltage
@@ -63,37 +48,3 @@ Creating light animations
 
 .. literalinclude::
     ../../../examples/pup/hub_technichub/light_animate.py
-
-IMU examples
----------------
-
-Testing which way is up
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_up.py
-
-
-Reading the tilt value
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_tilt.py
-
-Using a custom hub orientation
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_tilt_blast.py
-
-Reading acceleration and angular velocity vectors
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_read_vector.py
-
-Reading acceleration and angular velocity on one axis
-*****************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_read_scalar.py

doc/api/index.rst

@@ -1,4 +1,4 @@
-Welcome to Pybricks!
+Pybricks API Documentation
 ==================================================================
 
 This documentation has everything you need to install Pybricks and
@@ -18,13 +18,13 @@ the platforms below.
      - **SPIKE / MINDSTORMS Inventor**
 
    * - .. image:: ../api/images/ev3brick.png
-         :target: start_ev3/index.html
+         :target: https://pybricks.com/install/mindstorms-ev3/installation
 
      - .. figure:: ../api/images/powereduphubs.png
-         :target: start_pup.html
+         :target: https://pybricks.com/install/technic-boost-city/
 
      - .. figure:: ../api/images/primeinventorhub.png
-          :target: start_inventor.html
+          :target: https://pybricks.com/install/spike-mindstorms/
 
 
 **Step 2: Start coding!**
@@ -53,19 +53,7 @@ findings on our `support page`_ so we can make Pybricks even better.
     :hidden:
 
     Home Page <https://pybricks.com>
-    Downloads <https://pybricks.com/downloads/>
-    Example Projects <https://github.com/pybricks/pybricks-projects>
-    Support <https://github.com/pybricks/support/issues/>
-    About Pybricks <https://pybricks.com/about/>
-
-.. toctree::
-   :maxdepth: 1
-   :caption: Getting started
-   :hidden:
-
-   start_ev3/index
-   start_pup
-   start_inventor
+    Installation <https://pybricks.com/install/>
 
 .. toctree::
    :maxdepth: 1
@@ -77,12 +65,11 @@ findings on our `support page`_ so we can make Pybricks even better.
    ev3devices
    nxtdevices
    iodevices/index
-   parameters
+   parameters/index
    tools/index
    robotics
    media
    messaging
-   geometry
 
 .. toctree::
    :maxdepth: 1

doc/api/iodevices/index.rst

@@ -16,8 +16,7 @@
    dcmotor
    ev3devsensor
 
-.. class:: PUPDevice
-    :noindex:
+.. pybricks-classlink:: PUPDevice
 
 .. figure:: ../../api/images/sensor_pup.png
    :width: 70 %
@@ -25,43 +24,37 @@
 
    This class is only available on Powered Up hubs.
 
-.. class:: I2CDevice
-    :noindex:
+.. pybricks-classlink:: I2CDevice
 
 .. figure:: ../../api/images/sensor_rj12_bluegreen.png
    :width: 25 %
    :target: i2cdevice.html
 
-.. class:: UARTDevice
-    :noindex:
+.. pybricks-classlink:: UARTDevice
 
 .. figure:: ../../api/images/sensor_rj12_gray.png
    :width: 25 %
    :target: uartdevice.html
 
-.. class:: AnalogSensor
-    :noindex:
+.. pybricks-classlink:: AnalogSensor
 
 .. figure:: ../../api/images/sensor_rj12_brown.png
    :width: 25 %
    :target: analogsensor.html
 
-.. class:: LUMPDevice
-    :noindex:
+.. pybricks-classlink:: LUMPDevice
 
 .. figure:: ../../api/images/sensor_rj12_green.png
    :width: 25 %
    :target: lumpdevice.html
 
-.. class:: DCMotor
-    :noindex:
+.. pybricks-classlink:: DCMotor
 
 .. figure:: ../../api/images/rcxmotor.png
    :width: 40 %
    :target: dcmotor.html
 
-.. class:: Ev3devSensor
-    :noindex:
+.. pybricks-classlink:: Ev3devSensor
 
 .. figure:: ../../api/images/sensor_ev3dev.png
    :width: 70 %

doc/api/messaging.rst

@@ -41,7 +41,7 @@ The connection will be made when you run your programs, as described below.
    Pairing one EV3 Brick to another EV3 Brick.
 
 When you scan for Bluetooth devices, you'll see a list of device names. By
-default, all EV3 Bricks are named *ev3dev*. Click :ref:`here <hostname>` to
+default, all EV3 Bricks are named *ev3dev*. Click `here`_ to
 learn how to change that name. This makes it easy to tell them apart.
 
 Repeat the steps in :numref:`fig_bluetooth_pair` if you want to pair more than
@@ -134,3 +134,5 @@ is shown in :numref:`fig_messaging_network`.
    :align: center
 
    An example network with one server and two clients.
+
+.. _here: https://pybricks.com/install/mindstorms-ev3/beyond-micropython

doc/api/motors.rst

@@ -126,6 +126,8 @@ the settings.
 
     .. automethod:: pybricks._common.Control.stalled
 
+    .. automethod:: pybricks._common.Control.load
+
     .. rubric:: Settings
 
     .. automethod:: pybricks._common.Control.limits

doc/api/parameters.rst

@@ -1,187 +0,0 @@
-:mod:`parameters <pybricks.parameters>` -- Parameters and Constants
-===================================================================
-
-.. automodule:: pybricks.parameters
-    :no-members:
-
-.. autoclass:: pybricks.parameters.Port
-    :no-members:
-
-    Input/Output ports:
-
-        .. data:: A
-        .. data:: B
-        .. data:: C
-        .. data:: D
-        .. data:: E
-        .. data:: F
-
-    EV3 Sensor ports:
-
-        .. data:: S1
-        .. data:: S2
-        .. data:: S3
-        .. data:: S4
-
-.. autoclass:: pybricks.parameters.Direction
-    :no-members:
-
-    In general, clockwise is defined by **looking at the motor shaft, just
-    like looking at a clock**. Some motors have two shafts. If in doubt,
-    refer to the diagram in the ``Motor`` class documentation.
-
-.. autoclass:: pybricks.parameters.Stop
-    :no-members:
-
-    The following table show how each stop type adds an extra level of
-    resistance to motion. In these examples, ``m`` is a
-    :class:`Motor <pybricks.pupdevices.Motor>` and
-    and ``d`` is a :class:`DriveBase <pybricks.robotics.DriveBase>`. The
-    examples also show how running at zero speed compares to these stop types.
-
-    +--------+------------+--------+-------------+---------------+-----------------------------------------+
-    | | Type | | Friction | | Back | | Speed     |  | Angle kept | | Examples                              |
-    |        |            | | EMF  | | kept at 0 |  | at target  |                                         |
-    +========+============+========+=============+===============+=========================================+
-    | Coast  | +          |        |             |               | | ``m.stop()``                          |
-    |        |            |        |             |               | | ``m.run_target(500, 90, Stop.COAST)`` |
-    +--------+------------+--------+-------------+---------------+-----------------------------------------+
-    | Brake  | +          | +      |             |               | | ``m.brake()``                         |
-    |        |            |        |             |               | | ``m.run_target(500, 90, Stop.BRAKE)`` |
-    +--------+------------+--------+-------------+---------------+-----------------------------------------+
-    |        | +          | +      | +           |               | | ``m.run(0)``                          |
-    |        |            |        |             |               | | ``d.drive(0, 0)``                     |
-    +--------+------------+--------+-------------+---------------+-----------------------------------------+
-    | Hold   | +          | +      | +           | +             | | ``m.hold()``                          |
-    |        |            |        |             |               | | ``m.run_target(500, 90, Stop.HOLD)``  |
-    |        |            |        |             |               | | ``d.straight(0)``                     |
-    |        |            |        |             |               | | ``d.straight(100)``                   |
-    +--------+------------+--------+-------------+---------------+-----------------------------------------+
-
-.. autoclass:: pybricks.parameters.Color
-    :no-members:
-
-    .. rubric:: Saturated colors
-
-    .. autoattribute:: RED
-
-        .. pybricks-color:: RED
-
-    .. autoattribute:: ORANGE
-
-        .. pybricks-color:: ORANGE
-
-    .. autoattribute:: YELLOW
-
-        .. pybricks-color:: YELLOW
-
-    .. autoattribute:: GREEN
-
-        .. pybricks-color:: GREEN
-
-    .. autoattribute:: CYAN
-
-        .. pybricks-color:: CYAN
-
-    .. autoattribute:: BLUE
-
-        .. pybricks-color:: BLUE
-
-    .. autoattribute:: VIOLET
-
-        .. pybricks-color:: VIOLET
-
-    .. autoattribute:: MAGENTA
-
-        .. pybricks-color:: MAGENTA
-
-    .. rubric:: Unsaturated colors
-
-    .. autoattribute:: BLACK
-
-        .. pybricks-color:: BLACK
-
-    .. autoattribute:: GRAY
-
-        .. pybricks-color:: GRAY
-
-    .. autoattribute:: WHITE
-
-        .. pybricks-color:: WHITE
-
-.. autoclass:: pybricks.parameters.Button
-    :no-members:
-
-    .. autoattribute:: pybricks.parameters.Button.LEFT_DOWN
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.LEFT_MINUS
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.DOWN
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.RIGHT_DOWN
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.RIGHT_MINUS
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.LEFT
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.CENTER
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.RIGHT
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.LEFT_UP
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.LEFT_PLUS
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.UP
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.BEACON
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.RIGHT_UP
-        :annotation:
-
-    .. autoattribute:: pybricks.parameters.Button.RIGHT_PLUS
-        :annotation:
-
-.. autoclass:: pybricks.parameters.Side
-    :no-members:
-
-    Screens or light matrices have only four sides. For those,
-    ``TOP`` is treated the same as ``FRONT``, and ``BOTTOM`` is treated the
-    same as ``BACK``. The diagrams below define the sides for relevant devices.
-
-    **Prime Hub**
-
-    .. figure:: ../api/images/orientation_primehub_label.png
-        :height: 15 em
-
-    **Inventor Hub**
-
-    .. figure:: ../api/images/orientation_inventorhub_label.png
-        :height: 15 em
-
-    **Move Hub**
-
-    .. figure:: ../api/images/orientation_movehub_label.png
-        :height: 15 em
-
-    **Technic Hub**
-
-    .. figure:: ../api/images/orientation_technichub_label.png
-        :height: 15 em
-
-    **Tilt Sensor**
-
-    .. figure:: ../api/images/orientation_tiltsensor_label.png
-        :height: 15 em

doc/api/parameters/button.rst

@@ -0,0 +1,48 @@
+Button
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. class:: Button
+
+    Buttons on a hub or remote.
+
+    .. autoattribute:: pybricks.parameters.Button.LEFT_DOWN
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.LEFT_MINUS
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.DOWN
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.RIGHT_DOWN
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.RIGHT_MINUS
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.LEFT
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.CENTER
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.RIGHT
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.LEFT_UP
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.LEFT_PLUS
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.UP
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.BEACON
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.RIGHT_UP
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.RIGHT_PLUS
+        :annotation:

doc/api/parameters/color.rst

@@ -0,0 +1,84 @@
+Color
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.. autoclass:: pybricks.parameters.Color
+    :no-members:
+
+    .. rubric:: Saturated colors
+
+    These colors have maximum saturation and brightness value.
+    They differ only in hue.
+
+    .. autoattribute:: RED
+
+        .. pybricks-color:: RED
+
+    .. autoattribute:: ORANGE
+
+        .. pybricks-color:: ORANGE
+
+    .. autoattribute:: YELLOW
+
+        .. pybricks-color:: YELLOW
+
+    .. autoattribute:: GREEN
+
+        .. pybricks-color:: GREEN
+
+    .. autoattribute:: CYAN
+
+        .. pybricks-color:: CYAN
+
+    .. autoattribute:: BLUE
+
+        .. pybricks-color:: BLUE
+
+    .. autoattribute:: VIOLET
+
+        .. pybricks-color:: VIOLET
+
+    .. autoattribute:: MAGENTA
+
+        .. pybricks-color:: MAGENTA
+
+    .. rubric:: Unsaturated colors
+
+    These colors have zero hue and saturation. They differ only in brightness
+    value.
+
+    When detecting these colors using sensors, their values depend a lot
+    on the distance to the object. If the distance between the sensor and the
+    object is not constant in your robot, it is better to use only one of these
+    colors in your programs.
+
+    .. autoattribute:: WHITE
+
+        .. pybricks-color:: WHITE
+
+    .. autoattribute:: GRAY
+
+        .. pybricks-color:: GRAY
+
+    .. autoattribute:: BLACK
+
+        This represents dark objects that still reflect
+        a very small amount of light.
+
+        .. pybricks-color:: BLACK
+
+    .. autoattribute:: NONE
+
+        This is total darkness, with no reflection or light at all.
+
+        .. pybricks-color:: NONE
+
+.. rubric:: Making your own colors
+
+This example shows the basics of color properties, and how to define new colors.
+
+.. literalinclude::
+    ../../../examples/pup/parameters/color_basics.py
+
+This example shows more advanced use cases of the ``Color`` class.
+
+.. literalinclude::
+    ../../../examples/pup/parameters/color_advanced.py

