v3.1.0

pybricks.robotics: add type hint for curve()
This method was added in 30803fc.
2026-09-11 17:14:41 +00:00 · 2021-12-16 15:35:09 -06:00 · 2021-12-16 15:33:00 -06:00 · 2021-12-16 15:29:44 -06:00 · 2021-12-01 15:39:05 +01:00 · 2021-12-01 15:39:04 +01:00
45 changed files with 570 additions and 251 deletions
@@ -31,8 +31,8 @@ jobs:
        node-version: '14.x'
        registry-url: 'https://registry.npmjs.org'
    - run: yarn build
-      working-directory: doc/main
+      working-directory: npm/ide-docs
    - run: yarn publish
-      working-directory: doc/main
+      working-directory: npm/ide-docs
      env:
        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}
@@ -0,0 +1,93 @@
+# Changelog
+
+<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
+
+## 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.
@@ -265,11 +265,14 @@ latex_documents = [
 exclude_patterns = [
    'ev3devices.rst',
    'hubs/ev3brick.rst',
+    'hubs/primehub.rst',
+    'geometry.rst',
    'iodevices/analogsensor.rst',
    'iodevices/dcmotor.rst',
    'iodevices/ev3devsensor.rst',
    'iodevices/i2cdevice.rst',
    'iodevices/lumpdevice.rst',
+    'iodevices/lwp3device.rst',
    'iodevices/uartdevice.rst',
    'media.rst',
    'messaging.rst',
@@ -5,13 +5,15 @@ from docutils.parsers.rst import Directive
 class PybricksClasslinkDirective(Directive):

    required_arguments = 1
+    optional_arguments = 1

    def run(self):
-        # Get link name from sphinx-directive
+        # Get link and name from sphinx-directive
        name = self.arguments[0]
+        link = name if len(self.arguments) == 1 else self.arguments[1]

        html = (
-            '<a href="{0}.html">'.format(name.lower()) +
+            '<a href="{0}.html">'.format(link.lower()) +
            '<dl class="py class">' +
            '<dt>' +
            '<em class="property">class </em>' +
@@ -1,66 +0,0 @@
-# 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.
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@@ -1,7 +1,8 @@
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+0 Name: pupsensors.ldr
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+     x="435.86792"
+     height="38.88504"
+     width="41.489174"
+     id="rect868"
+     style="fill:#1acee5;fill-opacity:0.62566847;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal" />
+  <rect
+     style="fill:#e51a9a;fill-opacity:0.62566847;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal"
+     id="rect870"
+     width="40.281181"
+     height="38.928104"
+     x="477.33069"
+     y="381.51306"
+     transform="matrix(0.94626691,-0.32338666,0,1,0,0)" />
+</svg>
@@ -1,4 +1,4 @@
-:mod:`ev3devices <pybricks.ev3devices>` -- EV3 Devices
+:mod:`ev3devices <pybricks.ev3devices>` -- EV3 devices
 ======================================================

 .. automodule:: pybricks.ev3devices
@@ -1,6 +1,6 @@
 .. pybricks-requirements::

-:mod:`hubs <pybricks.hubs>` -- Programmable Hubs
+:mod:`hubs <pybricks.hubs>` -- Programmable hubs
 ================================================

 .. module:: pybricks.hubs
@@ -12,7 +12,6 @@
   movehub
   cityhub
   technichub
-   primehub

 .. pybricks-classlink:: MoveHub

@@ -31,16 +30,3 @@
 .. figure:: ../../main/images/technichub.png
    :height: 10 em
    :target: technichub.html
-
-.. pybricks-classlink:: PrimeHub
-
-.. figure:: ../../main/images/primehub.png
-    :height: 10 em
-    :target: primehub.html
-
-.. pybricks-classlink:: InventorHub
-
-.. figure:: ../../main/images/inventorhub.png
-    :height: 10 em
-    :target: primehub.html
-
@@ -6,8 +6,9 @@ Technic Hub
 .. figure:: ../../main/images/technichub.png
    :height: 15 em

-.. autoclass:: pybricks.hubs.TechnicHub
-    :no-members:
+.. class:: TechnicHub
+
+    LEGO® Technic Hub.

