v3.6.1

For some reason this was not caught by CI.

.github/workflows/build.yml

@@ -1,26 +1,30 @@
 # This workflow will install Python dependencies, run tests and lint with a variety of Python versions
 # For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
 
-name: Python package
+name: Build Python package and docs
+
+on: 
+  push:
+    tags-ignore:
+      - '**'
+  pull_request:
+    paths:
+      - doc/**
+      - src/**
+      - poetry.lock
+      - poetry.toml
+      - pyproject.toml
+      - setup.cfg
 
-on: [ push, pull_request ]
 
 jobs:
   build:
 
-    runs-on: ubuntu-20.04
-    strategy:
-      matrix:
-        python-version: [3.8, 3.9]
-
+    runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: recursive
-    - name: Set up Python ${{ matrix.python-version }}
-      uses: actions/setup-python@v1
-      with:
-        python-version: ${{ matrix.python-version }}
     - name: Install dependencies
       run: |
         pip install poetry
@@ -35,9 +39,9 @@ jobs:
       run: poetry run doc8
     - name: Build html docs for Read the Docs
       run: poetry run make -C doc html
-    - name: Instal IDE docs dependencies
+    - name: Install IDE docs dependencies
       run: |
         sudo apt-get update
         sudo apt-get install dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
     - name: Build html docs for Pybricks Code IDE
-      run: poetry run make -C doc html SOURCEDIR=ide
+      run: poetry run make -C doc html TAG=ide

.github/workflows/jedi.yml

@@ -0,0 +1,30 @@
+name: pybricks_jedi
+
+on: [push, pull_request]
+
+jobs:
+  test:
+    if: github.ref_type != 'tag'
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    - run: pipx install poetry
+    - run: poetry install
+      working-directory: ./jedi
+    - run: poetry run pytest -vv
+      working-directory: ./jedi
+
+  publish:
+    if: github.ref_type == 'tag' && startsWith(github.ref_name, 'pybricks_jedi/')
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    - run: pipx install poetry
+    - run: poetry install
+      working-directory: ./jedi
+    - run: poetry build
+      working-directory: ./jedi
+    - run: poetry publish
+      working-directory: ./jedi
+      env:
+        POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_PYBRICKS_JEDI_TOKEN }}

.github/workflows/publish-ide-docs.yml

@@ -7,17 +7,17 @@ on:
 
 jobs:
   publish_ide_docs:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - name: Ubuntu packages
       run: |
         sudo apt-get update
         sudo apt-get install -y dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: recursive
     - name: Set up Python 3.8
-      uses: actions/setup-python@v1
+      uses: actions/setup-python@v4
       with:
         python-version: 3.8
     - name: Install dependencies
@@ -25,14 +25,14 @@ jobs:
         pip install poetry
         poetry run python -m pip install --upgrade pip
         poetry run python -m pip install --upgrade setuptools
-        poetry install
-    - uses: actions/setup-node@v1
+        poetry install --only=doc
+    - uses: actions/setup-node@v3
       with:
         node-version: '14.x'
         registry-url: 'https://registry.npmjs.org'
     - run: yarn build
-      working-directory: doc/ide
+      working-directory: npm/ide-docs
     - run: yarn publish
-      working-directory: doc/ide
+      working-directory: npm/ide-docs
       env:
         NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.github/workflows/publish-images.yml

@@ -0,0 +1,23 @@
+name: Release @pybricks/images
+
+on:
+  push:
+    tags: 
+    - '@pybricks/images/**'
+
+jobs:
+  publish_ide_docs:
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    # Setup .npmrc file to publish to npm
+    - uses: actions/setup-node@v3
+      with:
+        node-version: '16.x'
+        registry-url: 'https://registry.npmjs.org'
+    - run: ./build.py
+      working-directory: npm/images
+    - run: yarn publish
+      working-directory: npm/images/build
+      env:
+        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.github/workflows/publish-jedi.yml

@@ -0,0 +1,23 @@
+name: Release @pybricks/jedi
+
+on:
+  push:
+    tags: 
+    - '@pybricks/jedi/**'
+
+jobs:
+  publish_jedi:
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    # Setup .npmrc file to publish to npm
+    - uses: actions/setup-node@v3
+      with:
+        node-version: '16.x'
+        registry-url: 'https://registry.npmjs.org'
+    - run: ./build.py
+      working-directory: npm/jedi
+    - run: yarn publish
+      working-directory: npm/jedi/build
+      env:
+        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.github/workflows/release.yml

@@ -0,0 +1,45 @@
+on:
+  push:
+    tags:
+    - 'v3.*'
+
+name: Create release on GitHub and PyPI
+
+permissions:
+  contents: write
+
+jobs:
+  create_release:
+    name: Create release on GitHub
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          submodules: true
+          fetch-depth: 0
+      - name: Get tag
+        run: echo "GITHUB_TAG=${GITHUB_REF#*refs/tags/}" >> $GITHUB_ENV
+      - name: Create release
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          tag: ${{ github.ref_name }}
+        run: |
+          if [[ "${{ contains(env.GITHUB_TAG, 'a') || contains(env.GITHUB_TAG, 'b') || contains(env.GITHUB_TAG, 'c') }}" == "true" ]]; then
+            PRERELEASE_FLAG="--prerelease"
+          else
+            PRERELEASE_FLAG=""
+          fi
+          gh release create "$tag" \
+              --repo="$GITHUB_REPOSITORY" \
+              --title="${tag#v}" \
+              -F CHANGELOG.md \
+              $PRERELEASE_FLAG
+  build_and_publish:
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    - run: pipx run poetry build
+    - run: pipx run poetry publish
+      env:
+        POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_TOKEN }}

.gitignore

@@ -26,8 +26,9 @@ build/
 build-*/
 _build/
 
-# Test failure outputs
+# Tests
 ######################
+.pytest_cache/
 tests/*.exp
 tests/*.out
 
@@ -57,3 +58,10 @@ genrst/
 # Virtual environment
 ######################
 .venv/
+.python-version
+
+# Generated LDRAW output
+######################
+stderr-ldview
+stdout-ldview
+LPub3D/

.readthedocs.yml

@@ -0,0 +1,24 @@
+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+build:
+  os: "ubuntu-22.04"
+  tools:
+    python: "3.10"
+  jobs:
+    post_create_environment:
+      - pip install poetry
+    post_install:
+      - VIRTUAL_ENV=$READTHEDOCS_VIRTUALENV_PATH poetry install --only=doc
+
+# Build documentation in the doc/main/ directory with Sphinx
+sphinx:
+  configuration: doc/main/conf.py
+
+# Optionally build your docs in additional formats such as PDF
+formats:
+   - pdf

.vscode/extensions.json

@@ -4,7 +4,8 @@
 
 	// List of extensions which should be recommended for users of this workspace.
 	"recommendations": [
-		"ms-python.python"
+		"ms-python.python",
+		"ms-python.black-formatter"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": [

.vscode/settings.json

@@ -1,12 +1,26 @@
 {
-    "python.pythonPath": "${workspaceFolder}/.venv",
-    "python.formatting.provider": "black",
-    "python.linting.pycodestyleEnabled": false,
+    "files.exclude": {
+      "**/__pycache__": true,
+    },
+    "python.defaultInterpreterPath": ".venv/bin/python",
+    "python.autoComplete.extraPaths": ["jedi/src"],
+    "python.formatting.provider": "none",
+    "python.linting.pylintEnabled": false,
     "python.linting.flake8Enabled": true,
+    "python.linting.pycodestyleEnabled": false,
     "python.linting.enabled": true,
+    "[python]": {
+        "editor.formatOnSave": true,
+        "editor.defaultFormatter": "ms-python.black-formatter"
+    },
     "python.languageServer": "Pylance",
+    "python.testing.pytestArgs": [
+        "jedi/tests"
+    ],
+    "python.testing.unittestEnabled": false,
+    "python.testing.pytestEnabled": true,
     "files.associations": {"*.inc": "restructuredtext"},
-    "restructuredtext.confPath": "${workspaceFolder}/doc/api",
+    "restructuredtext.confPath": "${workspaceFolder}/doc/main",
     "spellright.language": [
         "en_US"
     ],
@@ -34,5 +48,12 @@
         "plaintext",
         "python",
         "restructuredtext",
-    ]
+    ],
+    "rewrap.wrappingColumn": 78,
+    "python.analysis.extraPaths": [
+        "jedi/src"
+    ],
+    "yaml.schemas": {
+        "https://json.schemastore.org/github-workflow.json": "file:///home/david/work/pybricks/pybricks-api/.github/workflows/build.yml"
+    },
 }