doc/api/parameters/direction.rst

@@ -0,0 +1,24 @@
+Direction
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. class:: Direction
+
+    Rotational direction for positive speed or angle values.
+
+    .. autoattribute:: pybricks.parameters.Direction.CLOCKWISE
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Direction.COUNTERCLOCKWISE
+        :annotation:
+
+    +--------------------------------+-------------------+-----------------+
+    | ``positive_direction =``       | Positive speed:   | Negative speed: |
+    +================================+===================+=================+
+    | ``Direction.CLOCKWISE``        | clockwise         | counterclockwise|
+    +--------------------------------+-------------------+-----------------+
+    | ``Direction.COUNTERCLOCKWISE`` | counterclockwise  | clockwise       |
+    +--------------------------------+-------------------+-----------------+
+
+    In general, clockwise is defined by **looking at the motor shaft, just
+    like looking at a clock**. Some motors have two shafts. If in doubt,
+    refer to the diagram in the ``Motor`` class documentation.

doc/api/parameters/index.rst

@@ -0,0 +1,26 @@
+:mod:`parameters <pybricks.parameters>` -- Parameters and Constants
+===================================================================
+
+.. automodule:: pybricks.parameters
+    :no-members:
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   button
+   color
+   direction
+   port
+   stop
+
+.. pybricks-classlink:: Button
+
+.. pybricks-classlink:: Color
+
+.. pybricks-classlink:: Direction
+
+.. pybricks-classlink:: Port
+
+.. pybricks-classlink:: Stop
+

doc/api/parameters/port.rst

@@ -0,0 +1,38 @@
+Port
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. class:: Port
+
+    Input and output ports:
+
+    .. autoattribute:: pybricks.parameters.Port.A
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.B
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.C
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.D
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.E
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.F
+        :annotation:
+
+    EV3 Sensor ports:
+
+    .. autoattribute:: pybricks.parameters.Port.S1
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.S2
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.S3
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.S4
+        :annotation:

doc/api/parameters/stop.rst

@@ -0,0 +1,40 @@
+Stop
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. class:: Stop
+
+    Action after the motor stops.
+
+    .. autoattribute:: pybricks.parameters.Stop.COAST
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Stop.BRAKE
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Stop.HOLD
+        :annotation:
+
+    The following table shows how each stop type adds an extra level of
+    resistance to motion. In these examples, ``m`` is a
+    :class:`Motor <pybricks.pupdevices.Motor>` and
+    and ``d`` is a :class:`DriveBase <pybricks.robotics.DriveBase>`. The
+    examples also show how running at zero speed compares to these stop types.
+
+    +--------+------------+--------+-------------+---------------+-----------------------------------------+
+    | | Type | | Friction | | Back | | Speed     |  | Angle kept | | Examples                              |
+    |        |            | | EMF  | | kept at 0 |  | at target  |                                         |
+    +========+============+========+=============+===============+=========================================+
+    | Coast  | +          |        |             |               | | ``m.stop()``                          |
+    |        |            |        |             |               | | ``m.run_target(500, 90, Stop.COAST)`` |
+    +--------+------------+--------+-------------+---------------+-----------------------------------------+
+    | Brake  | +          | +      |             |               | | ``m.brake()``                         |
+    |        |            |        |             |               | | ``m.run_target(500, 90, Stop.BRAKE)`` |
+    +--------+------------+--------+-------------+---------------+-----------------------------------------+
+    |        | +          | +      | +           |               | | ``m.run(0)``                          |
+    |        |            |        |             |               | | ``d.drive(0, 0)``                     |
+    +--------+------------+--------+-------------+---------------+-----------------------------------------+
+    | Hold   | +          | +      | +           | +             | | ``m.hold()``                          |
+    |        |            |        |             |               | | ``m.run_target(500, 90, Stop.HOLD)``  |
+    |        |            |        |             |               | | ``d.straight(0)``                     |
+    |        |            |        |             |               | | ``d.straight(100)``                   |
+    +--------+------------+--------+-------------+---------------+-----------------------------------------+

doc/api/pupdevices/colordistancesensor.rst

@@ -67,7 +67,7 @@ Changing the detectable colors
 ******************************
 
 By default, the sensor is configured to detect red, yellow, green,
-blue, white, or ``None``, which suits many applications.
+blue, white, or no color, which suits many applications.
 
 For better results in your application, you can measure your desired
 colors in advance, and tell the sensor to look only for those colors.

doc/api/pupdevices/colorsensor.rst

@@ -58,7 +58,7 @@ Changing the detectable colors
 ******************************
 
 By default, the sensor is configured to detect red, yellow, green,
-blue, white, or ``None``, which suits many applications.
+blue, white, or no color, which suits many applications.
 
 For better results in your application, you can measure your desired
 colors in advance, and tell the sensor to look only for those colors.

doc/api/pupdevices/index.rst

@@ -18,81 +18,63 @@
    ultrasonicsensor
    forcesensor
    light
-   remote
 
-.. class:: DCMotor
-    :noindex:
+.. pybricks-classlink:: DCMotor
 
 .. figure:: ../../api/images/pupdcmotors_label.png
     :width: 70 %
     :target: dcmotor.html
 
-.. class:: Motor
-    :noindex:
+.. pybricks-classlink:: Motor
 
 .. figure:: ../../api/images/pupmotors_label.png
     :width: 100 %
     :target: motor.html
 
-.. class:: TiltSensor
-    :noindex:
+.. pybricks-classlink:: TiltSensor
 
 .. figure:: ../../api/images/sensor_tilt.png
    :width: 35 %
    :target: tiltsensor.html
 
-.. class:: InfraredSensor
-    :noindex:
+.. pybricks-classlink:: InfraredSensor
 
 .. figure:: ../../api/images/sensor_proximity.png
    :width: 35 %
    :target: infraredsensor.html
 
-.. class:: ColorDistanceSensor
-    :noindex:
+.. pybricks-classlink:: ColorDistanceSensor
 
 .. figure:: ../../api/images/sensor_colordistance.png
    :width: 32 %
    :target: colordistancesensor.html
 
-.. class:: PFMotor
-    :noindex:
+.. pybricks-classlink:: PFMotor
 
 .. figure:: ../../api/images/pfmotor.png
    :width: 95 %
    :target: pfmotor.html
 
-.. class:: ColorSensor
-    :noindex:
+.. pybricks-classlink:: ColorSensor
 
 .. figure:: ../../api/images/sensor_color.png
    :width: 32 %
    :target: colorsensor.html
 
-.. class:: UltrasonicSensor
-    :noindex:
+.. pybricks-classlink:: UltrasonicSensor
 
 .. figure:: ../../api/images/sensor_ultrasonic.png
    :width: 37 %
    :target: ultrasonicsensor.html
 
-.. class:: ForceSensor
-    :noindex:
+.. pybricks-classlink:: ForceSensor
 
 .. figure:: ../../api/images/sensor_force.png
    :width: 35 %
    :target: forcesensor.html
 
-.. class:: Light
-    :noindex:
+.. pybricks-classlink:: Light
 
 .. figure:: ../../api/images/light.png
    :width: 90 %
    :target: light.html
-
-.. class:: Remote
-    :noindex:
-
-.. figure:: ../../api/images/pupremote.png
-   :width: 50 %
-   :target: remote.html

doc/api/pupdevices/motor.rst

@@ -6,7 +6,6 @@ Motors with Rotation Sensors
 .. figure:: ../../api/images/pupmotors_label.png
    :width: 100 %
    :alt: pupmotors
-   :align: left
 
    Powered Up motors with rotation sensors. The arrows indicate the default
    positive direction. See the :mod:`hubs <pybricks.hubs>` module for default

doc/api/pupdevices/remote.rst

@@ -1,23 +0,0 @@
-Remote Control
-^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. warning::
-
-    This remote is not yet supported.
-    Upvote `this issue <https://github.com/pybricks/support/issues/186>`_ if
-    you want to see this happen.
-
-.. figure:: ../../api/images/pupremote.png
-   :width: 60 %
-
-.. autoclass:: pybricks.pupdevices.Remote
-  :no-members:
-
-  .. autoattribute:: pybricks.pupdevices::Remote.address
-       :annotation:
-
-  .. automethod:: pybricks.pupdevices::Remote.light.on
-
-  .. automethod:: pybricks.pupdevices::Remote.light.off
-
-  .. automethod:: pybricks.pupdevices::Remote.buttons.pressed

doc/api/signaltypes.rst

@@ -172,7 +172,7 @@ the light is off and 100% when the light is fully on. When you choose 50%, this
 means that the light is perceived as approximately half as bright to the human
 eye.
 
-Force
+Force and torque
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 .. _force:
@@ -194,6 +194,12 @@ following table to convert to and from other units.
 | 1 lbf = | 4448 | 4.448 | 1                           |
 +---------+------+-------+-----------------------------+
 
+.. _torque:
+
+torque: mNm
+------------
+Torque values are expressed in millinewtonmeter (mNm) unless stated otherwise.
+
 Electricity
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

doc/api/start_ev3/index.rst

@@ -1,23 +0,0 @@
-EV3 Quick Start
-########################
-
-.. note::
-
-   This documentation is for EV3 MicroPython with Pybricks **3.0**.
-
-   Click `here`_ to view the documentation EV3 MicroPython **2.0**. This is
-   is the stable version officially supported by `LEGO Education`_.
-
-.. rubric:: Table of contents
-
-.. toctree::
-   :maxdepth: 1
-
-   start_ev3_install
-   start_ev3_brick
-   start_ev3_run
-   start_ev3_linux
-   start_ev3_upgrade
-
-.. _here: https://pybricks.github.io/ev3-micropython/index.html
-.. _LEGO Education: https://education.lego.com/en-us/support/mindstorms-ev3/python-for-ev3

doc/api/start_ev3/start_ev3_brick.rst

@@ -1,81 +0,0 @@
-Using the EV3 Brick
-===================
-
-Make sure the EV3 Brick is turned off. Insert the microSD card you prepared
-into the microSD card slot on the EV3 Brick, as shown in :numref:`fig_sd`.
-
-.. _fig_sd:
-
-.. figure:: ../../api/images/sd_label.png
-   :width: 75 %
-   :alt: sd
-   :align: center
-
-   Inserting the flashed microSD card into the EV3 Brick
-
-
-Turning the EV3 Brick on and off
------------------------------------------------------------
-
-Turn on the EV3 Brick by pressing the dark gray center button.
-
-The boot process may take several minutes. While booting, the EV3 Brick status
-light turns orange and blinks intermittently, and you'll see a lot of text on
-the EV3 screen. The EV3 Brick is ready for use when the status light turns
-green.
-
-To turn the EV3 Brick off, open the shutdown menu with the back button, and
-then select *Power Off* using the center button, as shown
-in :numref:`fig_onoff`.
-
-.. _fig_onoff:
-
-.. figure:: ../../api/images/onoff_label.png
-   :width: 65 %
-   :alt: onoff
-   :align: center
-
-   Turning the EV3 Brick off
-
-Viewing motor and sensor values
------------------------------------------------------------
-
-When you're not running a program, you can view motor and sensor values using
-the device browser, as shown in :numref:`fig_devicebrowser`.
-
-.. _fig_devicebrowser:
-
-.. figure:: ../../api/images/devicebrowser_label.png
-   :width: 100 %
-   :alt: devicebrowser
-   :align: center
-
-   Viewing motor and sensor values
-
-Running a program without a computer
------------------------------------------------------------
-
-You can run previously downloaded programs directly from the EV3 Brick.
-
-To do so, find the program using the *file browser* on the EV3 screen and press
-the center button key to start the program as shown in :numref:`fig_manualrun`.
-
-.. _fig_manualrun:
-
-.. figure:: ../../api/images/manualrun_label.png
-   :width: 100 %
-   :alt: manualrun
-   :align: center
-
-   Starting a program using the buttons on the EV3 Brick
-
-Going back to the original firmware
------------------------------------------------------------
-
-You can go back to the LEGO® firmware and your LEGO programs at any time. To
-do so:
-
-1. Turn the EV3 Brick off as shown above.
-2. Wait for the screen and brick status light to turn off.
-3. Remove the microSD card.
-4. Turn the EV3 on.