    .. rubric:: Using the hub status light

@@ -19,20 +20,6 @@ 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
@@ -78,40 +65,6 @@ 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
-
 Button and system examples
 ----------------------------------

@@ -49,29 +49,19 @@ Pybricks Documentation

 .. only:: ide

-   .. note::
-
-      **You are using a new beta version of Pybricks!**
-
-      This is great for trying the very latest features, but some things
-      might not work.
-
-      If in doubt, use the `latest stable release`_. Please report any
-      issues via our `support page`_. Thanks!
-
   To begin, install the Pybricks firmware on your hub. Check
   `pybricks.com/install`_ to learn how.

   Use the ☰ menu to navigate all available classes, methods, and tools. A few
   commonly used devices and classes are listed below for quick reference.

-   .. rubric:: Programmable Hubs
+   .. rubric:: Programmable hubs

-   .. figure:: ../main/images/hubsoverview.png
+   .. figure:: ../main/images/powereduphubs.png
      :width: 100 %
      :target: hubs/index.html

-   .. rubric:: Powered Up Motors and Sensors
+   .. rubric:: Powered Up motors and sensors

   .. figure:: ../main/images/pupdevicesoverview.png
      :width: 100 %
@@ -88,7 +78,7 @@ Pybricks Documentation

 .. toctree::
    :maxdepth: 1
-    :caption: Table of Contents
+    :caption: Table of contents
    :hidden:

 .. toctree::
@@ -96,12 +86,12 @@ Pybricks Documentation
    :caption: Pybricks
    :hidden:

-    Home Page <https://pybricks.com>
+    Home page <https://pybricks.com>
    Installation <https://pybricks.com/install/>

 .. toctree::
   :maxdepth: 1
-   :caption: Pybricks Package
+   :caption: Pybricks modules
   :hidden:

   hubs/index
@@ -110,12 +100,11 @@ Pybricks Documentation
   parameters/index
   tools/index
   robotics
-   geometry
   signaltypes

 .. toctree::
   :maxdepth: 1
-   :caption: MicroPython Modules
+   :caption: MicroPython modules
   :hidden:

   micropython/builtins
@@ -1,6 +1,6 @@
 .. pybricks-requirements:: pybricks-iodevices

-:mod:`iodevices <pybricks.iodevices>` -- Generic I/O Devices
+:mod:`iodevices <pybricks.iodevices>` -- Generic I/O devices
 ============================================================

 .. module:: pybricks.iodevices
@@ -0,0 +1,12 @@
+LEGO Wireless Protocol v3 device
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. warning::
+
+   This is an experimental class. It has not been well tested and may be
+   changed in future.
+
+.. figure:: ../../main/images/powereduphubs.png
+   :width: 25 %
+
+.. autoclass:: pybricks.iodevices.LWP3Device
@@ -1,4 +1,4 @@
-:mod:`media <pybricks.media>` -- Sounds and Images
+:mod:`media <pybricks.media>` -- Sounds and images
 ==================================================

 .. module:: pybricks.media
@@ -18,7 +18,7 @@ and sound files. You can access them using the classes below.
 You can also use your own sound and image files by placing them in your project
 folder.

-Image Files
+Image files
 ^^^^^^^^^^^

 .. autoclass:: pybricks.media.ev3dev.ImageFile
@@ -223,7 +223,7 @@ Image Files
        .. image:: ../../media/ev3dev-media/images/mono/eyes/winking.png
            :width: 15 %

-Sound Files
+Sound files
 ^^^^^^^^^^^

 .. autoclass:: pybricks.media.ev3dev.SoundFile
@@ -1452,7 +1452,7 @@ Fonts
 .. _FontConfig: https://www.freedesktop.org/wiki/Software/fontconfig/


-Image Manipulation
+Image manipulation
 ^^^^^^^^^^^^^^^^^^

 Instead of drawing directly on the EV3 screen, you can make and interact
@@ -107,13 +107,13 @@ numbers, or text), you can choose one of the Mailboxes below.
 Examples
 -----------------

-**EV3 Bluetooth Server**
+**EV3 Bluetooth server**

 This is the full version of the excerpt shown in :numref:`fig_messaging`.