.vscode/spellright.dict

@@ -78,3 +78,4 @@ thermistor
 toctree
 TODO
 UART
+utf-8

CHANGELOG.md

@@ -0,0 +1,303 @@
+# Changelog
+
+<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
+
+## Unreleased
+
+## 3.6.1 - 2025-05-01
+
+### Fixed
+
+- Fixed missing `hub.system.info` method on some hubs.
+
+## 3.6.0 - 2025-03-11
+
+### Changed
+
+- Update API for firmware 3.6.0. See upstream changelog for details.
+
+## 3.6.0b5 - 2025-02-26
+
+### Changed
+
+- Update API for firmware 3.6.0b5. See upstream changelog for details.
+
+## 3.5.0 - 2024-04-11
+
+### Changed
+- Bump version to 3.5.0 without additional changes.
+
+## 3.5.0b2 - 2024-04-05
+
+### Added
+
+- Added `pybricks.pupdevices.Remote.disconnect` method.
+- Added blocks for `up`, `ready` and `stationary` for IMUs.
+- Added `last` and `chr` parameters to `read_input_byte` and add blocks.
+- Added block for the `in` operation.
+- Add double ternary block.
+
+## 3.5.0b1 - 2024-03-11
+
+### Added
+
+- Added `XboxController.rumble` method.
+- Added block icons for `hub.system.set_stop_button` and `hub.system.shutdown`.
+- Added program stop block (`raise SystemExit`).
+
+## 3.4.1 - 2024-03-11
+
+### Fixed
+
+- Fixed Read The Docs virtual environment workflow.
+
+## 3.4.0 - 2024-03-11
+
+### Changed
+
+- Update list block screenshots to match implementation.
+
+## 3.4.0b5 - 2024-03-05
+
+### Changed
+
+- Updates for v3.4.0b3 firmware (out of sync with docs).
+- Changed `hub.button` to `hub.buttons` on single button hubs. Access via
+ `hub.button` will keep working in the firmware for backwards compatibility.
+
+## 3.4.0b4 - 2024-02-14
+
+### Added
+
+- Added `pybricks.iodevices.XboxController` class.
+
+### Changed
+
+- Changed `buttons.pressed` return type to set.
+
+## 3.4.0b3 - 2024-01-30
+
+### Added
+
+- Added `pybricks.robotics.Car` class.
+
+### Changed
+
+- Changed `pybricks.robotics.DriveBase` icon to two wheels instead of steering
+  wheel, which will be used for the new car class.
+
+## 3.4.0b2 - 2023-11-28
+
+### Changed
+- Include first batch of block coding images.
+
+## 3.3.0 - 2023-11-24
+
+### Changed
+- Bump beta version to release version with no further changes.
+
+## 3.3.0c1 - 2023-11-20
+
+### Added
+- Enabled tilt and orientation config for `MoveHub()`.
+- Documented `Motor.close()`
+
+## Fixed
+- Fixed missing awaitable for `Remote.light` and LWP3 writes.
+
+## 3.3.0b9 - 2023-10-26
+
+### Changed
+- Changed the beta feature for using the hub's gyro. Gyro control can now be
+  toggled using `use_gyro` instead of using a separate `GyroDriveBase` class.
+- Documentation updates to match firmware 3.3.0b5--3.3.0b9 updates.
+
+### Added
+- Added `set` to `ubuiltins` module.
+- Basic multitasking docs.
+- Awaitable keyword for awaitable methods and functions.
+
+## 3.3.0b5 - 2023-05-16
+
+### Added
+- Documented new `hub.ble` methods.
+
+## 3.3.0b4 - 2023-04-21
+
+### Added
+- Documented `integral_deadzone` in `Control.pid()`.
+- Documented `Motor.model`. This can be used to view the estimated motor
+  state and change its settings.
+- Added `rotation`, `orientation`, `ready`, `stationary` and `settings` methods
+  to `IMU` class.
+- Added `GyroDriveBase` class to `pybricks.robotics`.
+
+### Changed
+- Change implementation status of `IMU.heading` and `IMU.reset_heading`. They
+  are now implemented, with some limitations as noted in a note box.
+- Moved `Matrix` and `vector` from `pybricks.geometry` to `pybricks.tools`.
+- Moved `Axis` from `pybricks.geometry` to `pybricks.parameters`.
+
+### Removed
+- Removed `pybricks.geometry` module.
+
+## 3.2.0 - 2022-12-20
+
+### Changed
+- Changed module TOC headings to make it easier to find things.
+
+## 3.2.0c1 - 2022-12-09
+
+### Changed
+- Updated "front" side of the Technic Hub to be consistent with
+  the Prime Hub.
+
+## 3.2.0b6 - 2022-12-02
+
+### Added
+- Documented ``Stop.NONE`` and ``Stop.COAST_SMART``.
+- Documented ``ujson`` module.
+- Added `done` and `stalled` methods for `DriveBase`.
+
+### Changed
+- Changed `PrimeHub.display.image()` to `PrimeHub.display.icon()` and renamed
+  its kwarg from `image` to `icon`.
+- Improved presentation and docstrings of the ``ubuiltins`` and other
+  MicroPython modules
+- Moved the random numbers example for Move Hub to the Move Hub page.
+- Moved `done()`, `stalled()`, `load()` from `Control` to `Motor` object.
+
+## 3.2.0b5 - 2022-11-11
+
+### Fixed
+- Fixed Jedi code completion for `Color` and `Icon` classes in `pybricks.parameters`.
+
+## 3.2.0b4 - 2022-10-21
+
+### Added
+- Code auto-completion for `EssentialHub`.
+- Added `System.storage` method.
+
+### Fixed
+- Fixed some type hints in `parameters` submodule.
+
+## 3.2.0b1-r3 - 2022-06-26
+
+### Fixed
+- Fixed more type hints and improved compatibility with jedi.
+
+## 3.2.0b1-r2 - 2022-06-24
+
+### Changed
+- Moved remaining type hints from `.pyi` files to the python stub modules, and
+  fixed numerous errors in the type hints throughout.
+
+## 3.2.0b1-r1 - 2022-06-09
+
+### Added
+- Added `__init__.py` to `pybricks` package.
+
+## 3.2.0b1 - 2022-06-02
+
+### Added
+- Code auto-completion for `hub.charger`, `hub.imu` and `hub.system`.
+- Moved typing from several `.pyi` files to the actual python modules.
+
+### Fixed
+- Fixed code completion for `DCMotor` and `Motor` classes in MS Python VS Code extension.
+- Fixed missing `DCMotor` type in `ev3devices`.
+- Fixed type hint for `Motor.reset_angle()` in `pupdevices`.
+
+### Changed
+- Setter for acceleration can now also be used to set acceleration and
+  deceleration to different values, using a two-valued tuple.
+
+## 3.1.0 - 2021-12-16
+
+### Added
+- Added maximum voltage setter for `DCMotor` and `Motor`.
+- Documented `DriveBase.curve()` method.
+
+### Changed
+- Removed `duty` setting from `Control.limits` method.
+- Removed `integral_range` setting from `Control.pid` method.
+
+### Fixed
+- Fixed link to Color Light Matrix page.
+- Fixed link to Inventor Hub page.
+
+## 3.1.0rc1 - 2021-11-19
+
+### Added
+- Added `ColorLightMatrix` class.
+- Added `LWP3Device` class.
+
+**NOTE: version number after this point were from JavaScript package and do
+not correspond to Pybricks firmware version numbers.**
+
+## 1.6.0 - 2021-08-30
+
+### Added
+- MicroPython module documentation.
+- Examples for hub system functions including stop button and shutdown.
+
+### Changed
+- Build IDE docs as main docs with minor changes, instead of a completely
+  separate build.
+- Moved motor control documentation to the motor page.
+
+## 1.5.0 - 2021-07-01
+
+### Added
+- Documentation for Powered Up Remote Control.
+
+## 1.4.0 - 2021-06-23
+
+### Added
+- Enabled beta content that was hidden for the 3.0 release.
+- Added notice about using the latest beta version.
+
+## 1.3.3 - 2021-05-21
+
+### Changed
+- Match example snippet styling to IDE.
+- Add more examples.
+
+## 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
+
+### Added
+- Sphinx build output.

CONTRIBUTING.md

@@ -20,23 +20,103 @@ will actually be implemented.
 
 - Commit messages have a one-line subject, a blank line and a multiline body:
 
-        prefix: subject
+        prefix: Subject of the change.
 
         body...
 
-- Use a prefix to categorize the change. Usually this is the path the the file
-  being changed. 
-  - If it is a documentation change, it can be shortened to `doc/<file>` (omit
-    `api` from the path).
-  - If it is an API change (in the `pybricks` folder), write `api/<file>` 
-    instead of `pybricks/<file>`.
-- The subject briefly describes _what_ was changed, e.g. `fix typo`.
+- Use a prefix to categorize the change:
+  - Use the import path as the prefix whenever possible. Examples:
+     - pybricks.tools: Add StopWatch class.
+     - pybricks.tools: Reorganize RST files.
+     - pybricks.tools.StopWatch: Fix return type.
+     - pybricks.tools.wait: Add example of waiting.
+     - pybricks.pupdevices: Fix all sensor class ports.
+     - umath.sin: Fix spelling of Hypotenuse.
+  - If an import path makes no sense, just use the file path without
+    extensions:
+     - .vscode/settings: Fix file associations.
+- The subject briefly describes _what_ was changed. Use a short full sentence
+  as in the examples above.
 - The body describes _why_ the change was made, e.g. `The word "sensor" was
   spelled incorrectly`.
-- See the [commit history][commits] for more examples.
 