doc/api/start_ev3/start_ev3_install.rst

@@ -1,118 +0,0 @@
-Installation
-===================
-
-This page guides you through the steps to collect and install everything you
-need to start programming.
-
-What do you need?
------------------------------------------------------------
-
-To get started, you'll need:
-
-- A Windows 10 or Mac OS computer
-- Internet access and administrator access
-
-    This is required during the installation only. You will not need special
-    access to write and run programs later on.
-
-- A microSD card
-
-    You'll need a card with a minimum capacity of 4GB and a maximum capacity
-    of 32GB. This type of microSD card is also known as microSDHC. We recommend
-    cards with Application Performance Class A1.
-
-- A microSD card slot or card reader in your computer
-
-    If your computer does not have a (micro)SD card slot, you can use an
-    external USB (micro)SD card reader.
-
-- A mini-USB cable, like the one included with your EV3 set
-
-The typical configuration of this equipment is summarized
-in :numref:`fig_overview`.
-
-.. _fig_overview:
-
-.. figure:: ../../api/images/overview_label.png
-   :width: 90 %
-   :alt: overview
-   :align: center
-
-   Setup overview
-
-Preparing your computer
------------------------------------------------------------
-
-You'll write your MicroPython programs using Visual Studio Code. Follow the
-steps below to download, install, and configure this application:
-
-1. Download `Visual Studio Code <https://code.visualstudio.com/Download>`_.
-2. Follow the on-screen instructions to install the application.
-3. Launch Visual Studio Code.
-4. Open the extensions tab.
-5. Install the EV3 MicroPython extension as shown in :numref:`fig_store`.
-
-.. _fig_store:
-
-.. figure:: ../../api/images/store_label.png
-    :alt: store
-    :align: center
-
-    Installing the extension from the Visual Studio Code marketplace
-
-.. _prepsdcard:
-
-Preparing the microSD card
------------------------------------------------------------
-
-To make it possible to run MicroPython programs on your EV3 Brick, you'll now
-learn how to install the required tools on your microSD card.
-
-If the microSD card contains files you want to keep, make sure to create a
-backup of its contents first.
-See :ref:`managing files on the EV3 <managefiles>` to learn how to backup your
-previous MicroPython programs if necessary.
-
-*This process erases everything on your microSD card, including any previous
-MicroPython programs on it.*
-
-
-To install the MicroPython tools on your microSD card:
-
-1. Download the `EV3 MicroPython microSD card image`_ and save it in a
-   convenient location. This file is approximately 360 MB. You do **not** need
-   to unzip the file.
-2. Download and install a microSD card flashing tool
-   such as `Etcher <https://www.balena.io/etcher/>`_.
-3. Insert the microSD card into your computer or card reader.
-4. Launch the flashing tool and follow the steps on your screen to install
-   the file you have just downloaded. If you use Etcher, you can follow the
-   instructions below, as shown in :numref:`fig_etcher`.
-
-    a. Select the EV3 MicroPython microSD card image file you have just
-       downloaded.
-    b. Select your microSD card. Make sure that the device and size correspond
-       to your microSD card.
-    c. Start the flashing process. This may take several minutes. Do not remove
-       the card until the flashing process is complete.
-
-.. _fig_etcher:
-
-.. figure:: ../../api/images/etcher_label.png
-   :width: 85 %
-   :alt: etcher
-   :align: center
-
-   Using Etcher to flash the EV3 MicroPython microSD card image
-
-Updating the microSD card
------------------------------------------------------------
-
-To update the microSD card, download a new image file using the link above and
-flash it to the microSD card as described above. Be sure
-to :ref:`back up any MicroPython programs you want to save <managefiles>`.
-
-You do not need to erase the contents of the microSD card first. This is done
-automatically when you flash the new image file.
-
-.. _EV3 MicroPython microSD card image: https://education.lego.com/en-us/product-resources/mindstorms-ev3/teacher-resources/python-for-ev3

doc/api/start_ev3/start_ev3_linux.rst

@@ -1,101 +0,0 @@
-Accessing advanced EV3 features
-===============================
-
-MicroPython runs on top of `ev3dev`_, which is a specific version of Linux.
-Linux is an *operating system*. (Other popular operating
-systems are Microsoft Windows and Apple macOS.) This means that your EV3 is
-almost like a real computer, just much smaller.
-
-The Linux command line
------------------------------------------
-
-Although your EV3 Brick is quite like a real computer, you do not interact with
-it using a big screen and a mouse. Instead, you can access files and programs
-on it using the *command line*. It is also called the *terminal*.
-
-Follow the steps in :numref:`fig_terminal` to access the command line. Now
-you can enter commands by typing them in and pressing enter.
-
-.. _fig_terminal:
-
-.. figure:: ../../api/images/terminal_label.png
-   :width: 100 %
-   :alt: files
-   :align: center
-
-   Opening the Linux command line and running the ``ls`` command.
-
-**Running basic commands**
-
-For example, if you type the following command and press enter::
-
-   ls
-
-then you will see the contents of the current folder. :numref:`fig_terminal`
-shows the result: it listed the project folder of the ``getting_started``
-project that we just ran.
-
-If you type the following command and press enter::
-
-   exit
-
-then the command line will be closed. Alternatively, click the garbage icon
-shown in :numref:`fig_terminal`.
-
-You can copy text from the command line by selecting it and
-then pressing ``ctrl`` ``shift`` ``c``.
-You can paste text into the command line
-using ``ctrl`` ``shift`` ``v``.
-
-**Running commands as an administrator**
-
-Some commands require a password to run. This is similar to administrative
-tasks on your computer or tablet, such as installing a new app. These commands
-work like any other command, but you add ``sudo`` in front of
-them.
-
-As an exercise, you can run the following command to turn the EV3 Brick off::
-
-   sudo poweroff
-
-You will be prompted for a password. Type ``maker`` and then press ``Enter``.
-
-.. warning::
-
-   Only run commands with ``sudo`` if you know what you are doing.
-
-**Learning more about the command line**
-
-To learn more about the command line and many of the available commands, we
-recommend reading the beginner-friendly free ebook
-called `The Linux Command Line`_.
-
-To learn more about ev3dev-specific tips and tricks, visit the `ev3dev`_
-website.
-
-.. _hostname:
-
-Changing the EV3 Brick name
------------------------------------------------------------
-
-When you search for your EV3 using Visual Studio Code, you see all EV3 Bricks
-listed by their name. By default, all EV3 Bricks are named *ev3dev*. Follow
-these steps to change that name:
-
-   1. Open Visual Studio Code and connect to your EV3 as usual.
-   2. Read the steps above about running commands as an administrator.
-   3. Think of a good name. In this example, we'll
-      call it ``autonomous-vehicle2``
-   4. Enter the following command and press enter::
-
-         sudo hostnamectl set-hostname autonomous-vehicle2
-
-   5. Reboot the EV3 Brick for the change to take effect.
-   6. You may need to reboot your computer as well.
-
-EV3 Brick names should only contain lowercase letters ``a`` through ``z``,
-the digits ``0`` through ``9``, and the hyphen ``-``. It must start with a
-letter or digit. It cannot include spaces or other symbols.
-
-.. _ev3dev: https://www.ev3dev.org/
-.. _The Linux Command Line: http://linuxcommand.org/tlcl.php

doc/api/start_ev3/start_ev3_run.rst

@@ -1,166 +0,0 @@
-Creating and running programs
-=============================
-
-Now that you've set up your computer and EV3 Brick, you're ready to start
-writing programs.
-
-To make it easier to create and manage your programs, let's first have a quick
-look at how MicroPython projects and programs for your EV3 robots are
-organized.
-
-Programs are organized into *project folders*, as shown in
-:numref:`fig_projectstructure`. A project folder is a directory on your
-computer that contains the main program (**main.py**) and other optional
-scripts or files. This project folder and all of its contents will be copied
-to the EV3 Brick, where the main program will be run.
-
-This page shows you how to create such a project and how to transfer it to the
-EV3 Brick.
-
-.. _fig_projectstructure:
-
-.. figure:: ../../api/images/projectstructure_label.png
-   :width: 100 %
-   :alt: projectstructure
-   :align: center
-
-   A project contains a program called **main.py** and optional resources like
-   sounds or MicroPython modules.
-
-
-Creating a new project
------------------------------------------------------------
-
-To create a new project, open the EV3 MicroPython tab and
-click *create a new project*, as shown in :numref:`fig_newproject`. Enter a
-project name in the text field that appears and press *Enter*. When prompted,
-choose a location for this program and confirm by clicking *choose folder*.
-
-.. _fig_newproject:
-
-.. figure:: ../../api/images/newproject_label.png
-   :width: 100 %
-   :alt: newproject
-   :align: center
-
-   Creating a new project. This example is called *getting_started*, but you
-   can choose any name.
-
-When you create a new project, it already includes a file called *main.py*. To
-see its contents and to modify it, open it from the file browser as shown in
-:numref:`fig_projectoverview`. This is where you'll write your programs.
-
-If you are new to MicroPython programming, we recommend that you keep the
-existing code in place and add your code to it.
-
-.. _fig_projectoverview:
-
-.. figure:: ../../api/images/projectoverview_label.png
-   :width: 100 %
-   :alt: projectoverview
-   :align: center
-
-   Opening the default *main.py* program.
-
-Opening an existing project
------------------------------------------------------------
-
-To open a project you created previously, click *File* and click
-*Open Folder*, as shown in :numref:`fig_existingproject`. Next, navigate to
-your previously created project folder and click *OK*. You can also open your
-recently used projects using the *Open Recent* menu option.
-
-.. _fig_existingproject:
-
-.. figure:: ../../api/images/existingproject_label.png
-   :width: 75 %
-   :alt: existingproject
-   :align: center
-
-   Opening a previously created project.
-
-
-Connecting to the EV3 Brick with Visual Studio Code
------------------------------------------------------------
-
-To be able to transfer your code to the EV3 Brick, you'll first need to
-connect the EV3 Brick to your computer with the mini-USB cable and configure
-the connection with Visual Studio Code. To do so:
-
-- Turn the EV3 Brick on
-- Connect the EV3 Brick to your computer with the mini-USB cable
-- Configure the USB connection as shown in :numref:`fig_connecting`.
-
-.. _fig_connecting:
-
-.. figure:: ../../api/images/connecting_label.png
-   :width: 100 %
-   :alt: connecting
-   :align: center
-
-   Configuring the USB connection between the computer and the EV3 Brick
-
-Downloading and running a program
------------------------------------------------------------
-
-You can press the F5 key to run the program. Alternatively, you can start it
-manually by going to the *debug* tab and clicking the green start arrow, as
-shown in :numref:`fig_running`.
-
-When the program starts, a pop-up toolbar allows you to stop the program if
-necessary. You can also stop the program at any time using the back button on
-the EV3 Brick.
-
-If your program produces any output with the ``print`` command, this is shown
-in the output window.
-
-.. _fig_running:
-
-.. figure:: ../../api/images/running_label.png
-   :width: 100 %
-   :alt: running
-   :align: center
-
-   Running a program
-
-Expanding the example program
------------------------------------------------------------
-
-Now that you've run the basic code template, you can expand the program to
-make a motor move. First, attach a Large Motor to Port B on the EV3 Brick,
-as shown  in :numref:`fig_firstprogram`.
-
-.. _fig_firstprogram:
-
-.. figure:: ../../api/images/firstprogram_label.png
-   :width: 100 %
-   :alt: firstprogram
-   :align: center
-
-   The EV3 Brick with a Large Motor attached to port B.
-
-Next, edit *main.py* to make it look like this:
-
-.. literalinclude::
-   ../../../examples/ev3/getting_started/main.py
-
-This program makes your robot beep, rotate the motor, and beep again with a
-higher pitched tone. Run the program to make sure that it works as expected.
-
-.. _managefiles:
-
-Managing files on the EV3 Brick
------------------------------------------------------------
-
-After you've downloaded a project to the EV3 Brick, you can run, delete, or
-back up programs stored on it using the device browser as shown in
-:numref:`fig_files`.
-
-.. _fig_files:
-
-.. figure:: ../../api/images/files_label.png
-   :width: 100 %
-   :alt: files
-   :align: center
-
-   Using the EV3 device browser to manage files on your EV3 Brick