 .. literalinclude:: ../../examples/ev3/bluetooth_server/server.py

-**EV3 Bluetooth Client**
+**EV3 Bluetooth client**

 This is the full version of the excerpt shown in :numref:`fig_messaging`.

@@ -1,4 +1,4 @@
-:mod:`nxtdevices <pybricks.nxtdevices>` -- NXT Devices
+:mod:`nxtdevices <pybricks.nxtdevices>` -- NXT devices
 ======================================================

 .. automodule:: pybricks.nxtdevices
@@ -1,6 +1,6 @@
 .. pybricks-requirements::

-:mod:`parameters <pybricks.parameters>` -- Parameters and Constants
+:mod:`parameters <pybricks.parameters>` -- Parameters and constants
 ===================================================================

 .. automodule:: pybricks.parameters
@@ -26,21 +26,6 @@ Side
    .. autoattribute:: pybricks.parameters.Side.RIGHT
        :annotation:

-
-    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:: ../../main/images/orientation_primehub_label.png
-        :height: 17 em
-
-    **Inventor Hub**
-
-    .. figure:: ../../main/images/orientation_inventorhub_label.png
-        :height: 17 em
-
    **Move Hub**

    .. figure:: ../../main/images/orientation_movehub_label.png
@@ -0,0 +1,15 @@
+.. pybricks-requirements::
+
+Color Light Matrix
+^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/images/sensor_colorlightmatrix_label.png
+   :width: 35 %
+
+.. autoclass:: pybricks.pupdevices.ColorLightMatrix
+    :no-members:
+
+    .. automethod:: pybricks.pupdevices.ColorLightMatrix.on
+
+    .. automethod:: pybricks.pupdevices.ColorLightMatrix.off
+
@@ -1,6 +1,6 @@
 .. pybricks-requirements::

-Motors without Rotation Sensors
+Motors without rotation sensors
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

 .. _fig_pupdcmotors:
@@ -25,6 +25,9 @@ Motors without Rotation Sensors
    .. automethod:: pybricks.pupdevices.DCMotor.brake
        :noindex:

+    .. automethod:: pybricks.pupdevices.DCMotor.settings
+        :noindex:
+
 Examples
 -------------------

@@ -1,6 +1,6 @@
 .. pybricks-requirements::

-:mod:`pupdevices <pybricks.pupdevices>` -- Powered Up Devices
+:mod:`pupdevices <pybricks.pupdevices>` -- Powered Up devices
 =============================================================

 .. automodule:: pybricks.pupdevices
@@ -19,6 +19,7 @@
   colorsensor
   ultrasonicsensor
   forcesensor
+   colorlightmatrix
   light
   remote

@@ -76,6 +77,12 @@
   :width: 35 %
   :target: forcesensor.html

+.. pybricks-classlink:: ColorLightMatrix
+
+.. figure:: ../../main/images/sensor_colorlightmatrix_label.png
+   :width: 35 %
+   :target: colorlightmatrix.html
+
 .. pybricks-classlink:: Light

 .. figure:: ../../main/images/light.png
@@ -1,6 +1,6 @@
 .. pybricks-requirements::

-Motors with Rotation Sensors
+Motors with rotation sensors
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^

 .. _fig_pupmotors:
@@ -70,6 +70,8 @@ Motors with Rotation Sensors
    example, you can change them at the start of your program. Alternatively,
    first call :meth:`stop() <pybricks.pupdevices.Motor.stop>`, and then change the settings.