 [commits]: https://github.com/pybricks/pybricks-api/commits/master
 
+**General docstring principles:**
+
+The stubs libraries in this repository have two different purposes:
+1. Auto-generating documentation with Sphinx. For this purpose, the
+   documentation should be concise and clear.
+2. Provide autocomplete and intellisense in code editors. For this purpose,
+   the code needs to be 100% correct. This way, computers can parse your code
+   correctly and tell you when something is wrong.
+
+Since these objectives don't always align, we address these separately in the
+stubs library:
+
+1. The first line(s) of the docstring contain the function or method signature
+   as it should be displayed in the human-readable documentation.
+2. The real function signature can be as complex as it needs to be to make it
+   correct for intellisense. Overloads can be uses if needed.
+
+In the rare case where the docstring signature is the same as the typed
+version, we'll still include it for consistency.
+
+**Docstring details:**
+
+Make sure to look at existing function signatures and docstrings for
+inspiration when documenting new functionality. As an example, consider:
+
+```python
+def run_until_stalled(
+    self,
+    speed: Number,
+    then: Stop = Stop.COAST,
+    duty_limit: Optional[Number] = None,
+) -> int:
+    """
+    run_until_stalled(speed, then=Stop.COAST, duty_limit=None) -> int: deg
+
+    Runs the motor at a constant speed until it stalls.
+
+    Arguments:
+        speed (Number, deg/s): Speed of the motor.
+        then (Stop): What to do after coming to a standstill.
+        duty_limit (Number, %): Duty cycle limit during this
+            command. This is useful to avoid applying the full motor
+            torque to a geared or lever mechanism. If it is ``None``, the
+            duty limit won't be changed during this command.
+
+    Returns:
+        Angle at which the motor becomes stalled.
+    """
+```
+The real method signature at the top contains the full detail, including the
+type of each argument and return value.
+
+The docstring starts with the signature. Use more than one signature if needed
+to represent overloaded methods. The signatures are written in the way they
+should be displayed in the docs:
+- Argument types are omitted because they are also shown with the argument
+  description below.
+- Default values should be given (``then=Stop.COAST``).
+- The return type should be given (``-> int``). When applicable, include
+  the unit of the return value, so it becomes ``-> int: deg``
+
+Then follows a concise description of what this method, function, or class
+does.
+
+Then follows a list of arguments:
+- For each argument, include the expected type and unit if applicable, e.g.
+  ``(int)`` or ``(Number, deg/s)``.
+- Use ``Number`` when ``int`` and ``float`` are both allowed.
+- If the description is long, use the indentation shown above.
+- Make it readable. Instead
+  of ``Union[float, SupportsFloat, complex, SupportsComplex]``,
+  just say _float or complex_.
+
+Then follows a description of the return value. The type is omitted here since
+it is already include in the docstring signature.
 
 **Development environment:**
 
@@ -46,8 +126,8 @@ Prerequisites:
 - [Python 3][python]
 - [Poetry][poetry]
 
-Information on installing prerequisites can be found on the [pybricks-micropython
-wiki][wiki].
+Information on installing prerequisites can be found on the
+[pybricks-micropython contributor's guide][contributing].
 
 Initial setup:
 
@@ -59,15 +139,24 @@ Build docs:
 
     # Linux
     poetry run make -C doc html
-    xdg-open doc/api/build/html/index.html
+    xdg-open doc/main/build/html/index.html
 
     # macOS
     poetry run make -C doc html
-    open doc/api/build/html/index.html
+    open doc/main/build/html/index.html
 
     # Windows (PowerShell)
     poetry run doc\make.bat html
-    Invoke-Item doc\api\build\html\index.html
+    Invoke-Item doc\main\build\html\index.html
+
+Building IDE docs variant:
+
+    # Linux/macOS
+    poetry run make -C doc html TAG=ide
+
+    # Windows (PowerShell)
+    $env:TAG="ide"
+    poetry run doc\make.bat html
 
 Linting:
 
@@ -78,4 +167,4 @@ Linting:
 [git]: https://git-scm.com/
 [python]: https://www.python.org/
 [poetry]: https://python-poetry.org/
-[wiki]: https://github.com/pybricks-micropython/wiki
+[contributing]: https://github.com/pybricks/pybricks-micropython/blob/master/CONTRIBUTING.md

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2018-2021 The Pybricks Authors
+Copyright (c) 2018-2022 The Pybricks Authors
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.rst

@@ -12,6 +12,11 @@ used to generate the `official documentation`_.
 See the `contributor's guide <CONTRIBUTING.md>`_ for acceptable changes and
 instructions to build the documentation locally.
 
+You can use the API stubs in this repository for syntax highlighting and code
+completion when programming the EV3 with VS Code. To enable, remove the
+``"python.languageServer"="None"`` line in the ``.vscode/settings.json`` file
+generated by the *LEGO® MINDSTORMS® EV3 MicroPython* extension.
+
 For general discussion, please visit the `support`_ issue tracker.
 
 .. _Pybricks package: pybricks

doc/Makefile

@@ -5,20 +5,21 @@
 SPHINXOPTS    = -W
 SPHINXBUILD   = sphinx-build
 SPHINXPROJ    = Pybricks
-SOURCEDIR     = api
+SOURCEDIR     = main
 BUILDDIR      = "$(SOURCEDIR)"/build
+TAG           = main
 
 # Put it first so that "make" without argument is like "make help".
 help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(TAG) $(O)
 
 .PHONY: help Makefile
 
 diagrams:
-	@$(MAKE) -C "$(SOURCEDIR)"/diagram_source clean
-	@$(MAKE) -C "$(SOURCEDIR)"/diagram_source
+	@$(MAKE) -C "$(SOURCEDIR)"/diagrams_source clean
+	@$(MAKE) -C "$(SOURCEDIR)"/diagrams_source
 
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) -t $(TAG) $(O)

doc/api/conf.py

@@ -1,22 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-#
-# Pybricks documentation build configuration file
-#
-import os
-
-# General information about the project.
-project = 'pybricks'
-copyright = '2018-2021 The Pybricks Authors'
-author = ''
-
-_TITLE = 'Pybricks Modules and Examples'
-_DISCLAIMER = 'LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are\
-               trademarks and/or copyrights of the LEGO Group of companies \
-               which does not sponsor, authorize or endorse this site.'
-
-html_favicon = '../common/images/favicon.ico'
-html_logo = '../common/images/pybricks-logo-rtd.png'
-latex_logo = '../common/images/pybricks-logo-large.png'
-
-exec(open(os.path.abspath("../common/conf.py")).read())

doc/api/diagram_source/Makefile

@@ -1,25 +0,0 @@
-
-SRC_DIR = .
-OUT_DIR = ../images
-
-POSTFIX := _label
-SVG := $(wildcard $(SRC_DIR)/*.svg)
-DIAGRAMS := $(patsubst $(SRC_DIR)/%.svg,$(OUT_DIR)/%$(POSTFIX).png,$(SVG))
-DIR := ${CURDIR}
-
-all: $(DIAGRAMS)
-
-clean:
-	rm -f $(DIAGRAMS)
-
-$(OUT_DIR)/%$(POSTFIX).png: $(SRC_DIR)/%.svg
-	if inkscape --version | grep -q "Inkscape 0"; then \
-		inkscape --file=$(DIR)/$< --export-area-drawing --export-png=$(DIR)/$@; \
-	else \
-		inkscape \
-			--export-area-drawing \
-			--export-background=white \
-			--export-background-opacity=1.0 \
-			--export-file=$(DIR)/$@ \
-			$(DIR)/$<; \
-	fi

doc/api/diagram_source/ev3motors.ldr

@@ -1,6 +0,0 @@
-0 Name: pupmotors
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-1 15 370 -296 -430 0 0 1 0 1 0 -1 0 0 95658.dat
-1 15 90 -296 -340 1 0 0 0 1 0 0 0 1 99455.dat
-1 15 610 -296 -580 0 0 1 0 -1 0 1 0 0 53787.dat

doc/api/diagram_source/ev3sensors.ldr

@@ -1,16 +0,0 @@
-0 Name: ev3sensors
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-1 15 390 -320 -200 1 0 0 0 1 0 0 0 1 95648.dat
-1 15 10 -320 -240 1 0 0 0 1 0 0 0 1 95652.dat
-1 15 310 -320 210 1 0 0 0 1 0 0 0 1 99380.dat
-1 15 -70 -320 170 1 0 0 0 1 0 0 0 1 95650.dat
-1 15 720 -320 370 1 0 0 0 1 0 0 0 1 95654.dat
-1 15 910 -400 150 -1 0 0 0 1 0 0 0 -1 72156.dat
-1 151 410 -320 -910 1 0 0 0 1 0 0 0 1 55969.dat
-1 151 730 -320 -880 1 0 0 0 1 0 0 0 1 64892.dat
-1 151 1000 -320 -1000 1 0 0 0 1 0 0 0 1 55963.dat
-1 151 -360 -320 -940 1 0 0 0 1 0 0 0 1 62840.dat
-1 151 90 -320 -970 1 0 0 0 1 0 0 0 1 53793.dat
-1 151 1250 -320 -580 1 0 0 0 1 0 0 0 1 53792.dat
-1 151 1340 -320 -970 1 0 0 0 1 0 0 0 1 55963.dat