doc/api/start_ev3/start_ev3_upgrade.rst

@@ -1,248 +0,0 @@
-Upgrading from v1.0 to v2.0
-===============================
-
-*EV3 MicroPython version 2.0 was released on May 18, 2020.*
-
-This section is for users who have previously used LEGO MINDSTORMS EV3
-MicroPython v1.0. We'll explain what's changed and how you can upgrade to
-benefit from the latest improvements.
-
-If you are a new user and you just got started using version 2.0, you can skip
-this page.
-
-Upgrading the microSD Card
------------------------------------------
-
-To upgrade, download the latest microSD card file and install it using the
-standard :ref:`instructions <prepsdcard>`.
-
-Note that this will erase all your existing files on the SD Card. Before you
-upgrade, make sure that you still have all your projects on your computer.
-If not, you can upload files back to your computer using
-:ref:`these instructions <managefiles>`.
-
-As with any software update, *be careful about when you update*. For example,
-if you developed your code using version v1.0 and you are halfway into your
-robotics competition season, you may want to stick with v1.0 for now.
-
-
-Upgrading your existing programs
------------------------------------------
-
-Most changes in v2.0 are *new* features, like support for additional sensors.
-Naturally, this will not affect your existing code.
-However, some changes were made to existing features to improve performance.
-
-All originally documented features in v1.0 will still work after you upgrade.
-This means that most programs originally made for v1.0 will work with the v2.0
-microSD card image without any changes.
-
-To try this, simply download and run your original code as you did before.
-
-However, it is recommended that you upgrade both the microSD card and your
-programs at the same time to ensure everything works as expected.
-
-The new EV3Brick() class replaces the ev3brick module
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Version 2.0 introduces the :class:`EV3Brick() <pybricks.hubs.EV3Brick>` class.
-You can use it instead of the old  ``ev3brick`` module. The old ``ev3brick``
-module can still be used, but it is no longer recommended or documented.
-
-The :class:`EV3Brick() <pybricks.hubs.EV3Brick>` class improves the speed and
-reliability of the EV3 screen and the EV3 speaker. It also adds functionality
-like speech and drawing shapes. The default
-font size is also bigger to make it easier to read text on the screen.
-
-You can use
-the following table as a starting point to upgrade your scripts. See the
-:class:`EV3Brick() <pybricks.hubs.EV3Brick>` class documentation for
-complete details of all methods and arguments.
-
-.. list-table::
-
-  * - **Action**
-    - **v1.0**
-    - **v2.0**
-
-  * - | Initialize
-      | your EV3
-    - ::
-
-          from pybricks import ev3brick as brick
-    - ::
-
-          from pybricks.hubs import EV3Brick
-
-          ev3 = EV3Brick()
-
-  * - | Light on
-    - ::
-
-          brick.light(Color.RED)
-    - ::
-
-          ev3.light.on(Color.RED)
-
-  * - | Light off
-    - ::
-
-          brick.light(None)
-    - ::
-
-          ev3.light.off()
-
-  * - | Read
-      | Buttons
-    - ::
-
-          if Button.LEFT in brick.buttons():
-              print("Left is pressed.")
-    - ::
-
-          if Button.LEFT in ev3.buttons.pressed():
-              print("Left is pressed.")
-
-  * - | Play a
-      | beep
-    - ::
-
-          brick.sound.beep()
-    - ::
-
-          ev3.speaker.beep()
-
-  * - | Play a
-      | sound file
-    - ::
-
-          brick.sound.file(SoundFile.HELLO)
-    - ::
-
-          ev3.speaker.play_file(SoundFile.HELLO)
-
-  * - | Text to
-      | speech
-    -
-    - ::
-
-          ev3.speaker.say("I can say anything!")
-
-  * - | Play
-      | notes
-    -
-    - ::
-
-          ev3.speaker.play_notes(['C4/4', 'G4/4'])
-
-  * - | Write text
-      | at a given
-      | position
-    - ::
-
-          brick.display.text("Hello!", (50, 60))
-    - ::
-
-          ev3.screen.draw_text(50, 60, "Hello!")
-
-  * - | Write text
-      | and scroll
-      | automatically
-    - ::
-
-          brick.display.text("Hello")
-          brick.display.text("world!")
-    - ::
-
-          ev3.screen.print("Hello")
-          ev3.screen.print("world!")
-
-  * - | Change font
-      | size
-    -
-    - ::
-
-          from pybricks.media.ev3dev import Font
-
-          big_font = Font(size=24)
-          ev3.screen.set_font(big_font)
-
-  * - | Display an
-      | image on
-      | the screen
-    - ::
-
-          from pybricks.parameters import ImageFile
-
-          brick.display.image(ImageFile.QUESTION_MARK)
-    - ::
-
-          from pybricks.media.ev3dev import ImageFile
-
-          ev3.screen.load_image(ImageFile.Question_MARK)
-
-  * - | Draw shapes
-      | on the screen
-    -
-    - ::
-
-          ev3.screen.draw_line(30, 30, 30, 100)
-          ev3.screen.draw_box(50, 30, 90, 60)
-          ev3.screen.draw_circle(70, 90, 20, fill=True)
-
-  * - | Read
-      | battery
-      | voltage
-    - ::
-
-          brick.battery.voltage()
-    - ::
-
-          ev3.battery.voltage()
-
-
-Other internal changes to existing features
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-- Most methods of the ``Motor`` class now
-  have ``Stop.HOLD`` as the default instead of ``Stop.COAST``. This improves
-  accuracy in most applications. You can still select ``Stop.COAST`` if you
-  like.
-- The internal PID controllers for the motors are more accurate than before.
-  If you give a motor command when it is already running, it smoothly adjusts
-  the speed to the newly given command. This works even if you keep
-  adjusting the speed in a fast loop.
-- Methods to configure motor settings have changed. You can change settings
-  using the ``control`` attribute now. The old settings setters
-  continue to exist in the implementation, but they are no longer documented.
-- So-called Python *keyword arguments* are now supported. Previously, you
-  could only enter the argument *values*. For example:
-
-   ::
-
-       my_motor.run_angle(500, 90, Stop.HOLD, False)
-
-  This is still possible. But you can now choose to omit optional arguments
-  and specify others with *keywords*. This can make your code easier to read.
-  For example:
-
-   ::
-
-      my_motor.run_angle(500, 90, wait=False)
-- It is no longer necessary to import ``pybricks.tools.print``. The ``print``
-  function is now built-in. It works just like Python or MicroPython.
-- Most parameters in the :mod:`parameters <pybricks.parameters>` now have a
-  specific type and representation. For example, suppose you measure a color
-  and print the result. If you do ``print(Color.RED)``, you will see the
-  parameter instead of a technical number.
-- Sound and image files have moved to a dedicated ``media`` module.
-  Importing them from the old location will continue to work in this release,
-  to make sure existing scripts will still work.
-
-**Installing an older version of the Visual Studio Code extension**
-
-The Visual Studio Code extension and this documentation are updated
-automatically. You can still use your existing scripts with the updated
-extension. If you absolutely wish to keep the old version, look for the EV3
-extension on the extension tab, click the gear icon, and
-click *install another version*.

doc/api/start_inventor.rst

@@ -1,4 +0,0 @@
-SPIKE Prime / Robot Inventor
-########################################################
-
-Coming soon!

doc/api/start_pup.rst

@@ -1,151 +0,0 @@
-Powered Up Quick Start
-########################
-
-.. figure:: ../api/images/powereduphubs.png
-    :height: 15 em
-    :align: center
-
-This page shows how you can install Pybricks on your hub and run your first
-program. When you're ready, browse through the Pybricks Modules in the left
-hand menu to modify the example program.
-
-.. note::
-
-    - **This is still in beta! Not everything may work as expected yet.**
-
-    - We welcome your questions, feedback and bug reports on our `support page`_.
-
-    - For now, sensors/motors are detected automatically only once.
-      So if you change the cables, you have to turn the hub off and on again.
-      You can turn it off by holding down the button for about 5 seconds.
-
-Installing Google Chrome
---------------------------------------
-
-Writing Pybricks programs requires a web browser with web Bluetooth
-functionality. Currently, only Google Chrome supports this.
-Download Google Chrome `from here`_.
-
-If you use Linux, enable *Experimental Web Platform features* on
-the ``chrome://flags/`` page.
-
-Installing the Pybricks firmware
---------------------------------
-
-Pybricks uses an improved firmware that can run autonomous programs.
-Installing it is easy:
-
-1. Make sure you use fresh batteries.
-2. Unplug all motors and sensors.
-3. Follow the steps in the video below.
-
-.. raw:: html
-
-    <video controls src="https://pybricks.com/wp-content/uploads/2020/06/install.mp4" width="100%"></video>
-    <br />
-
-If you prefer written instructions, follow these instead:
-
-    - Make sure you use fresh batteries.
-    - Unplug all motors and sensors.
-    - Make sure the hub is off.
-    - Press and hold the green button.
-    - Wait for the light to blink, but keep holding the button.
-    - On the Pybricks Code page, click the firmware update button.
-    - Select the ``LEGO Bootloader`` and click *Pair*.
-    - The light should change to a red/green/blue sequence.
-    - You can now release the button.
-    - Wait for the update to finish, indicated by a blinking blue light.
-    - If you use the recommended browser, this will take about 90 seconds.
-
-Running programs
---------------------------------
-
-Once the firmware is installed, you can start coding! Use the *Bluetooth*
-button to search for and connect to your *Pybricks Hub*. Then press run to
-start your program.
-
-.. figure:: ../api/images/pybrickscode.png
-
-To get started, just copy and paste this snippet::
-
-    from pybricks.pupdevices import Motor
-    from pybricks.parameters import Port, Stop
-    from pybricks.tools import wait
-
-    # We'll use two motors. One is a dial
-    # to set the speed of the other motor.
-    motor = Motor(Port.B)
-    dial = Motor(Port.A)
-
-    # Say hello :)
-    print("Hello, Pybricks!")
-
-    # First, we'll move the dial to zero.
-    dial.run_target(500, 0, Stop.COAST)
-
-    while True:
-        # Set the speed based on dial angle
-        speed = dial.angle()*3
-        if abs(speed) < 100:
-            speed = 0
-
-        # Run motor at desired speed
-        motor.run(speed)
-
-        # Wait briefly, then repeat
-        wait(10)
-
-
-Restoring the LEGO Firmware
----------------------------
-
-Pybricks uses the same update method as the LEGO apps; just with a different
-firmware file. This means you can go back to the original firmware any time.
-As shown in the video below, just put the hub in update mode and
-connect using a LEGO app.
-
-.. raw:: html
-
-    <video controls src="https://pybricks.com/wp-content/uploads/2020/06/restore.mp4" width="100%"></video>
-
-This video shows the Powered Up app in *create* mode. It has firmware for all
-hubs. As usual, you may need to restart the app to detect the hub. If it fails,
-try again with fresh batteries.
-
-Saving a program permanently (BETA)
------------------------------------
-.. note::
-
-   This functionality is in beta. It is currently only recommended for
-   advanced users. In the long run, we'll make this easy to do with
-   the online editor.
-
-When you run a program the normal way, it is deleted as soon as it's done.
-That's because Powered Up hubs don't have a file system to store programs.
-Fortunately, you can still save a script on the hub by including it
-in the firmware.
-
-Of course, this is a bit slow to do every time. We recommend the
-using the standard procedure most of the time.
-When you're happy with your final program, you can save it permanently as
-described below. To change the program, just repeat these steps:
-
-1. Sign in to GitHub.
-2. Go to our `GitHub builds`_.
-3. Click on the build you want. This is usually the one at the top.
-4. Then scroll down to `Artifacts`.
-5. Download the firmware for your hub. The firmware is a ZIP archive
-   containing the basic firmware and one ``main.py`` script.
-6. Modify the ``main.py`` file as you like.
-7. Drag your modified ZIP file *onto* the firmware update button of the
-   online editor.
-8. The update now proceeds as usual.
-
-*Once installed, you can start that program with the green button.
-No connection required!*
-
-.. _GitHub builds: https://github.com/pybricks/pybricks-micropython/actions?query=is%3Asuccess+branch%3Amaster+workflow%3ABuild
-.. _support page: https://github.com/pybricks/support/issues/
-.. _Pybricks Code: http://code.pybricks.com/
-.. _from here: https://www.google.com/chrome/

doc/api/tools/datalog.rst

@@ -13,7 +13,7 @@ At the moment, this class is only available on EV3.
     use this class on 13 February 2020 on 10:07 and 44.431260
     seconds, the file is called ``log_2020_02_13_10_07_44_431260.csv``.
 