+    .. automethod:: pybricks.pupdevices.Motor.settings
+
    .. automethod:: pybricks.pupdevices.Motor.control.limits

    .. automethod:: pybricks.pupdevices.Motor.control.pid
@@ -78,7 +80,7 @@ Motors with Rotation Sensors

    .. automethod:: pybricks.pupdevices.Motor.control.stall_tolerances

-Initialization Examples
+Initialization examples
 -----------------------

 Making the motor move back and forth
@@ -105,7 +107,7 @@ Using gears
 .. literalinclude::
    ../../../examples/pup/motor/motor_init_gears.py

-Measurement Examples
+Measurement examples
 -----------------------

 Measuring the angle and speed
@@ -121,7 +123,7 @@ Resetting the measured angle
    ../../../examples/pup/motor/motor_reset_angle.py


-Movement Examples
+Movement examples
 -----------------------

 Basic usage of all run methods
@@ -142,7 +144,7 @@ Using the ``then`` argument to change how a run command stops
 .. literalinclude::
    ../../../examples/pup/motor/motor_action_then.py

-Stall Examples
+Stall examples
 -----------------------

 Running a motor until a mechanical endpoint
@@ -158,7 +160,7 @@ Centering a steering mechanism
    ../../../examples/pup/motor/motor_until_stalled.py


-Parallel Movement Examples
+Parallel movement examples
 --------------------------

 Using the ``wait`` argument to run motors in parallel
@@ -22,6 +22,8 @@

    .. automethod:: pybricks.robotics.DriveBase.turn

+    .. automethod:: pybricks.robotics.DriveBase.curve
+
    .. automethod:: pybricks.robotics.DriveBase.settings

    .. rubric:: Drive forever
@@ -88,7 +90,7 @@
    To deactivate the :class:`.DriveBase`, call :meth:`.stop`.


-    .. rubric:: Advanced Settings
+    .. rubric:: Advanced settings

    The :meth:`.settings` method is used to adjust commonly used settings like
    the default speed and acceleration for straight maneuvers and turns.
@@ -0,0 +1,5 @@
+# build directory
+html/
+
+# yarn pack output
+*.tgz
@@ -0,0 +1,14 @@
+# Changelog
+
+<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
+
+## 2.0.1 - 2021-11-19
+
+### Fixed
+- Fixed link to Color Light Matrix page.
+
+## 2.0.0 - 2021-11-19
+
+### Changed
+- Changed package directory structure.
+- Updated docs to v3.1.0rc1.
@@ -1,11 +1,11 @@
 {
  "name": "@pybricks/ide-docs",
-  "version": "1.6.0",
+  "version": "2.0.1",
  "description": "Special build of Pybricks API docs for embedding in an IDE.",
  "repository": {
    "type": "git",
    "url": "https://github.com/pybricks/pybricks-api",
-    "directory": "doc/ide"
+    "directory": "npm/ide-docs"
  },
  "publishConfig": {
    "registry": "https://registry.npmjs.org",
@@ -14,11 +14,10 @@
  "author": "The Pybricks Authors",
  "license": "MIT",
  "files": [
-    "build/html/**"
+    "html"
  ],
-  "types": "index.d.ts",
  "scripts": {
-    "clean": "poetry run make -C .. clean",
-    "build": "poetry run make -C .. TAG=ide html"
+    "clean": "poetry run make -C ../../doc clean",
+    "build": "poetry run make -C ../../doc TAG=ide html && rm -rf html && cp -R ../../doc/main/build/html html"
  }
 }
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.1.0a1"
+version = "3.1.0"
 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>" ]
@@ -4,5 +4,5 @@ exclude = .venv/,*.pyi
 max-line-length = 88

 [doc8]
-ignore-path = .venv/,doc/main/build/,pybricks.egg-info/
+ignore-path = .venv/,doc/main/build/,doc/api/build/,pybricks.egg-info/,npm/
 max-line-length = 88
@@ -88,6 +88,16 @@ class DCMotor:
        is generated while the motor is still moving."""
        pass

+    def settings(self, max_voltage):
+        """Configures motor settings. If no arguments are given,
+        this returns the current values.
+
+        Arguments:
+            max_voltage (:ref:`voltage`):
+                Maximum voltage applied to the motor during all motor commands.
+        """
+        pass
+

 class Control:
    """Class to interact with PID controller and settings."""
@@ -99,7 +109,7 @@ class Control:
    motor this is the number of encoder pulses per degree of rotation.
    """

-    def limits(self, speed, acceleration, duty, torque):
+    def limits(self, speed, acceleration, torque):
        """Configures the maximum speed, acceleration, duty, and torque.