doc/api/diagram_source/hubs.ldr

@@ -1,14 +0,0 @@
-0 Name: hubs.ldr
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-0 ROTATION CENTER 0 0 0 1 "Custom" 
-0 ROTATION CONFIG 0 0
-1 15 -20 -56 320 1 0 0 0 1 0 0 0 1 26910.dat
-1 15 -330 -80 110 0 0 1 0 1 0 -1 0 0 28738.dat
-1 71 -310 -40 390 1 0 0 0 1 0 0 0 1 22127.dat
-1 15 260 -16 90 1 0 0 0 1 0 0 0 1 45601p02.dat
-1 3 440 -16 10 1 0 0 0 1 0 0 0 1 45601c01.dat
-1 3 780 -16 -310 1 0 0 0 1 0 0 0 1 45601c01.dat
-1 15 -930 -40 360 1 0 0 0 1 0 0 0 1 95646c01.dat
-1 15 -1490 32 350 1 0 0 0 1 0 0 0 1 53788c01.dat
-0

doc/api/diagram_source/hubsoverview.ldr

@@ -1,11 +0,0 @@
-0 Name: hubsoverview.ldr
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-0 ROTATION CENTER 0 0 0 1 "Custom" 
-0 ROTATION CONFIG 0 0
-1 15 90 -56 300 1 0 0 0 1 0 0 0 1 26910.dat
-1 15 -150 -80 300 1 0 0 0 1 0 0 0 1 28738.dat
-1 71 -360 -40 120 -1 0 0 0 1 0 0 0 -1 22127.dat
-1 15 -160 -16 -40 1 0 0 0 1 0 0 0 1 45601p02.dat
-1 3 50 -16 -140 1 0 0 0 1 0 0 0 1 45601c01.dat
-0

doc/api/diagram_source/imu.ldr

@@ -1,40 +0,0 @@
-0 Name: imu.ldr
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-0 ROTATION CENTER 0 0 0 1 "Custom" 
-0 ROTATION CONFIG 0 0
-1 3 -80 -20 160 0 0 1 0 1 0 -1 0 0 45601c01.dat
-1 322 0 20 70 1 0 0 0 1 0 0 0 1 39367p01.dat
-1 322 -160 20 70 1 0 0 0 1 0 0 0 1 39367p01.dat
-1 322 0 20 250 1 0 0 0 1 0 0 0 1 39367p01.dat
-1 322 -160 20 250 1 0 0 0 1 0 0 0 1 39367p01.dat
-0 WRITE Type in the comment
-1 3 720 -80 170 0 0 -1 0 -1 0 -1 0 0 45601c01.dat
-1 322 800 20 80 1 0 0 0 1 0 0 0 1 39367p01.dat
-1 322 640 20 80 1 0 0 0 1 0 0 0 1 39367p01.dat
-1 322 800 20 260 1 0 0 0 1 0 0 0 1 39367p01.dat
-1 322 640 20 260 1 0 0 0 1 0 0 0 1 39367p01.dat
-0 WRITE Type in the comment
-1 3 720 -70 -630 0 1 0 0 0 -1 -1 0 0 45601c01.dat
-1 322 770 20 -720 1 0 0 0 1 0 0 0 1 39367p01.dat
-1 322 610 20 -720 1 0 0 0 1 0 0 0 1 39367p01.dat
-1 322 770 20 -540 1 0 0 0 1 0 0 0 1 39367p01.dat
-1 322 610 20 -540 1 0 0 0 1 0 0 0 1 39367p01.dat
-0 WRITE Type in the comment
-0 WRITE Type in the comment
-0 MLCAD BTG Group name
-1 71 -230 60 -780 0 0 1 -1 0 0 0 -1 0 55615.dat
-0 MLCAD BTG Group name
-1 4 -90 60 -800 0 0 1 -1 0 0 0 -1 0 32278.dat
-0 MLCAD BTG Group name
-1 2 -250 60 -640 0 1 0 -1 0 0 0 0 1 32278.dat
-0 MLCAD BTG Group name
-1 71 -230 40 -780 0 0 1 0 1 0 -1 0 0 55615.dat
-0 MLCAD BTG Group name
-1 1 -250 -100 -780 0 1 0 0 0 -1 -1 0 0 32278.dat
-0 GROUP 5 Group name
-1 15 -20 90 -570 0 0 -1 0 -1 0 -1 0 0 3811.dat
-1 15 720 90 -570 0 0 -1 0 -1 0 -1 0 0 3811.dat
-1 15 -30 90 190 0 0 -1 0 -1 0 -1 0 0 3811.dat
-1 15 720 90 190 0 0 -1 0 -1 0 -1 0 0 3811.dat
-0