-    See :ref:`managing files on the EV3 <managefiles>` to learn how to upload
+    See `managing files on the EV3`_ to learn how to upload
     the log file back to your computer.
 
 
@@ -71,3 +71,5 @@ name will always be the same. However, this means that the contents of
 ``my_file.txt`` will be overwritten every time you run this script.
 
 .. literalinclude:: ../../../examples/ev3/datalog_extra/main.py
+
+.. _managing files on the EV3: https://pybricks.com/install/mindstorms-ev3/running-programs#managing-files-on-the-ev3-brick

doc/common/_static/css/ide.css

@@ -4,3 +4,39 @@
 .wy-breadcrumbs li.wy-breadcrumbs-aside {
     display: none;
 }
+
+/* Scrollbar styling to match Pybricks Code. */
+/* https://github.com/pybricks/pybricks-code/blob/master/src/index.scss */
+
+::-webkit-scrollbar {
+    width: 16px;
+}
+
+.bp3-dark ::-webkit-scrollbar-track {
+    background: #293742;
+}
+
+::-webkit-scrollbar-track {
+    background: #e8e8e8;
+}
+
+.bp3-dark ::-webkit-scrollbar-thumb {
+    border-color: #293742;
+    background: #a7b6c2;
+}
+
+::-webkit-scrollbar-thumb {
+    border-width: 3px;
+    border-style: solid;
+    border-radius: 8px;
+    border-color: #e8e8e8;
+    background: #5c7080;
+}
+
+.bp3-dark ::-webkit-scrollbar-thumb:hover {
+    background: #f5f8fa;
+}
+
+::-webkit-scrollbar-thumb:hover {
+    background: #182026;
+}

doc/common/_static/js/ide.js

@@ -1,3 +1,4 @@
+// Since Pybricks Code is an "app", all external links get opened in new tab/window
 // https://stackoverflow.com/a/62742435/1976323
 $(document).ready(function () {
     $('a[href^="http://"], a[href^="https://"]').not('a[class*=internal]').attr('target', '_blank');

doc/common/conf.py

@@ -59,6 +59,7 @@ extensions = [
     'sphinx.ext.todo',
     'sphinx.ext.mathjax',
     'color',
+    'classlink',
 ]
 
 # Add any paths that contain templates here, relative to this directory.
@@ -130,7 +131,10 @@ nitpick_ignore = [
 # -- Autodoc options ------------------------------------------------------
 
 autodoc_member_order = 'bysource'
-autodoc_default_flags = ['members', 'undoc-members']
+autodoc_default_options = {
+    'members': True,
+    'undoc-members': True,
+}
 autoclass_content = 'both'  # This ensures init arguments are not ignored
 add_module_names = False  # Hide module name
 
@@ -143,11 +147,6 @@ else:
     html_theme = 'sphinx_rtd_theme'
     html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
 
-# a little extra javascript
-html_js_files = [
-    'js/custom.js'
-]
-
 html_context = {
     'disclaimer': _DISCLAIMER,
 }

doc/common/extensions/classlink.py

@@ -0,0 +1,31 @@
+from docutils import nodes
+from docutils.parsers.rst import Directive
+
+
+class PybricksClasslinkDirective(Directive):
+
+    required_arguments = 1
+
+    def run(self):
+        # Get link name from sphinx-directive
+        name = self.arguments[0]
+
+        html = (
+            '<a href="{0}.html">'.format(name.lower()) +
+            '<dl class="py class">' +
+            '<dt>' +
+            '<em class="property">class </em>' +
+            '<code class="sig-name descname">' + name + '</code>' +
+            '</dt>' +
+            '<dd></dd>' +
+            '</dl>' +
+            '</a>'
+        )
+
+        # Return the node
+        node = nodes.raw('', html, format="html")
+        return [node]
+
+
+def setup(app):
+    app.add_directive_to_domain('py', 'pybricks-classlink', PybricksClasslinkDirective)

doc/common/extensions/color.py

@@ -27,6 +27,11 @@ class PybricksColorDirective(Directive):
 
         # Render a small block of the given color
         css = "background-color: {0}; color: {0}; width: 50px;".format(rgbhex)
+
+        if name == "WHITE":
+            css += "border-style: solid; border-width: 0.5px;" + \
+                   "border-color: #666666;"
+
         html = '<div id="test" style="{0}">_</div>'.format(css)
 
         # Return the node

doc/ide/CHANGELOG.md

@@ -1,3 +1,36 @@
+# 1.3.2 - 2021-04-26
+
+## Changed:
+- Theme style fixes.
+- Example code fixes
+- Match doc version to firmware version.
+
+# 1.3.1 - 2021-04-12
+
+## Changed:
+- Upgrade sphinx and rtd-theme to fix style issues.
+
+# 1.3.0 - 2021-04-12
+
+## Removed:
+- Removed features which not be in the official 3.0 release. These features
+  are still in beta. They'll come back in future releases once tested.
+
+# 1.2.0 - 2021-04-09
+
+## Changed:
+- Moved installation guide to external site.
+
+# 1.1.1 - 2021-02-14
+
+## Added:
+- Added installation guide.
+- Various documentation fixes.
+
+# 1.1.0 - 2021-01-28
+
+## Added:
+- Scrollbar styling.
 
 # 1.0.0 - 2021-01-25
 

doc/ide/conf.py

@@ -18,6 +18,7 @@ html_logo = '../common/images/pybricks-logo-rtd.png'
 html_show_copyright = False
 html_show_sphinx = False
 html_css_files = ['css/ide.css']
+html_js_files = ['js/ide.js']
 
 imgmath_image_format = 'svg'
 imgmath_use_preview = True  # requires Sphinx v3

doc/ide/geometry.rst

@@ -1 +0,0 @@
-.. include:: ../api/geometry.rst

doc/ide/hubs/index.rst

@@ -10,39 +10,22 @@
    movehub
    cityhub
    technichub
-   primehub
 
-.. class:: MoveHub
-    :noindex:
+.. pybricks-classlink:: MoveHub
 
 .. figure:: ../../api/images/movehub.png
     :height: 10 em
     :target: movehub.html
 
-.. class:: CityHub
-    :noindex:
+.. pybricks-classlink:: CityHub
 
 .. figure:: ../../api/images/cityhub.png
     :height: 10 em
     :target: cityhub.html
 
-.. class:: TechnicHub
-    :noindex:
+.. pybricks-classlink:: TechnicHub
 
 .. figure:: ../../api/images/technichub.png
     :height: 10 em
     :target: technichub.html
 
-.. class:: PrimeHub
-    :noindex:
-
-.. figure:: ../../api/images/primehub.png
-    :height: 10 em
-    :target: primehub.html
-
-.. class:: InventorHub
-    :noindex:
-
-.. figure:: ../../api/images/inventorhub.png
-    :height: 10 em
-    :target: primehub.html

doc/ide/hubs/primehub.rst

@@ -1 +0,0 @@
-.. include:: ../../api/hubs/primehub.rst

doc/ide/index.rst

@@ -1,12 +1,6 @@
 Pybricks Documentation
 ==================================================================
 
-.. note::
-
-   The installation guide and other documentation are available at
-   `docs.pybricks.com`_. This window contains only
-   documentation and examples for all available classes and methods.
-
 .. toctree::
    :maxdepth: 1
    :caption: Pybricks Modules
@@ -15,10 +9,9 @@ Pybricks Documentation
    hubs/index
    pupdevices/index
    iodevices/index
-   parameters
+   parameters/index
    tools/index
    robotics
-   geometry
 
 .. toctree::
    :maxdepth: 1
@@ -28,12 +21,15 @@ Pybricks Documentation
    signaltypes
    motors
 
+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 are listed below for quick reference.
+commonly used devices and classes are listed below for quick reference.
 
-.. rubric:: Powered Up Hubs
+.. rubric:: Programmable Hubs
 
-.. figure:: ../api/images/hubsoverview.png
+.. figure:: ../api/images/powereduphubs.png
    :width: 100 %
    :target: hubs/index.html
 
@@ -43,4 +39,4 @@ commonly used devices are listed below for quick reference.
    :width: 100 %
    :target: pupdevices/index.html
 
-.. _docs.pybricks.com: https://docs.pybricks.com/
+.. _pybricks.com/install: https://pybricks.com/install/

doc/ide/iodevices/index.rst

@@ -10,8 +10,7 @@
 
    pupdevice
 
-.. class:: PUPDevice
-    :noindex:
+.. pybricks-classlink:: PUPDevice
 
 .. figure:: ../../api/images/sensor_pup.png
    :width: 70 %

doc/ide/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@pybricks/ide-docs",
-  "version": "1.0.0",
+  "version": "1.3.2",
   "description": "Special build of Pybricks API docs for embedding in an IDE.",
   "repository": {
     "type": "git",
@@ -8,8 +8,8 @@
     "directory": "doc/ide"
   },
   "publishConfig": {
-      "registry": "https://registry.npmjs.org",
-      "access": "public"
+    "registry": "https://registry.npmjs.org",
+    "access": "public"
   },
   "author": "The Pybricks Authors",
   "license": "MIT",

doc/ide/parameters.rst

@@ -1 +0,0 @@
-.. include:: ../api/parameters.rst

doc/ide/parameters/color.rst

@@ -0,0 +1 @@
+.. include:: ../../api/parameters/color.rst

doc/ide/parameters/direction.rst

@@ -0,0 +1 @@
+.. include:: ../../api/parameters/direction.rst

doc/ide/parameters/index.rst

@@ -0,0 +1,23 @@
+:mod:`parameters <pybricks.parameters>` -- Parameters and Constants
+===================================================================
+
+.. automodule:: pybricks.parameters
+    :no-members:
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   color
+   direction
+   port
+   stop
+
+.. pybricks-classlink:: Color
+
+.. pybricks-classlink:: Direction
+
+.. pybricks-classlink:: Port
+
+.. pybricks-classlink:: Stop
+

doc/ide/parameters/port.rst

@@ -0,0 +1,24 @@
+Port
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. class:: Port
+
+    Input and output ports:
+
+    .. autoattribute:: pybricks.parameters.Port.A
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.B
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.C
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.D
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.E
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.F
+        :annotation:

doc/ide/parameters/stop.rst

@@ -0,0 +1 @@
+.. include:: ../../api/parameters/stop.rst

doc/ide/pupdevices/remote.rst

@@ -1 +0,0 @@
-.. include:: ../../api/pupdevices/remote.rst

examples/pup/hub_cityhub/light_animate.py

@@ -7,7 +7,7 @@ from math import sin, pi
 hub = CityHub()
 