        If no arguments are given, this will return the current values.
@@ -109,14 +119,12 @@ class Control:
                Maximum speed. All speed commands will be capped to this value.
            acceleration (:ref:`acceleration` or :ref:`linacceleration`):
                Maximum acceleration.
-            duty (:ref:`percentage`):
-                Maximum duty cycle during control.
            torque (:ref:`torque`):
                Maximum feedback torque during control.
        """
        pass

-    def pid(self, kp, ki, kd, integral_range, integral_rate):
+    def pid(self, kp, ki, kd, reserved, integral_rate):
        """Gets or sets the PID values for position and speed control.

        If no arguments are given, this will return the current values.
@@ -130,9 +138,7 @@ class Control:
            kd (int): Derivative position (or proportional speed) control
                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.
+            reserved: This setting is not used.
            integral_rate (:ref:`speed` or :ref:`linspeed`): Maximum rate at
                which the error integral is allowed to grow.
        """
@@ -1,10 +1,10 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
+# Copyright (c) 2020-2021 The Pybricks Authors

-from pybricks.geometry import Matrix, vector
-from typing import Collection, Iterable, List, Optional, Tuple, Union, overload
+from typing import Collection, Iterable, Optional, Tuple, Union, overload

-from .parameters import Button, Color, Direction, Side, Stop, Port, Axis
+from .geometry import Axis, Matrix, vector
+from .parameters import Button, Color, Direction, Side, Stop, Port
 from .media.ev3dev import SoundFile

 class DCMotor:
@@ -32,7 +32,6 @@ class Control:
        kp: Optional[int] = None,
        ki: Optional[int] = None,
        kd: Optional[int] = None,
-        integral_range: Optional[int] = None,
        integral_rate: Optional[int] = None,
    ) -> None: ...
    @overload
@@ -244,3 +244,59 @@ class UARTDevice:
    def clear(self):
        """Empties the buffer."""
        pass
+
+
+class LWP3Device:
+    """
+    Connects to a remote hub running official LEGO firmware using the the
+    `LEGO Wireless Protocol v3`_
+
+    .. _`LEGO Wireless Protocol v3`:
+        https://lego.github.io/lego-ble-wireless-protocol-docs/
+    """
+
+    def __init__(self, hub_kind, name=None, timeout=10000):
+        """
+
+        Arguments:
+            hub_kind (int):
+                The `hub type identifier`_ of the hub to connect to.
+            name (str):
+                The name of the hub to connect to or ``None`` to connect to any
+                hub.
+            timeout (int):
+                The time, in milliseconds, to wait for a connection before
+                raising an exception.
+
+
+        .. _`hub type identifier`:
+            https://github.com/pybricks/technical-info/blob/master/assigned-numbers.md#hub-type-ids
+        """
+
+    def name(self, name=None):
+        """Gets or sets the Bluetooth name of the remote.
+
+        If no name is given, this method returns the current name.
+
+        Arguments:
+            name (str): New Bluetooth name of the remote.
+        """
+
+    def write(self, buf):
+        """
+        Sends a message to the remote hub.
+
+        Arguments:
+            buf (bytes): The raw binary message to send.
+        """
+
+    def read(self):
+        """
+        Retrieves the most recent message received from the remote hub.
+
+        If a message has not been received since the last read, the method will
+        block until a message is received.
+
+        Returns:
+            bytes: The raw binary message.
+        """
@@ -1,7 +1,7 @@
 # SPDX-License-Identifier: MIT
 # Copyright (c) 2020 The Pybricks Authors

-from typing import Dict, Optional, Tuple
+from typing import Dict, Optional, Tuple, overload

 from .parameters import Port

@@ -40,3 +40,13 @@ class UARTDevice:
    def write(self, data: bytes) -> None: ...
    def waiting(self) -> int: ...
    def clear(self) -> None: ...
+
+class LWP3Device:
+    def __init__(self, hub_kind: int, name: str = None, timeout: int = 10000): ...
+    @overload
+    def name(self) -> str: ...
+    @overload
+    def name(self, name: str) -> None: ...
+    def name(self, *args): ...
+    def read(self) -> bytes: ...
+    def write(self, buf: bytes) -> None: ...
@@ -377,6 +377,39 @@ class ForceSensor:
        pass