doc/api/diagram_source/iodevices.ldr

@@ -1,486 +0,0 @@
-0 FILE main.ldr
-0 Name: ev3sensors
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=0] [GID=Iv9FbUdBPsB] [name=Group 1] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=1] [GID=IMOjEZg0eXo] [name=Group 2] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=2] [GID=7Zgg7xpsn7m] [name=Group 3] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=3] [GID=37IHSsFLUIW] [name=Group 4] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=4] [GID=78T5iMUZhPB] [name=Group 5] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=5] [GID=6l6RjlBcxBO] [name=Group 6] [center=0 0 0]
-0 !LDCAD GROUP_NXT [ids=2] [nrs=-1]
-1 1 1390 -320 -320 0 0 -30 0 1 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=2] [nrs=2]
-1 151 1390 -320 -370 1 0 0 0 1 0 0 0 1 54732b.dat
-0 !LDCAD GROUP_NXT [ids=3] [nrs=2]
-1 0 1510 -315 -390 0 0 -40 0 6 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=3] [nrs=-1]
-1 151 1510 -320 -440 1 0 0 0 1 0 0 0 1 54732b.dat
-0 !LDCAD GROUP_NXT [ids=0] [nrs=3]
-1 2 1350 -320 140 0 0 -30 0 1 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=0] [nrs=2]
-1 151 1350 -320 90 1 0 0 0 1 0 0 0 1 54732b.dat
-0 !LDCAD GROUP_NXT [ids=1] [nrs=2]
-1 2 1470 -320 60 0 0 -30 0 1 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=1] [nrs=3]
-1 0 1470 -320 110 1 0 0 0 1 0 0 0 1 u9218c01.dat
-0 !LDCAD GROUP_NXT [ids=0] [nrs=-1]
-1 0 1350 -321 170 -20 0 0 0 1 0 0 0 -10 box.dat
-0 !LDCAD GROUP_NXT [ids=1] [nrs=-1]
-1 0 1470 -321 30 -20 0 0 0 1 0 0 0 -10 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=8]
-1 0 1620 -320 -20 1 0 0 0 1 0 0 0 1 u9470c01.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=9]
-1 15 1620 -305 -20 1 0 0 0 1 0 0 0 1 u9218c01.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=7]
-1 2 1620 -320 -50 50 0 0 0 0 20 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=-1]
-1 0 1590 -320 -51 15 0 0 0 0 15 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=5]
-1 0 1650 -320 -51 0 0 -8 15 0 0 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=6]
-1 0 1630 -320 -51 0 0 8 -15 0 0 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=2]
-1 4 1665 -328 -51 0 0 2 -2 0 0 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=3]
-1 1 1665 -320 -51 0 0 2 -2 0 0 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=4]
-1 14 1665 -312 -51 0 0 2 -2 0 0 0 -1 0 box.dat
-1 151 1200 -392 -350 1 0 0 0 1 0 0 0 1 ms1040.dat
-
-
-0 !LDCAD GROUP_NXT [ids=5] [nrs=4]
-1 47 625 -780 -230 0 0 -1 0 -1 0 -1 0 0 55804.dat
-0 !LDCAD GROUP_NXT [ids=5] [nrs=3]
-1 0 695 -780 -309 0 0 -1 0 -1 0 -1 0 0 897.dat
-0 !LDCAD GROUP_NXT [ids=5] [nrs=2]
-1 0 695 -784 -314 -1 0 0 0 1 0 0 0 -1 elecCable2Brick-1.ldr
-0 !LDCAD GROUP_NXT [ids=5] [nrs=1]
-1 0 695 -784 -449 1 0 0 0 1 0 0 0 1 71427.dat
-1 0 990 -321 -330 -20 0 0 0 1 0 0 0 -10 box.dat
-1 151 990 -320 -410 1 0 0 0 1 0 0 0 1 54732b.dat
-1 6 990 -320 -360 0 0 -30 0 1 0 50 0 0 box.dat
-1 0 1100 -321 -440 -20 0 0 0 1 0 0 0 -10 box.dat
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-1 3 1100 -320 -470 0 0 -30 0 1 0 50 0 0 box.dat
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-1 151 1210 -320 -600 1 0 0 0 1 0 0 0 1 54732b.dat
-1 7 1210 -320 -550 0 0 -30 0 1 0 50 0 0 box.dat
-0 FILE elecCable2Brick-1.ldr
-0 Author: LDCad
-0 !LICENSE MIT
-0 !CATEGORY electric
-0 !KEYWORDS flexible, cable, 9V
-0 !LDCAD CONTENT [type=path] [addFallBack=default] [looped=false] [displayKind=mm] [curveStep=0] [displayLenCor=0]
-
-0 !LDCAD PATH_POINT [type=bezier] [posOri=0 4 15 0 0 1 -1 0 0 0 -1 0] [prevCPDist=25] [nextCPDist=25] [cirR=20] [cirDir=xyCW] [prevYRoll=0] [nextYRoll=0]
-0 !LDCAD PATH_POINT [type=bezier] [posOri=0 4 140 0 0 1 -1 0 0 0 -1 0] [prevCPDist=25] [nextCPDist=25] [cirR=20] [cirDir=xyCW] [prevYRoll=0] [nextYRoll=0]
-
-0 !LDCAD PATH_SKIN [donCol=16] [donOri=1 0 0 0 1 0 0 0 1] [donPart=ldcElecWire2Seg.dat] [donYSize=400%] [donCen=absCen] [donCenYOfs=0] [donFinScale=fitDon2Seg] [donPlace=deform] [donYAlign=0] [donInline=false] [segSize=100%] [segSizeTol=5%] [segsCnt=0] [segsGrp=0] [segsMaxMerge=10] [segsMrgAng=0] [segsMrgRollAng=0] [segsEdgeDelKind=keepFirstLeft]
-
-0 !LDCAD PATH_CAP [group=end] [color=0] [posOri=0 0 155 0 0 1 0 1 0 -1 0 0] [part=6625c01.dat] [extraLen=0mm] [inlineRef=false]
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-
-0 !LDCAD GENERATED [generator=LDCad 1.6c]
-0 //This is the fallback LDraw content for above PATH configuration.
-0 // Do not edit, any changes will be lost upon regeneration.
-0 // The path is approx 50.00 mm (125.00) and exists out of 4 segments.
-
-0 //Some general hints about the document.
-0 UNOFFICIAL PART
-0 BFC CERTIFY CCW
-
-0 //Some of this content has been generated from other LDraw files, many thanks to all involved.
-0 // Credits for "ldcElecWire2Seg.dat":
-0 //  Author: LDCad
-0 // Credits for "7-8cyli.dat":
-0 //  Author: Guy Vivan
-0 //  History:
-0 //   2009-05-02 [PTadmin] Official Update 2009-01
-0 // Credits for "ldcConRing-7-8.dat":
-0 //  Author: LDCad
-
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-
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-
-0 // Segment 2, this block is (recursively) generated from "ldcElecWire2Seg.dat"
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-5 24 2.885238 3.999988 95.790321 2.77102 4.574025 95.790321 2.885238 3.999988 116.1129 2.885238 3.999988 55.645161
-5 24 2.77102 4.574025 95.790321 2.44588 5.060695 95.790321 2.77102 4.574025 116.1129 2.77102 4.574025 55.645161
-5 24 2.44588 5.060695 95.790321 1.95922 5.385806 95.790321 2.44588 5.060695 116.1129 2.44588 5.060695 55.645161
-5 24 1.95922 5.385806 95.790321 1.385212 5.500039 95.790321 1.95922 5.385806 116.1129 1.95922 5.385806 55.645161
-5 24 1.385212 5.500039 95.790321 0.811175 5.38582 95.790321 1.385212 5.500039 116.1129 1.385212 5.500039 55.645161
-5 24 0.811175 5.38582 95.790321 0.324505 5.06068 95.790321 0.811175 5.38582 116.1129 0.811175 5.38582 55.645161
-5 24 0.324505 5.06068 95.790321 -0.000606 4.57402 95.790321 0.324505 5.06068 116.1129 0.324505 5.06068 55.645161
-5 24 -0.000606 4.57402 95.790321 -0.32452 5.060695 95.790321 0.00062 4.574025 116.1129 -0.000606 4.57402 55.645161
-5 24 -0.32452 5.060695 95.790321 -0.81118 5.385806 95.790321 -0.32452 5.060695 116.1129 -0.32452 5.060695 55.645161
-5 24 -0.81118 5.385806 95.790321 -1.385188 5.500039 95.790321 -0.81118 5.385806 116.1129 -0.81118 5.385806 55.645161
-5 24 -1.385188 5.500039 95.790321 -1.959225 5.38582 95.790321 -1.385188 5.500039 116.1129 -1.385188 5.500039 55.645161
-5 24 -1.959225 5.38582 95.790321 -2.445895 5.06068 95.790321 -1.959225 5.38582 116.1129 -1.959225 5.38582 55.645161
-5 24 -2.445895 5.06068 95.790321 -2.771006 4.57402 95.790321 -2.445895 5.06068 116.1129 -2.445895 5.06068 55.645161
-5 24 -2.771006 4.57402 95.790321 -2.885238 4.000011 95.790321 -2.771006 4.57402 116.1129 -2.771006 4.57402 55.645161
-5 24 -2.885238 4.000011 95.790321 -2.77102 3.425975 95.790321 -2.885238 4.000011 116.1129 -2.885238 4.000011 55.645161
-5 24 -2.77102 3.425975 95.790321 -2.44588 2.939305 95.790321 -2.77102 3.425975 116.1129 -2.77102 3.425975 55.645161