 # Make an animation with multiple colors.
-hub.light.animate([Color.RED, Color.GREEN, None], interval=500)
+hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
 
 wait(10000)
 

examples/pup/hub_movehub/imu_read_acceleration.py

@@ -0,0 +1,16 @@
+from pybricks.hubs import MoveHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = MoveHub()
+
+# Get the acceleration tuple.
+print(hub.imu.acceleration())
+
+while True:
+    # Get individual acceleration values.
+    x, y, z = hub.imu.acceleration()
+    print(x, y, z)
+
+    # Wait so we can see what we printed.
+    wait(100)

examples/pup/hub_movehub/imu_up.py

@@ -0,0 +1,29 @@
+from pybricks.hubs import MoveHub
+from pybricks.parameters import Color, Side
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = MoveHub()
+
+# Define colors for each side in a dictionary.
+SIDE_COLORS = {
+    Side.TOP: Color.RED,
+    Side.BOTTOM: Color.BLUE,
+    Side.LEFT: Color.GREEN,
+    Side.RIGHT: Color.YELLOW,
+    Side.FRONT: Color.MAGENTA,
+    Side.BACK: Color.BLACK,
+}
+
+# Keep updating the color based on detected up side.
+while True:
+
+    # Check which side of the hub is up.
+    up_side = hub.imu.up()
+
+    # Change the color based on the side.
+    hub.light.on(SIDE_COLORS[up_side])
+
+    # Also print the result.
+    print(up_side)
+    wait(50)

examples/pup/hub_primehub/button_main.py

@@ -23,7 +23,7 @@ if Button.LEFT in pressed:
     hub.display.image(Icon.ARROW_LEFT_DOWN)
 elif Button.RIGHT in pressed:
     hub.display.image(Icon.ARROW_RIGHT_DOWN)
-elif Button.BT in pressed:
+elif Button.BLUETOOTH in pressed:
     hub.display.image(Icon.ARROW_RIGHT_UP)
 
 wait(3000)

examples/pup/hub_primehub/light_animate.py

@@ -7,7 +7,7 @@ from math import sin, pi
 hub = PrimeHub()
 
 # Make an animation with multiple colors.
-hub.light.animate([Color.RED, Color.GREEN, None], interval=500)
+hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
 
 wait(10000)
 

examples/pup/hub_shared/imu_up.py

@@ -1,4 +1,4 @@
-# ExampleHub = TechnicHub PrimeHub
+# ExampleHub = TechnicHub PrimeHub MoveHub
 from pybricks.hubs import ExampleHub
 from pybricks.parameters import Color, Side
 from pybricks.tools import wait

examples/pup/hub_shared/light_animate.py

@@ -8,7 +8,7 @@ from math import sin, pi
 hub = ExampleHub()
 
 # Make an animation with multiple colors.
-hub.light.animate([Color.RED, Color.GREEN, None], interval=500)
+hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
 
 wait(10000)
 

examples/pup/hub_technichub/light_animate.py

@@ -7,7 +7,7 @@ from math import sin, pi
 hub = TechnicHub()
 
 # Make an animation with multiple colors.
-hub.light.animate([Color.RED, Color.GREEN, None], interval=500)
+hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
 
 wait(10000)
 

examples/pup/motor/motor_action_basic.py

@@ -26,7 +26,7 @@ wait(1500)
 
 # Run at 500 deg/s for 90 degrees.
 print("Demo of run_angle")
-example_motor.run_angle(500, 180)
+example_motor.run_angle(500, 90)
 wait(1500)
 
 # Run at 500 deg/s back to the 0 angle

examples/pup/parameters/color_advanced.py

@@ -0,0 +1,31 @@
+from pybricks.parameters import Color
+
+# Two colors are equal if their h, s, and v attributes are equal.
+if Color.BLUE == Color(240, 100, 100):
+    print("Yes, these colors are the same.")
+
+# You can scale colors to change their brightness value.
+red_dark = Color.RED * 0.5
+
+# You can shift colors to change their hue.
+red_shifted = Color.RED >> 30
+
+# Colors are immutable, so you can't change h, s, or v of an existing object.
+try:
+    Color.GREEN.h = 125
+except AttributeError:
+    print("Sorry, can't change the hue of an existing color object!")
+
+# But you can override builtin colors by defining a whole new color.
+Color.GREEN = Color(h=125)
+
+# You can access and store colors as class attributes, or as a dictionary.
+print(Color.BLUE)
+print(Color["BLUE"])
+print(Color["BLUE"] is Color.BLUE)
+print(Color)
+print([c for c in Color])
+
+# This allows you to update existing colors in a loop.
+for name in ("BLUE", "RED", "GREEN"):
+    Color[name] = Color(1, 2, 3)

examples/pup/parameters/color_basics.py

@@ -0,0 +1,23 @@
+from pybricks.parameters import Color
+
+# You can print colors. Colors may be obtained from the Color class, or
+# from sensors that return color measurements.
+print(Color.RED)
+
+# You can read hue, saturation, and value properties.
+print(Color.RED.h, Color.RED.s, Color.RED.v)
+
+# You can make your own colors. Saturation and value are 100 by default.
+my_green = Color(h=125)
+my_dark_green = Color(h=125, s=80, v=30)
+
+# When you print custom colors, you see exactly how they were defined.
+print(my_dark_green)
+
+# You can also add colors to the builtin colors.
+Color.MY_DARK_BLUE = Color(h=235, s=80, v=30)
+
+# When you add them like this, printing them only shows its name. But you can
+# still read h, s, v by reading its attributes.
+print(Color.MY_DARK_BLUE)
+print(Color.MY_DARK_BLUE.h, Color.MY_DARK_BLUE.s, Color.MY_DARK_BLUE.v)

examples/pup/sensor_color/detectable_colors.py

@@ -5,26 +5,22 @@ from pybricks.tools import wait
 # Initialize the sensor.
 sensor = ColorSensor(Port.A)
 
-# First, decide which objects you want to detect.
-# Then measure their color with the hsv() method,
-# as shown in the previous example. Write them down
-# as shown below. The name is optional, but it is
-# useful when you print the color value.
-green = Color(h=132, s=94, v=26, name='GREEN_BRICK')
-magenta = Color(h=348, s=96, v=40, name='MAGENTA_BRICK')
-brown = Color(h=17, s=78, v=15, name='BROWN_BRICK')
-red = Color(h=359, s=97, v=39, name='RED_BRICK')
+# First, decide which objects you want to detect, and measure their HSV values.
+# You can do that with the hsv() method as shown in the previous example.
+#
+# Use your measurements to override the default colors, or add new colors:
+Color.GREEN = Color(h=132, s=94, v=26)
+Color.MAGENTA = Color(h=348, s=96, v=40)
+Color.BROWN = Color(h=17, s=78, v=15)
+Color.RED = Color(h=359, s=97, v=39)
 
 # Put your colors in a list or tuple.
-# Including None is optional. Just omit it if
-# you always want to get one of your colors.
-my_colors = (green, magenta, brown, red, None)
+my_colors = (Color.GREEN, Color.MAGENTA, Color.BROWN, Color.RED, Color.NONE)
 
 # Save your colors.
 sensor.detectable_colors(my_colors)
 
-# color() works as usual, but it only
-# returns one of your specified colors.
+# color() works as usual, but now it returns one of your specified colors.
 while True:
     color = sensor.color()
 
@@ -32,7 +28,7 @@ while True:
     print(color)
 
     # Check which one it is.
-    if color == magenta:
+    if color == Color.MAGENTA:
         print("It works!")
 
     # Wait so we can read it.

examples/pup/sensor_color/lights_blink.py

@@ -11,11 +11,11 @@ while True:
     # Turn on one light at a time, at half the brightness.
     # Do this for all 3 lights and repeat that 5 times.
     for i in range(5):
-        sensor.lights.on(50, 0, 0)
+        sensor.lights.on([50, 0, 0])
         wait(100)
-        sensor.lights.on(0, 50, 0)
+        sensor.lights.on([0, 50, 0])
         wait(100)
-        sensor.lights.on(0, 0, 50)
+        sensor.lights.on([0, 0, 50])
         wait(100)
 
     # Turn all lights on at maximum brightness.

examples/pup/sensor_color_distance/detectable_colors.py

@@ -5,26 +5,22 @@ from pybricks.tools import wait
 # Initialize the sensor.
 sensor = ColorDistanceSensor(Port.A)
 
-# First, decide which objects you want to detect.
-# Then measure their color with the hsv() method,
-# as shown in the previous example. Write them down
-# as shown below. The name is optional, but it is
-# useful when you print the color value.
-green = Color(h=132, s=94, v=26, name='GREEN_BRICK')
-magenta = Color(h=348, s=96, v=40, name='MAGENTA_BRICK')
-brown = Color(h=17, s=78, v=15, name='BROWN_BRICK')
-red = Color(h=359, s=97, v=39, name='RED_BRICK')
+# First, decide which objects you want to detect, and measure their HSV values.
+# You can do that with the hsv() method as shown in the previous example.
+#
+# Use your measurements to override the default colors, or add new colors:
+Color.GREEN = Color(h=132, s=94, v=26)
+Color.MAGENTA = Color(h=348, s=96, v=40)
+Color.BROWN = Color(h=17, s=78, v=15)
+Color.RED = Color(h=359, s=97, v=39)
 
 # Put your colors in a list or tuple.
-# Including None is optional. Just omit it if
-# you always want to get one of your colors.
-my_colors = (green, magenta, brown, red, None)
+my_colors = (Color.GREEN, Color.MAGENTA, Color.BROWN, Color.RED, Color.NONE)
 
 # Save your colors.
 sensor.detectable_colors(my_colors)
 
-# color() works as usual, but it only
-# returns one of your specified colors.
+# color() works as usual, but now it returns one of your specified colors.
 while True:
     color = sensor.color()
 
@@ -32,7 +28,7 @@ while True:
     print(color)
 
     # Check which one it is.
-    if color == magenta:
+    if color == Color.MAGENTA:
         print("It works!")
 
     # Wait so we can read it.

examples/pup/sensor_ultrasonic/math.py

@@ -24,9 +24,8 @@ while True:
     # lights do something different.
     brightness = [sin(phase + offset*pi/2) * 50 + 50 for offset in range(4)]
 
-    # Set the brightness values for all lights. The * symbol unpacks the list
-    # of brightness values into separate arguments.
-    eyes.lights.on(*brightness)
+    # Set the brightness values for all lights.
+    eyes.lights.on(brightness)
 
     # Wait some time.
     wait(50)

poetry.lock

@@ -105,16 +105,16 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [[package]]
 name = "flake8"
-version = "3.8.4"
+version = "3.9.0"
 description = "the modular source code checker: pep8 pyflakes and co"
 category = "dev"
 optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
 
 [package.dependencies]
 mccabe = ">=0.6.0,<0.7.0"
-pycodestyle = ">=2.6.0a1,<2.7.0"
-pyflakes = ">=2.2.0,<2.3.0"
+pycodestyle = ">=2.7.0,<2.8.0"
+pyflakes = ">=2.3.0,<2.4.0"
 
 [[package]]
 name = "idna"
@@ -134,7 +134,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "jinja2"
-version = "2.11.2"
+version = "2.11.3"
 description = "A very fast and expressive template engine."
 category = "dev"
 optional = false
@@ -172,7 +172,7 @@ python-versions = "*"
 
 [[package]]
 name = "packaging"
-version = "20.8"
+version = "20.9"
 description = "Core utilities for Python packages"
 category = "dev"
 optional = false
@@ -199,7 +199,7 @@ python-versions = ">=2.6"
 
 [[package]]
 name = "pycodestyle"
-version = "2.6.0"
+version = "2.7.0"
 description = "Python style guide checker"
 category = "dev"
 optional = false
@@ -207,7 +207,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "pyflakes"
-version = "2.2.0"
+version = "2.3.1"
 description = "passive checker of Python programs"
 category = "dev"
 optional = false
@@ -215,7 +215,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "pygments"
-version = "2.7.4"
+version = "2.8.1"
 description = "Pygments is a syntax highlighting package written in Python."
 category = "dev"
 optional = false
@@ -231,7 +231,7 @@ python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
 
 [[package]]
 name = "pytz"
-version = "2020.5"
+version = "2021.1"
 description = "World timezone definitions, modern and historical"
 category = "dev"
 optional = false
@@ -239,7 +239,7 @@ python-versions = "*"
 
 [[package]]
 name = "regex"
-version = "2020.11.13"
+version = "2021.4.4"
 description = "Alternative regular expression module, to replace re."
 category = "dev"
 optional = false
@@ -261,7 +261,7 @@ urllib3 = ">=1.21.1,<1.27"
 
 [package.extras]
 security = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)"]
-socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7)", "win-inet-pton"]
+socks = ["PySocks (>=1.5.6,!=1.5.7)", "win-inet-pton"]
 
 [[package]]
 name = "restructuredtext-lint"
@@ -292,41 +292,109 @@ python-versions = "*"
 
 [[package]]
 name = "sphinx"
-version = "1.8.5"
+version = "3.5.3"
 description = "Python documentation generator"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.5"
 
 [package.dependencies]
 alabaster = ">=0.7,<0.8"
-babel = ">=1.3,<2.0 || >2.0"
+babel = ">=1.3"
 colorama = {version = ">=0.3.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.11"
+docutils = ">=0.12"
 imagesize = "*"
 Jinja2 = ">=2.3"
 packaging = "*"
 Pygments = ">=2.0"
-requests = ">=2.0.0"
-six = ">=1.5"
+requests = ">=2.5.0"
 snowballstemmer = ">=1.1"
-sphinxcontrib-websupport = "*"
+sphinxcontrib-applehelp = "*"
+sphinxcontrib-devhelp = "*"
+sphinxcontrib-htmlhelp = "*"
+sphinxcontrib-jsmath = "*"
+sphinxcontrib-qthelp = "*"
+sphinxcontrib-serializinghtml = "*"
 
 [package.extras]
-test = ["mock", "pytest", "pytest-cov", "html5lib", "flake8 (>=3.5.0)", "flake8-import-order", "enum34", "mypy", "typed-ast"]
-websupport = ["sqlalchemy (>=0.9)", "whoosh (>=2.0)"]
+docs = ["sphinxcontrib-websupport"]
+lint = ["flake8 (>=3.5.0)", "isort", "mypy (>=0.800)", "docutils-stubs"]
+test = ["pytest", "pytest-cov", "html5lib", "cython", "typed-ast"]
 
 [[package]]
 name = "sphinx-rtd-theme"
-version = "0.4.3"
+version = "0.5.2"
 description = "Read the Docs theme for Sphinx"
 category = "dev"
 optional = false
 python-versions = "*"
 
 [package.dependencies]
+docutils = "<0.17"
 sphinx = "*"
 
+[package.extras]
+dev = ["transifex-client", "sphinxcontrib-httpdomain", "bump2version"]
+
+[[package]]
+name = "sphinxcontrib-applehelp"
+version = "1.0.2"
+description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+lint = ["flake8", "mypy", "docutils-stubs"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-devhelp"
+version = "1.0.2"
+description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+lint = ["flake8", "mypy", "docutils-stubs"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-htmlhelp"
+version = "1.0.3"
+description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+lint = ["flake8", "mypy", "docutils-stubs"]
+test = ["pytest", "html5lib"]
+
+[[package]]
+name = "sphinxcontrib-jsmath"
+version = "1.0.1"
+description = "A sphinx extension which renders display math in HTML via JavaScript"
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+test = ["pytest", "flake8", "mypy"]
+
+[[package]]
+name = "sphinxcontrib-qthelp"
+version = "1.0.3"
+description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
+category = "dev"
+optional = false
+python-versions = ">=3.5"
+
+[package.extras]
+lint = ["flake8", "mypy", "docutils-stubs"]
+test = ["pytest"]
+
 [[package]]
 name = "sphinxcontrib-serializinghtml"
 version = "1.1.4"
@@ -339,21 +407,6 @@ python-versions = ">=3.5"
 lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
 
-[[package]]
-name = "sphinxcontrib-websupport"
-version = "1.2.4"
-description = "Sphinx API for Web Apps"
-category = "dev"
-optional = false
-python-versions = ">=3.5"
-
-[package.dependencies]
-sphinxcontrib-serializinghtml = "*"
-
-[package.extras]
-lint = ["flake8"]
-test = ["pytest", "sqlalchemy", "whoosh", "sphinx"]
-
 [[package]]
 name = "stevedore"
 version = "3.3.0"
@@ -391,21 +444,21 @@ python-versions = "*"
 
 [[package]]
 name = "urllib3"
-version = "1.26.2"
+version = "1.26.4"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, <4"
 
 [package.extras]
-brotli = ["brotlipy (>=0.6.0)"]
 secure = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "certifi", "ipaddress"]
-socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7,<2.0)"]
+socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
+brotli = ["brotlipy (>=0.6.0)"]
 
 [metadata]
 lock-version = "1.1"
 python-versions = "^3.8"
-content-hash = "383f496c8938184431ac13f3086cc28e4601e4f07b121dc98ff1f1752ed0cf11"
+content-hash = "72f3e4266f045ac29346409478c8545ef3199193c921ca8eb4e6143dc225e0ce"
 
 [metadata.files]
 alabaster = [
@@ -421,7 +474,6 @@ babel = [
     {file = "Babel-2.9.0.tar.gz", hash = "sha256:da031ab54472314f210b0adcff1588ee5d1d1d0ba4dbd07b94dba82bde791e05"},
 ]
 black = [
-    {file = "black-20.8b1-py3-none-any.whl", hash = "sha256:70b62ef1527c950db59062cda342ea224d772abdf6adc58b86a45421bab20a6b"},
     {file = "black-20.8b1.tar.gz", hash = "sha256:1c02557aa099101b9d21496f8a914e9ed2222ef70336404eeeac8edba836fbea"},
 ]
 certifi = [
@@ -449,8 +501,8 @@ docutils = [
     {file = "docutils-0.16.tar.gz", hash = "sha256:c2de3a60e9e7d07be26b7f2b00ca0309c207e06c100f9cc2a94931fc75a478fc"},
 ]
 flake8 = [
-    {file = "flake8-3.8.4-py2.py3-none-any.whl", hash = "sha256:749dbbd6bfd0cf1318af27bf97a14e28e5ff548ef8e5b1566ccfb25a11e7c839"},
-    {file = "flake8-3.8.4.tar.gz", hash = "sha256:aadae8761ec651813c24be05c6f7b4680857ef6afaae4651a4eccaef97ce6c3b"},
+    {file = "flake8-3.9.0-py2.py3-none-any.whl", hash = "sha256:12d05ab02614b6aee8df7c36b97d1a3b2372761222b19b58621355e82acddcff"},
+    {file = "flake8-3.9.0.tar.gz", hash = "sha256:78873e372b12b093da7b5e5ed302e8ad9e988b38b063b61ad937f26ca58fc5f0"},
 ]
 idna = [
     {file = "idna-2.10-py2.py3-none-any.whl", hash = "sha256:b97d804b1e9b523befed77c48dacec60e6dcb0b5391d57af6a65a312a90648c0"},
@@ -461,8 +513,8 @@ imagesize = [
     {file = "imagesize-1.2.0.tar.gz", hash = "sha256:b1f6b5a4eab1f73479a50fb79fcf729514a900c341d8503d62a62dbc4127a2b1"},
 ]
 jinja2 = [
-    {file = "Jinja2-2.11.2-py2.py3-none-any.whl", hash = "sha256:f0a4641d3cf955324a89c04f3d94663aa4d638abe8f733ecd3582848e1c37035"},
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@@ -598,21 +669,37 @@ snowballstemmer = [
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pybricks/_common.py

@@ -54,8 +54,8 @@ class Control:
             motor this is the number of encoder pulses per degree of rotation.
     """
 
-    def limits(self, speed, acceleration, actuation):
-        """Configures the maximum speed, acceleration, and actuation.
+    def limits(self, speed, acceleration, duty, torque):
+        """Configures the maximum speed, acceleration, duty, and torque.
 
         If no arguments are given, this will return the current values.
 
@@ -64,8 +64,10 @@ class Control:
                 Maximum speed. All speed commands will be capped to this value.
             acceleration (:ref:`acceleration` or :ref:`linacceleration`):
                 Maximum acceleration.
-            actuation (:ref:`percentage`):
-                Maximum actuation as percentage of absolute maximum.
+            duty (:ref:`percentage`):
+                Maximum duty cycle during control.
+            torque (:ref:`torque`):
+                Maximum feedback torque during control.
         """
         pass
 
@@ -75,11 +77,14 @@ class Control:
         If no arguments are given, this will return the current values.
 
         Arguments:
-            kp (int): Proportional position (or integral speed) control
-                constant.
-            ki (int): Integral position control constant.
+            kp (int): Proportional position control
+                constant. It is the feedback torque per degree of
+                error: µNm/deg.
+            ki (int): Integral position control constant. It is the feedback
+                torque per accumulated degree of error: µNm/(deg s).
             kd (int): Derivative position (or proportional speed) control
-                constant.
+                constant. It is the feedback torque per
+                unit of speed: µNm/(deg/s).
             integral_range (:ref:`angle` or :ref:`distance`): Region around
                 the target angle or distance, in which integral control errors
                 are accumulated.
@@ -139,6 +144,21 @@ class Control:
         """
         pass
 
+    def load(self):
+        """Gets the load acting on the ``Motor`` or ``DriveBase``.
+
+        This value is determined from the feedback torque that is
+        needed to track the speed or position command given by the user.
+
+        When coasting, braking, or controlling the duty cycle manually, the
+        load cannot be estimated in this way. Then this method returns zero.
+
+        Returns:
+            :ref:`torque`: The load torque. It returns 0 if control
+            is not active.
+        """
+        pass
+
 
 class Motor(DCMotor):
     """Generic class to control motors with built-in rotation sensors."""
@@ -247,7 +267,7 @@ class Motor(DCMotor):
         given target angle.
 
         The direction of rotation is automatically selected based on the target
-        angle. It does matter if ``speed`` is positive or negative.
+        angle. It does not matter if ``speed`` is positive or negative.
 
         Arguments:
             speed (:ref:`speed`): Speed of the motor.
@@ -266,7 +286,7 @@ class Motor(DCMotor):
         Arguments:
             speed (:ref:`speed`): Speed of the motor.
             then (Stop): What to do after coming to a standstill.
-            duty_limit (:ref:`percentage`): Torque limit during this
+            duty_limit (:ref:`percentage`): Duty cycle limit during this
                 command. This is useful to avoid applying the full motor
                 torque to a geared or lever mechanism.
 
@@ -668,7 +688,7 @@ class Keypad:
         """Checks which buttons are currently pressed.
 
         :returns: Tuple of pressed buttons.
-        :rtype: Tuple of :class:`Button <.parameters.Button>`
+        :rtype: Tuple of :class:`Button`
 
         """
         pass
@@ -695,7 +715,31 @@ class Battery:
         pass
 
 
-class Accelerometer:
+class SimpleAccelerometer:
+    """Get measurements from an accelerometer."""
+
+    def acceleration(self):
+        """Gets the acceleration of the device.
+
+        Returns:
+            tuple of :ref:`linacceleration_m`: Acceleration along all three
+            axes.
+        """
+        pass
+
+    def up(self):
+        """Checks which side of the hub currently faces upward.
+
+        :returns:
+            ``Side.TOP``, ``Side.BOTTOM``, ``Side.LEFT``, ``Side.RIGHT``,
+            ``Side.FRONT`` or ``Side.BACK``.
+        :rtype: :class:`Side`
+
+        """
+        pass
+
+
+class Accelerometer(SimpleAccelerometer):
     """Get measurements from an accelerometer."""
 
     def neutral(self, top, front):
@@ -766,17 +810,6 @@ class Accelerometer:
         """
         pass
 
-    def up(self):
-        """Checks which side of the device or hub currently faces upward.
-
-        :returns:
-            ``Side.TOP``, ``Side.BOTTOM``, ``Side.LEFT``, ``Side.RIGHT``,
-            ``Side.FRONT`` or ``Side.BACK``.
-        :rtype: :class:`Side <.parameters.Side>`
-
-        """
-        pass
-
 
 class IMU(Accelerometer):
 

pybricks/ev3devices.py

@@ -130,7 +130,7 @@ class InfraredSensor:
             channel (int): Channel number of the remote.
 