-5 24 -2.44588 2.939305 95.790321 -1.95922 2.614194 95.790321 -2.44588 2.939305 116.1129 -2.44588 2.939305 55.645161
-5 24 -1.95922 2.614194 95.790321 -1.385212 2.499961 95.790321 -1.95922 2.614194 116.1129 -1.95922 2.614194 55.645161
-5 24 -1.385212 2.499961 95.790321 -0.811175 2.61418 95.790321 -1.385212 2.499961 116.1129 -1.385212 2.499961 55.645161
-5 24 -0.811175 2.61418 95.790321 -0.324505 2.93932 95.790321 -0.811175 2.61418 116.1129 -0.811175 2.61418 55.645161
-5 24 -0.324505 2.93932 95.790321 -0.00062 3.425975 95.790321 -0.324505 2.93932 116.1129 -0.324505 2.93932 55.645161
-
-0 // Segment 3, this block is (recursively) generated from "ldcElecWire2Seg.dat"
-4 16 0.32452 2.939305 136.435486 -0.00062 3.425975 136.435486 -0.00062 3.425975 95.790321 0.32452 2.939305 95.790321
-4 16 0.81118 2.614194 136.435486 0.32452 2.939305 136.435486 0.32452 2.939305 95.790321 0.81118 2.614194 95.790321
-4 16 1.385188 2.499961 136.435486 0.81118 2.614194 136.435486 0.81118 2.614194 95.790321 1.385188 2.499961 95.790321
-4 16 1.959225 2.61418 136.435486 1.385188 2.499961 136.435486 1.385188 2.499961 95.790321 1.959225 2.61418 95.790321
-4 16 2.445895 2.93932 136.435486 1.959225 2.61418 136.435486 1.959225 2.61418 95.790321 2.445895 2.93932 95.790321
-4 16 2.771006 3.42598 136.435486 2.445895 2.93932 136.435486 2.445895 2.93932 95.790321 2.771006 3.42598 95.790321
-4 16 2.885238 3.999988 136.435486 2.771006 3.42598 136.435486 2.771006 3.42598 95.790321 2.885238 3.999988 95.790321
-4 16 2.77102 4.574025 136.435486 2.885238 3.999988 136.435486 2.885238 3.999988 95.790321 2.77102 4.574025 95.790321
-4 16 2.44588 5.060695 136.435486 2.77102 4.574025 136.435486 2.77102 4.574025 95.790321 2.44588 5.060695 95.790321
-4 16 1.95922 5.385806 136.435486 2.44588 5.060695 136.435486 2.44588 5.060695 95.790321 1.95922 5.385806 95.790321
-4 16 1.385212 5.500039 136.435486 1.95922 5.385806 136.435486 1.95922 5.385806 95.790321 1.385212 5.500039 95.790321
-4 16 0.811175 5.38582 136.435486 1.385212 5.500039 136.435486 1.385212 5.500039 95.790321 0.811175 5.38582 95.790321
-4 16 0.324505 5.06068 136.435486 0.811175 5.38582 136.435486 0.811175 5.38582 95.790321 0.324505 5.06068 95.790321
-4 16 -0.000606 4.57402 136.435486 0.324505 5.06068 136.435486 0.324505 5.06068 95.790321 -0.000606 4.57402 95.790321
-4 16 -0.32452 5.060695 136.435486 -0.000606 4.57402 136.435486 -0.000606 4.57402 95.790321 -0.32452 5.060695 95.790321
-4 16 -0.81118 5.385806 136.435486 -0.32452 5.060695 136.435486 -0.32452 5.060695 95.790321 -0.81118 5.385806 95.790321
-4 16 -1.385188 5.500039 136.435486 -0.81118 5.385806 136.435486 -0.81118 5.385806 95.790321 -1.385188 5.500039 95.790321
-4 16 -1.959225 5.38582 136.435486 -1.385188 5.500039 136.435486 -1.385188 5.500039 95.790321 -1.959225 5.38582 95.790321
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-4 16 -2.885238 4.000011 136.435486 -2.771006 4.57402 136.435486 -2.771006 4.57402 95.790321 -2.885238 4.000011 95.790321
-4 16 -2.77102 3.425975 136.435486 -2.885238 4.000011 136.435486 -2.885238 4.000011 95.790321 -2.77102 3.425975 95.790321
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-4 16 -1.95922 2.614194 136.435486 -2.44588 2.939305 136.435486 -2.44588 2.939305 95.790321 -1.95922 2.614194 95.790321
-4 16 -1.385212 2.499961 136.435486 -1.95922 2.614194 136.435486 -1.95922 2.614194 95.790321 -1.385212 2.499961 95.790321
-4 16 -0.811175 2.61418 136.435486 -1.385212 2.499961 136.435486 -1.385212 2.499961 95.790321 -0.811175 2.61418 95.790321
-4 16 -0.324505 2.93932 136.435486 -0.811175 2.61418 136.435486 -0.811175 2.61418 95.790321 -0.324505 2.93932 95.790321
-4 16 -0.00062 3.425975 136.435486 -0.324505 2.93932 136.435486 -0.324505 2.93932 95.790321 -0.00062 3.425975 95.790321
-5 24 -0.00062 3.425975 95.790321 -0.00062 3.425975 136.435486 -0.574645 4.811795 95.790321 0.32452 2.939305 95.790321
-5 24 0.32452 2.939305 95.790321 0.32452 2.939305 136.435486 -0.00062 3.425975 95.790321 0.81118 2.614194 95.790321
-5 24 0.81118 2.614194 95.790321 0.81118 2.614194 136.435486 0.32452 2.939305 95.790321 1.385188 2.499961 95.790321
-5 24 1.385188 2.499961 95.790321 1.385188 2.499961 136.435486 0.81118 2.614194 95.790321 1.959225 2.61418 95.790321
-5 24 1.959225 2.61418 95.790321 1.959225 2.61418 136.435486 1.385188 2.499961 95.790321 2.445895 2.93932 95.790321
-5 24 2.445895 2.93932 95.790321 2.445895 2.93932 136.435486 1.959225 2.61418 95.790321 2.771006 3.42598 95.790321
-5 24 2.771006 3.42598 95.790321 2.771006 3.42598 136.435486 2.445895 2.93932 95.790321 2.885238 3.999988 95.790321
-5 24 2.885238 3.999988 95.790321 2.885238 3.999988 136.435486 2.771006 3.42598 95.790321 2.77102 4.574025 95.790321
-5 24 2.77102 4.574025 95.790321 2.77102 4.574025 136.435486 2.885238 3.999988 95.790321 2.44588 5.060695 95.790321
-5 24 2.44588 5.060695 95.790321 2.44588 5.060695 136.435486 2.77102 4.574025 95.790321 1.95922 5.385806 95.790321
-5 24 1.95922 5.385806 95.790321 1.95922 5.385806 136.435486 2.44588 5.060695 95.790321 1.385212 5.500039 95.790321
-5 24 1.385212 5.500039 95.790321 1.385212 5.500039 136.435486 1.95922 5.385806 95.790321 0.811175 5.38582 95.790321
-5 24 0.811175 5.38582 95.790321 0.811175 5.38582 136.435486 1.385212 5.500039 95.790321 0.324505 5.06068 95.790321
-5 24 0.324505 5.06068 95.790321 0.324505 5.06068 136.435486 0.811175 5.38582 95.790321 -0.000606 4.57402 95.790321
-5 24 -0.000606 4.57402 95.790321 -0.000606 4.57402 136.435486 -0.574627 3.188214 95.790321 0.324505 5.06068 95.790321
-5 24 -0.000606 4.57402 95.790321 -0.000606 4.57402 136.435486 0.574645 3.188205 95.790321 -0.32452 5.060695 95.790321
-5 24 -0.32452 5.060695 95.790321 -0.32452 5.060695 136.435486 -0.000606 4.57402 95.790321 -0.81118 5.385806 95.790321
-5 24 -0.81118 5.385806 95.790321 -0.81118 5.385806 136.435486 -0.32452 5.060695 95.790321 -1.385188 5.500039 95.790321
-5 24 -1.385188 5.500039 95.790321 -1.385188 5.500039 136.435486 -0.81118 5.385806 95.790321 -1.959225 5.38582 95.790321
-5 24 -1.959225 5.38582 95.790321 -1.959225 5.38582 136.435486 -1.385188 5.500039 95.790321 -2.445895 5.06068 95.790321
-5 24 -2.445895 5.06068 95.790321 -2.445895 5.06068 136.435486 -1.959225 5.38582 95.790321 -2.771006 4.57402 95.790321
-5 24 -2.771006 4.57402 95.790321 -2.771006 4.57402 136.435486 -2.445895 5.06068 95.790321 -2.885238 4.000011 95.790321
-5 24 -2.885238 4.000011 95.790321 -2.885238 4.000011 136.435486 -2.771006 4.57402 95.790321 -2.77102 3.425975 95.790321
-5 24 -2.77102 3.425975 95.790321 -2.77102 3.425975 136.435486 -2.885238 4.000011 95.790321 -2.44588 2.939305 95.790321
-5 24 -2.44588 2.939305 95.790321 -2.44588 2.939305 136.435486 -2.77102 3.425975 95.790321 -1.95922 2.614194 95.790321
-5 24 -1.95922 2.614194 95.790321 -1.95922 2.614194 136.435486 -2.44588 2.939305 95.790321 -1.385212 2.499961 95.790321
-5 24 -1.385212 2.499961 95.790321 -1.385212 2.499961 136.435486 -1.95922 2.614194 95.790321 -0.811175 2.61418 95.790321
-5 24 -0.811175 2.61418 95.790321 -0.811175 2.61418 136.435486 -1.385212 2.499961 95.790321 -0.324505 2.93932 95.790321
-5 24 -0.324505 2.93932 95.790321 -0.324505 2.93932 136.435486 -0.811175 2.61418 95.790321 -0.00062 3.425975 95.790321
-5 24 -0.00062 3.425975 95.790321 -0.00062 3.425975 136.435486 0.574627 4.811786 95.790321 -0.324505 2.93932 95.790321
-5 24 -0.00062 3.425975 136.435486 0.32452 2.939305 136.435486 -0.00062 3.425975 138.217743 -0.00062 3.425975 95.790321
-5 24 0.32452 2.939305 136.435486 0.81118 2.614194 136.435486 0.32452 2.939305 138.217743 0.32452 2.939305 95.790321
-5 24 0.81118 2.614194 136.435486 1.385188 2.499961 136.435486 0.81118 2.614194 138.217743 0.81118 2.614194 95.790321
-5 24 1.385188 2.499961 136.435486 1.959225 2.61418 136.435486 1.385188 2.499961 138.217743 1.385188 2.499961 95.790321
-5 24 1.959225 2.61418 136.435486 2.445895 2.93932 136.435486 1.959225 2.61418 138.217743 1.959225 2.61418 95.790321
-5 24 2.445895 2.93932 136.435486 2.771006 3.42598 136.435486 2.445895 2.93932 138.217743 2.445895 2.93932 95.790321
-5 24 2.771006 3.42598 136.435486 2.885238 3.999988 136.435486 2.771006 3.42598 138.217743 2.771006 3.42598 95.790321
-5 24 2.885238 3.999988 136.435486 2.77102 4.574025 136.435486 2.885238 3.999988 138.217743 2.885238 3.999988 95.790321
-5 24 2.77102 4.574025 136.435486 2.44588 5.060695 136.435486 2.77102 4.574025 138.217743 2.77102 4.574025 95.790321
-5 24 2.44588 5.060695 136.435486 1.95922 5.385806 136.435486 2.44588 5.060695 138.217743 2.44588 5.060695 95.790321
-5 24 1.95922 5.385806 136.435486 1.385212 5.500039 136.435486 1.95922 5.385806 138.217743 1.95922 5.385806 95.790321
-5 24 1.385212 5.500039 136.435486 0.811175 5.38582 136.435486 1.385212 5.500039 138.217743 1.385212 5.500039 95.790321
-5 24 0.811175 5.38582 136.435486 0.324505 5.06068 136.435486 0.811175 5.38582 138.217743 0.811175 5.38582 95.790321
-5 24 0.324505 5.06068 136.435486 -0.000606 4.57402 136.435486 0.324505 5.06068 138.217743 0.324505 5.06068 95.790321
-5 24 -0.000606 4.57402 136.435486 -0.32452 5.060695 136.435486 0.00062 4.574025 138.217743 -0.000606 4.57402 95.790321
-5 24 -0.32452 5.060695 136.435486 -0.81118 5.385806 136.435486 -0.32452 5.060695 138.217743 -0.32452 5.060695 95.790321
-5 24 -0.81118 5.385806 136.435486 -1.385188 5.500039 136.435486 -0.81118 5.385806 138.217743 -0.81118 5.385806 95.790321
-5 24 -1.385188 5.500039 136.435486 -1.959225 5.38582 136.435486 -1.385188 5.500039 138.217743 -1.385188 5.500039 95.790321
-5 24 -1.959225 5.38582 136.435486 -2.445895 5.06068 136.435486 -1.959225 5.38582 138.217743 -1.959225 5.38582 95.790321
-5 24 -2.445895 5.06068 136.435486 -2.771006 4.57402 136.435486 -2.445895 5.06068 138.217743 -2.445895 5.06068 95.790321
-5 24 -2.771006 4.57402 136.435486 -2.885238 4.000011 136.435486 -2.771006 4.57402 138.217743 -2.771006 4.57402 95.790321
-5 24 -2.885238 4.000011 136.435486 -2.77102 3.425975 136.435486 -2.885238 4.000011 138.217743 -2.885238 4.000011 95.790321
-5 24 -2.77102 3.425975 136.435486 -2.44588 2.939305 136.435486 -2.77102 3.425975 138.217743 -2.77102 3.425975 95.790321
-5 24 -2.44588 2.939305 136.435486 -1.95922 2.614194 136.435486 -2.44588 2.939305 138.217743 -2.44588 2.939305 95.790321
-5 24 -1.95922 2.614194 136.435486 -1.385212 2.499961 136.435486 -1.95922 2.614194 138.217743 -1.95922 2.614194 95.790321
-5 24 -1.385212 2.499961 136.435486 -0.811175 2.61418 136.435486 -1.385212 2.499961 138.217743 -1.385212 2.499961 95.790321
-5 24 -0.811175 2.61418 136.435486 -0.324505 2.93932 136.435486 -0.811175 2.61418 138.217743 -0.811175 2.61418 95.790321
-5 24 -0.324505 2.93932 136.435486 -0.00062 3.425975 136.435486 -0.324505 2.93932 138.217743 -0.324505 2.93932 95.790321
-
-0 // Segment 4, this block is (recursively) generated from "ldcElecWire2Seg.dat"
-4 16 0.32452 2.939305 140 -0.00062 3.425975 140 -0.00062 3.425975 136.435486 0.32452 2.939305 136.435486
-4 16 0.81118 2.614194 140 0.32452 2.939305 140 0.32452 2.939305 136.435486 0.81118 2.614194 136.435486
-4 16 1.385188 2.499961 140 0.81118 2.614194 140 0.81118 2.614194 136.435486 1.385188 2.499961 136.435486
-4 16 1.959225 2.61418 140 1.385188 2.499961 140 1.385188 2.499961 136.435486 1.959225 2.61418 136.435486
-4 16 2.445895 2.93932 140 1.959225 2.61418 140 1.959225 2.61418 136.435486 2.445895 2.93932 136.435486
-4 16 2.771006 3.42598 140 2.445895 2.93932 140 2.445895 2.93932 136.435486 2.771006 3.42598 136.435486
-4 16 2.885238 3.999988 140 2.771006 3.42598 140 2.771006 3.42598 136.435486 2.885238 3.999988 136.435486
-4 16 2.77102 4.574025 140 2.885238 3.999988 140 2.885238 3.999988 136.435486 2.77102 4.574025 136.435486
-4 16 2.44588 5.060695 140 2.77102 4.574025 140 2.77102 4.574025 136.435486 2.44588 5.060695 136.435486
-4 16 1.95922 5.385806 140 2.44588 5.060695 140 2.44588 5.060695 136.435486 1.95922 5.385806 136.435486
-4 16 1.385212 5.500039 140 1.95922 5.385806 140 1.95922 5.385806 136.435486 1.385212 5.500039 136.435486
-4 16 0.811175 5.38582 140 1.385212 5.500039 140 1.385212 5.500039 136.435486 0.811175 5.38582 136.435486
-4 16 0.324505 5.06068 140 0.811175 5.38582 140 0.811175 5.38582 136.435486 0.324505 5.06068 136.435486
-4 16 -0.000606 4.57402 140 0.324505 5.06068 140 0.324505 5.06068 136.435486 -0.000606 4.57402 136.435486
-4 16 -0.32452 5.060695 140 -0.000606 4.57402 140 -0.000606 4.57402 136.435486 -0.32452 5.060695 136.435486
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-4 16 -1.385188 5.500039 140 -0.81118 5.385806 140 -0.81118 5.385806 136.435486 -1.385188 5.500039 136.435486
-4 16 -1.959225 5.38582 140 -1.385188 5.500039 140 -1.385188 5.500039 136.435486 -1.959225 5.38582 136.435486
-4 16 -2.445895 5.06068 140 -1.959225 5.38582 140 -1.959225 5.38582 136.435486 -2.445895 5.06068 136.435486
-4 16 -2.771006 4.57402 140 -2.445895 5.06068 140 -2.445895 5.06068 136.435486 -2.771006 4.57402 136.435486
-4 16 -2.885238 4.000011 140 -2.771006 4.57402 140 -2.771006 4.57402 136.435486 -2.885238 4.000011 136.435486
-4 16 -2.77102 3.425975 140 -2.885238 4.000011 140 -2.885238 4.000011 136.435486 -2.77102 3.425975 136.435486
-4 16 -2.44588 2.939305 140 -2.77102 3.425975 140 -2.77102 3.425975 136.435486 -2.44588 2.939305 136.435486
-4 16 -1.95922 2.614194 140 -2.44588 2.939305 140 -2.44588 2.939305 136.435486 -1.95922 2.614194 136.435486
-4 16 -1.385212 2.499961 140 -1.95922 2.614194 140 -1.95922 2.614194 136.435486 -1.385212 2.499961 136.435486
-4 16 -0.811175 2.61418 140 -1.385212 2.499961 140 -1.385212 2.499961 136.435486 -0.811175 2.61418 136.435486
-4 16 -0.324505 2.93932 140 -0.811175 2.61418 140 -0.811175 2.61418 136.435486 -0.324505 2.93932 136.435486
-4 16 -0.00062 3.425975 140 -0.324505 2.93932 140 -0.324505 2.93932 136.435486 -0.00062 3.425975 136.435486
-5 24 -0.00062 3.425975 136.435486 -0.00062 3.425975 140 -0.574645 4.811795 136.435486 0.32452 2.939305 136.435486
-5 24 0.32452 2.939305 136.435486 0.32452 2.939305 140 -0.00062 3.425975 136.435486 0.81118 2.614194 136.435486
-5 24 0.81118 2.614194 136.435486 0.81118 2.614194 140 0.32452 2.939305 136.435486 1.385188 2.499961 136.435486
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doc/api/diagram_source/movehub.ldr