         :returns: List of pressed buttons on the remote on selected channel.
-        :rtype: List of :class:`Button <.parameters.Button>`
+        :rtype: List of :class:`Button <Button>`
 
         """
         pass
@@ -144,7 +144,7 @@ class InfraredSensor:
         This method only works with the remote in channel 1.
 
         :returns: List of pressed buttons on the remote on selected channel.
-        :rtype: List of :class:`Button <.parameters.Button>`
+        :rtype: List of :class:`Button <Button>`
 
         """
         pass

pybricks/hubs.py

@@ -4,7 +4,8 @@
 """LEGO® Programmable Hubs."""
 from ._common import (Speaker as _Speaker, Battery as _Battery,
                       ColorLight as _ColorLight, Keypad as _Keypad,
-                      LightMatrix as _LightMatrix, IMU as _IMU)
+                      LightMatrix as _LightMatrix, IMU as _IMU,
+                      SimpleAccelerometer as _SimpleAccelerometer)
 from .media.ev3dev import Image as _Image
 from .parameters import Button as _Button
 from .geometry import Axis as _Axis
@@ -35,6 +36,7 @@ class MoveHub:
     # In reality, they are instance attributes created by __init__.
     battery = _Battery()
     light = _ColorLight()
+    imu = _SimpleAccelerometer()
 
 
 class CityHub:

pybricks/iodevices.py

@@ -197,7 +197,7 @@ class UARTDevice:
             port (Port): Port to which the device is connected.
             baudrate (int): Baudrate of the UART device.
             timeout (:ref:`time`): How long to wait
-                during :meth:`.read` before giving up. If you choose ``None``,
+                during ``read`` before giving up. If you choose ``None``,
                 it will wait forever.
         """
         pass

pybricks/messaging.py

@@ -180,5 +180,5 @@ class BluetoothMailboxClient:
                 There was a problem establishing the connection.
         """
 
-    def close(self):
+    def server_close(self):
         """Closes all connections."""

pybricks/messaging.pyi

@@ -40,7 +40,7 @@ class BluetoothMailboxServer(Connection):
     def __enter__(self) -> BluetoothMailboxServer: ...
     def __exit__(self, type, value, traceback) -> None: ...
     def wait_for_connection(self, count: int = 1) -> None: ...
-    def close(self) -> None: ...
+    def server_close(self) -> None: ...
 
 class BluetoothMailboxClient(Connection):
     def __enter__(self) -> BluetoothMailboxClient: ...

pybricks/nxtdevices.py

@@ -81,9 +81,8 @@ class ColorSensor:
 
         :returns:
             ``Color.BLACK``, ``Color.BLUE``, ``Color.GREEN``, ``Color.YELLOW``,
-            ``Color.RED``, ``Color.WHITE`` or ``None``.
-        :rtype: :class:`Color <.parameters.Color>`, or ``None`` if no color is
-                detected.
+            ``Color.RED``, ``Color.WHITE`` or ``Color.NONE``.
+        :rtype: :class:`Color <.parameters.Color>`
 
         """
         pass
@@ -250,7 +249,7 @@ class VernierAdapter(_AnalogSensor):
 
         Arguments:
             port (Port): Port to which the sensor is connected.
-            conversion (callable): Function of the format :meth:`.conversion`.
+            conversion (callable): Function of the format ``conversion``.
                 This function is used to convert the raw analog voltage to the
                 sensor-specific output value. Each Vernier Sensor has its
                 own conversion function. The example given below demonstrates

pybricks/parameters.py

@@ -30,16 +30,13 @@ class _PybricksEnum(_Enum, metaclass=_PybricksEnumMeta):
 class Color:
     """Light or surface color."""
 
-    def __init__(self, h, s=100, v=100, name=None):
+    def __init__(self, h, s=100, v=100):
         self.h = h % 360
         self.s = max(0, min(s, 100))
         self.v = max(0, min(v, 100))
-        self.name = name
 
     def __repr__(self):
-        name_str = '' if self.name is None else ", '{}'".format(self.name)
-
-        return "Color({}, {}, {}{})".format(self.h, self.s, self.v, name_str)
+        return "Color(h={}, s={}, v={})".format(self.h, self.s, self.v)
 
     def __eq__(self, other):
         return (isinstance(other, Color) and
@@ -59,17 +56,19 @@ class Color:
         return self.__mul__(1/scale)
 
 
-Color.BLACK = Color(0, 0, 0, 'BLACK')
-Color.GRAY = Color(0, 0, 50, 'GRAY')
-Color.WHITE = Color(0, 0, 100, 'WHITE')
-Color.RED = Color(0, 100, 100, 'RED')
-Color.ORANGE = Color(30, 100, 100, 'ORANGE')
-Color.YELLOW = Color(60, 100, 100, 'YELLOW')
-Color.GREEN = Color(120, 100, 100, 'GREEN')
-Color.CYAN = Color(180, 100, 100, 'CYAN')
-Color.BLUE = Color(240, 100, 100, 'BLUE')
-Color.VIOLET = Color(270, 100, 100, 'VIOLET')
-Color.MAGENTA = Color(300, 100, 100, 'MAGENTA')
+Color.NONE = Color(0, 0, 0)
+Color.BLACK = Color(0, 0, 10)
+Color.GRAY = Color(0, 0, 50)
+Color.WHITE = Color(0, 0, 100)
+Color.RED = Color(0, 100, 100)
+Color.ORANGE = Color(30, 100, 100)
+Color.BROWN = Color(30, 100, 50)
+Color.YELLOW = Color(60, 100, 100)
+Color.GREEN = Color(120, 100, 100)
+Color.CYAN = Color(180, 100, 100)
+Color.BLUE = Color(240, 100, 100)
+Color.VIOLET = Color(270, 100, 100)
+Color.MAGENTA = Color(300, 100, 100)
 
 
 class Port(_PybricksEnum):
@@ -91,53 +90,31 @@ class Port(_PybricksEnum):
 
 
 class Stop(_PybricksEnum):
-    """Action after the motor stops: coast, brake, or hold.
-
-    .. data:: COAST
-
-        Let the motor move freely.
-
-    .. data:: BRAKE
-
-        Passively resist small external forces.
-
-    .. data:: HOLD
-
-        Keep controlling the motor to hold it at the commanded angle. This is
-        only available on motors with encoders.
-    """
+    """Action after the motor stops."""
 
     COAST = 0
+    """Let the motor move freely."""
+
     BRAKE = 1
+    """Passively resist small external forces."""
+
     HOLD = 2
+    """Keep controlling the motor to hold it at the commanded angle. This is
+    only available on motors with encoders."""
 
 
 class Direction(_PybricksEnum):
-    """Rotational direction for positive speed or angle values.
-
-    .. data:: CLOCKWISE
-
-        A positive speed value should make the motor move clockwise.
-
-    .. data:: COUNTERCLOCKWISE
-
-        A positive speed value should make the motor move counterclockwise.
-
-    +--------------------------------+-------------------+-----------------+
-    | ``positive_direction =``       | Positive speed:   | Negative speed: |
-    +================================+===================+=================+
-    | ``Direction.CLOCKWISE``        | clockwise         | counterclockwise|
-    +--------------------------------+-------------------+-----------------+
-    | ``Direction.COUNTERCLOCKWISE`` | counterclockwise  | clockwise       |
-    +--------------------------------+-------------------+-----------------+
-    """
+    """Rotational direction for positive speed or angle values."""
 
     CLOCKWISE = 0
+    """A positive speed value should make the motor move clockwise."""
+
     COUNTERCLOCKWISE = 1
+    """A positive speed value should make the motor move counterclockwise."""
 
 
 class Button(_PybricksEnum):
-    """Buttons on a brick or remote"""
+    """Buttons on a hub or remote."""
 
     LEFT_DOWN = 1
     LEFT_MINUS = 1
@@ -157,16 +134,7 @@ class Button(_PybricksEnum):
 
 
 class Side(_PybricksEnum):
-    """Side of a hub or a sensor. These devices are
-    mostly rectangular boxes with six sides:
-
-    .. data:: TOP
-    .. data:: BOTTOM
-    .. data:: FRONT
-    .. data:: BACK
-    .. data:: LEFT
-    .. data:: RIGHT
-    """
+    """Side of a hub or a sensor."""
 
     RIGHT = 6
     FRONT = 0

pybricks/parameters.pyi

@@ -4,13 +4,17 @@
 class Color:
     BLACK: Color
     BLUE: Color
-    GREEN: Color
-    YELLOW: Color
-    RED: Color
-    WHITE: Color
     BROWN: Color
+    CYAN: Color
+    GRAY: Color
+    GREEN: Color
+    MAGENTA: Color
+    NONE: Color
     ORANGE: Color
-    PURPLE: Color
+    RED: Color
+    VIOLET: Color
+    WHITE: Color
+    YELLOW: Color
     def __mul__(self, scale: float) -> Color: ...
     def __rmul__(self, scale: float) -> Color: ...
     def __truediv__(self, scale: float) -> Color: ...

pybricks/pupdevices.py

@@ -91,7 +91,7 @@ class ColorDistanceSensor:
         You choose which colors are detected using the
         :meth:`.detectable_colors` method. By default, it detects
         ``Color.RED``, ``Color.YELLOW``, ``Color.GREEN``, ``Color.BLUE``,
-        ``Color.WHITE``, or ``None``.
+        ``Color.WHITE``, or ``Color.NONE``.
 
         :returns:
             Detected color.
@@ -128,11 +128,10 @@ class ColorDistanceSensor:
         as a tuple.
 
         Arguments:
-            colors (list): List of :class:`Color <.parameters.Color>` objects:
+            colors (list): Tuple of :class:`Color <.parameters.Color>` objects:
                 the colors that you want to detect. You can pick
                 standard colors such as ``Color.MAGENTA``, or provide your own
-                colors like
-                ``Color(h=348, s=96, v=40, name='MY_MAGENTA_BRICK')`` for even
+                colors like ``Color(h=348, s=96, v=40)`` for even
                 better results. You measure your own colors with the
                 :meth:`.hsv` method.
         """
@@ -210,7 +209,7 @@ class ColorSensor:
         You choose which colors are detected using the
         :meth:`.detectable_colors` method. By default, it detects
         ``Color.RED``, ``Color.YELLOW``, ``Color.GREEN``, ``Color.BLUE``,
-        ``Color.WHITE``, or ``None``.
+        ``Color.WHITE``, or ``Color.NONE``.
 
         Arguments:
             surface (bool): Choose ``true`` to scan the color of objects
@@ -233,11 +232,10 @@ class ColorSensor:
         as a tuple.
 
         Arguments:
-            colors (list): List of :class:`Color <.parameters.Color>` objects:
+            colors (list): Tuple of :class:`Color <.parameters.Color>` objects:
                 the colors that you want to detect. You can pick
                 standard colors such as ``Color.MAGENTA``, or provide your own
-                colors like
-                ``Color(h=348, s=96, v=40, name='MY_MAGENTA_BRICK')`` for even
+                colors like ``Color(h=348, s=96, v=40)`` for even
                 better results. You measure your own colors with the
                 :meth:`.hsv` method.
         """

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.0.0a3"
+version = "3.0.0b6"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 authors = ["The Pybricks Authors <dev@pybricks.com>"]
 maintainers = ["Laurens Valk <laurens@pybricks.com>", "David Lechner <david@pybricks.com>" ]
@@ -20,10 +20,10 @@ python = "^3.8"
 
 [tool.poetry.dev-dependencies]
 black = {version = "^20.8b1", allow-prereleases = true}
-doc8 = "*"
-flake8 = "*"
-sphinx = "==1.8.5"
-sphinx-rtd-theme = "==0.4.3"
+doc8 = "^0.8.1"
+flake8 = "^3.8.4"
+Sphinx = "==3.5.3"
+sphinx-rtd-theme = "==0.5.2"
 toml = "^0.10.0"
 
 [build-system]

rtd-requirements.txt

@@ -1,5 +1,5 @@
 # This file is strictly for building docs on readthedocs.org
 # See pyproject.toml for local development
-Sphinx==1.8.5
-sphinx-rtd-theme==0.4.3
+Sphinx==3.5.3
+sphinx-rtd-theme==0.5.2
 toml