@@ -1,3 +0,0 @@
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-1 15 0 -48 -20 1 0 0 0 1 0 0 0 1 26910.dat

doc/api/diagram_source/orientation.ldr

@@ -1,12 +0,0 @@
-0 Name: orientation.ldr
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-0 ROTATION CENTER 0 0 0 1 "Custom" 
-0 ROTATION CONFIG 0 0
-1 15 -160 -56 260 0 0 1 0 1 0 -1 0 0 26910.dat
-1 71 -430 -40 520 0 0 -1 0 1 0 1 0 0 22127.dat
-1 15 140 -16 30 0 0 1 0 1 0 -1 0 0 45601p02.dat
-1 3 430 -16 -180 0 0 1 0 1 0 -1 0 0 45601c01.dat
-1 0 724 -90 -378 0 0 -1 0 -1 0 -1 0 0 u9218c01.dat
-1 15 760 -100 -378 1 0 0 0 1 0 0 0 1 20841.dat
-0

doc/api/diagram_source/pupdcmotors.ldr

@@ -1,14 +0,0 @@
-0 Name: pupmotors
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-1 0 60 -352 -90 1 0 0 0 1 0 0 0 1 87574.dat
-1 15 60 -336 -70 0 0 1 0.259 0.966 0 -0.966 0.259 0 20844c01.dat
-1 0 60 -312 -150 1 0 0 0 1 0 0 0 1 3706.dat
-1 0 100 -312 -150 0 0 -1 0 1 0 1 0 0 u9241.dat
-1 0 100 -312 -30 0 0 -1 0 1 0 1 0 0 u9241.dat
-1 0 20 -312 -30 0 0 1 0 1 0 -1 0 0 u9241.dat
-1 0 20 -312 -150 0 0 1 0 1 0 -1 0 0 u9241.dat
-1 0 60 -312 -30 1 0 0 0 1 0 0 0 1 3706.dat
-1 0 90 -344 -90 1 0 0 0 1 0 0 0 1 2871b.dat
-1 0 30 -344 -90 -1 0 0 0 1 0 0 0 -1 2871b.dat
-1 15 10 -376 -310 0 0 -1 0 1 0 1 0 0 21980c01.dat

doc/api/diagram_source/pupdevicesoverview.ldr

@@ -1,14 +0,0 @@
-0 Name: pupdevicesoverview.ldr
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-0 ROTATION CENTER 0 0 0 1 "Custom" 
-0 ROTATION CONFIG 0 0
-1 15 130 -280 500 0 1 0 -1 0 0 0 0 1 54675c01.dat
-1 71 330 -280 300 0 1 0 -1 0 0 0 0 1 22169c01.dat
-1 15 540 -280 220 1 0 0 0 1 0 0 0 1 21980c01.dat
-1 15 560 -280 830 1 0 0 0 1 0 0 0 1 37316.dat
-1 15 370 -280 990 -1 0 0 0 -1 0 0 0 1 37308c01.dat
-1 15 750 -320 550 1 0 0 0 1 0 0 0 1 26912.dat
-1 0 750 -310 586 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
-1 15 560 -266 808 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
-0

doc/api/diagram_source/pupmotors.ldr

@@ -1,13 +0,0 @@
-0 Name: pupmotors.ldr
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-0 ROTATION CENTER 0 0 0 1 "Custom" 
-0 ROTATION CONFIG 0 0
-1 15 430 -96 190 0 0 1 1 0 0 0 1 0 54675c01.dat
-1 15 430 -96 400 0 0 1 1 0 0 0 1 0 54675c01.dat
-1 322 430 -72 30 0 0 1 1 0 0 0 1 0 54696c01.dat
-1 71 430 -72 -180 0 0 1 1 0 0 0 1 0 54696c01.dat
-1 71 190 -144 -180 1 0 0 0 1 0 0 0 1 22169c01.dat
-1 71 -20 -216 -140 1 0 0 0 1 0 0 0 1 22172c01.dat
-1 15 120 -320 160 1 0 0 0 1 0 0 0 1 26913c01.dat
-0

doc/api/diagram_source/pupsensors.ldr

@@ -1,21 +0,0 @@
-0 Name: pupmotors
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=0] [GID=9FDP9pj0O55] [name=Group 1] [center=0 0 0]
-1 15 600 -280 180 1 0 0 0 1 0 0 0 1 37316.dat
-1 15 60 -272 160 -1 0 0 0 -1 0 0 0 1 37312c01.dat
-1 15 -400 -280 240 -1 0 0 0 -1 0 0 0 1 37308c01.dat
-1 0 -400 -310 -374 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
-1 15 -400 -320 -410 0 0 1 0 1 0 -1 0 0 20841.dat
-1 15 630 -320 -420 1 0 0 0 1 0 0 0 1 26912.dat
-1 0 630 -310 -384 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
-1 15 60 -320 -430 0 0 1 0 1 0 -1 0 0 20844.dat
-1 0 60 -310 -394 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
-1 15 600 -266 158 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
-1 15 1130 -280 240 1 0 0 0 1 0 0 0 1 37316.dat
-1 15 1290 -280 220 1 0 0 0 1 0 0 0 1 37308.dat
-1 0 690 -312 530 0 0 1 0 1 0 -1 0 0 22168.dat
-0 !LDCAD GROUP_NXT [ids=0] [nrs=2]
-1 71 704.852 -312 -628.188 -0.5 0 0.866 0 1 0 -0.866 0 -0.5 58123.dat
-0 !LDCAD GROUP_NXT [ids=0] [nrs=-1]
-1 71 972.1 -321.5 -814.7 0.5 0 -0.866 0 1 0 0.866 0 0.5 99499c01.dat

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 <Side>` of the hub are pointing. The example
-   on the left is the default configuration.

doc/api/hubs/cityhub.rst

@@ -1,51 +0,0 @@
-City Hub
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. figure:: ../../api/images/cityhub.png
-    :height: 15 em
-
-.. autoclass:: pybricks.hubs.CityHub
-    :no-members:
-
-    .. rubric:: Using the hub status light
-
-    .. automethod:: pybricks.hubs::CityHub.light.on
-
-    .. automethod:: pybricks.hubs::CityHub.light.off
-
-    .. automethod:: pybricks.hubs::CityHub.light.blink
-
-    .. automethod:: pybricks.hubs::CityHub.light.animate
-
-    .. rubric:: Using the battery
-
-    .. automethod:: pybricks.hubs::CityHub.battery.voltage
-
-    .. automethod:: pybricks.hubs::CityHub.battery.current
-
-Status light examples
----------------------
-
-Turning the light on and off
-****************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_cityhub/light_off.py
-
-Changing brightness and using custom colors
-*******************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_cityhub/light_hsv.py
-
-Making the light blink
-**********************
-
-.. literalinclude::
-    ../../../examples/pup/hub_cityhub/light_blink.py
-
-Creating light animations
-*************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_cityhub/light_animate.py

doc/api/hubs/index.rst

@@ -1,51 +0,0 @@
-:mod:`hubs <pybricks.hubs>` -- Programmable Hubs
-================================================
-
-.. module:: pybricks.hubs
-
-.. toctree::
-   :maxdepth: 1
-   :hidden:
-
-   movehub
-   cityhub
-   technichub
-   primehub
-   ev3brick
-
-.. pybricks-classlink:: MoveHub
-
-.. figure:: ../../api/images/movehub.png
-    :height: 10 em
-    :target: movehub.html
-
-.. pybricks-classlink:: CityHub
-
-.. figure:: ../../api/images/cityhub.png
-    :height: 10 em
-    :target: cityhub.html
-
-.. pybricks-classlink:: TechnicHub
-
-.. figure:: ../../api/images/technichub.png
-    :height: 10 em
-    :target: technichub.html
-
-.. pybricks-classlink:: PrimeHub
-
-.. figure:: ../../api/images/primehub.png
-    :height: 10 em
-    :target: primehub.html
-
-.. pybricks-classlink:: InventorHub
-
-.. figure:: ../../api/images/inventorhub.png
-    :height: 10 em
-    :target: primehub.html
-
-.. pybricks-classlink:: EV3Brick
-
-.. figure:: ../../api/images/ev3brick.png
-    :height: 10 em
-    :target: ev3brick.html
-

doc/api/hubs/movehub.rst

@@ -1,62 +0,0 @@
-Move Hub
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. _fig_movehub:
-
-.. figure:: ../../api/images/movehub_label.png
-    :height: 15 em
-
-.. autoclass:: pybricks.hubs.MoveHub
-    :no-members:
-
-    .. rubric:: Using the hub status light
-
-    .. automethod:: pybricks.hubs::MoveHub.light.on
-
-    .. automethod:: pybricks.hubs::MoveHub.light.off
-
-    .. automethod:: pybricks.hubs::MoveHub.light.blink
-
-    .. automethod:: pybricks.hubs::MoveHub.light.animate
-
-    .. rubric:: Using the IMU
-
-    .. automethod:: pybricks.hubs::MoveHub.imu.up
-
-    .. automethod:: pybricks.hubs::MoveHub.imu.acceleration
-
-    .. rubric:: Using the battery
-
-    .. automethod:: pybricks.hubs::MoveHub.battery.voltage
-
-    .. automethod:: pybricks.hubs::MoveHub.battery.current
-
-Status light examples
----------------------
-
-Turning the light on and off
-******************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_movehub/light_off.py
-
-Making the light blink
-******************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_movehub/light_blink.py
-
-IMU examples
----------------
-
-Testing which way is up
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_movehub/imu_up.py
-
-Reading acceleration
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_movehub/imu_read_acceleration.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

@@ -1,99 +0,0 @@
-Technic Hub
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. figure:: ../../api/images/technichub.png
-    :height: 15 em
-
-.. autoclass:: pybricks.hubs.TechnicHub
-    :no-members:
-
-    .. rubric:: Using the hub status light
-
-    .. automethod:: pybricks.hubs::TechnicHub.light.on
-
-    .. automethod:: pybricks.hubs::TechnicHub.light.off
-
-    .. automethod:: pybricks.hubs::TechnicHub.light.blink
-
-    .. 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
-
-    .. automethod:: pybricks.hubs::TechnicHub.battery.current
-
-Status light examples
----------------------
-
-Turning the light on and off
-****************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/light_off.py
-
-Changing brightness and using custom colors
-*******************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/light_hsv.py
-
-Making the light blink
-**********************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/light_blink.py
-
-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