+class ColorLightMatrix:
+    """
+    LEGO® SPIKE 3x3 Color Light Matrix.
+    """
+
+    def __init__(self, port):
+        """
+
+        Arguments:
+            port (Port): Port to which the device is connected.
+
+        """
+        ...
+
+    def on(self, colors):
+        """
+        Turns the lights on.
+
+        Arguments:
+            colors (Color or list):
+                If a single :class:`.Color` is given, then all 9 lights are set
+                to that color. If a list of colors is given, then each light is
+                set to that color.
+        """
+        ...
+
+    def off(self):
+        """
+        Turns all of the lights off.
+        """
+        ...
+
+
 class InfraredSensor:
    """LEGO® Powered Up Infrared Sensor."""

@@ -60,6 +60,11 @@ class ForceSensor:
    def pressed(self, force: int = 3) -> bool: ...
    def touched(self) -> bool: ...

+class ColorLightMatrix:
+    def __init__(self, port: Port) -> None: ...
+    def on(self, color: Union[Color, List[Color]]) -> None: ...
+    def off(self)-> None: ...
+
 class InfraredSensor:
    def __init__(self, port: Port): ...
    def reflection(self) -> int: ...
@@ -1,10 +1,12 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2020 The Pybricks Authors
+# Copyright (c) 2018-2021 The Pybricks Authors

 """Robotics module for the Pybricks API."""

 from ._common import Control as _Control

+from .parameters import Stop as _Stop
+

 class DriveBase:
    """A robotic vehicle with two powered wheels and an optional support
@@ -14,7 +16,7 @@ class DriveBase:
    makes it easy to drive a given distance in millimeters or turn by a given
    number of degrees.

-    **Positive** distances and drive speeds mean
+    **Positive** distances, radii, or drive speeds mean
    driving **forward**. **Negative** means **backward**.

    **Positive** angles and turn rates mean turning **right**.
@@ -98,10 +100,11 @@ class DriveBase:
        """Resets the estimated driven distance and angle to 0."""
        pass

-    def settings(self, straight_speed, straight_acceleration, turn_rate,
-                 turn_acceleration):
+    def settings(
+        self, straight_speed, straight_acceleration, turn_rate, turn_acceleration
+    ):
        """Configures the speed and acceleration used
-        by :meth:`.straight` and :meth:`.turn`.
+        by :meth:`.straight`, :meth:`.turn`, and  :meth:`.curve`.

        If you give no arguments, this returns the current values as a tuple.

@@ -109,31 +112,45 @@ class DriveBase:
        either before you begin driving or after you call :meth:`.stop`.

        Arguments:
-            straight_speed (:ref:`linspeed`): Speed of the robot during
-                :meth:`.straight`.
-            straight_acceleration (:ref:`linacceleration`): Acceleration and
-                deceleration of the robot at the start and end
-                of :meth:`.straight`.
-            turn_rate (:ref:`speed`): Turn rate of the robot
-                during :meth:`.turn`.
+            straight_speed (:ref:`linspeed`): Straight-line speed of the robot.
+            straight_acceleration (:ref:`linacceleration`): Straight-line
+                acceleration and deceleration of the robot.
+            turn_rate (:ref:`speed`): Turn rate of the robot.
            turn_acceleration (:ref:`acceleration`): Angular acceleration and
-                deceleration of the robot at the start and end
-                of :meth:`.turn`.
+                deceleration of the robot.
        """
        pass

-    def straight(self, distance):
+    def straight(self, distance, then=_Stop.HOLD, wait=True):
        """Drives straight for a given distance and then stops.

        Arguments:
-            distance (:ref:`distance`): Distance to travel.
+            distance (:ref:`distance`): Distance to travel
+            then (Stop): What to do after coming to a standstill.
+            wait (bool): Wait for the maneuver to complete before continuing
+                         with the rest of the program.
        """
        pass

-    def turn(self, angle):
+    def turn(self, angle, then=_Stop.HOLD, wait=True):
        """Turns in place by a given angle and then stops.

        Arguments:
            angle (:ref:`angle`): Angle of the turn.
+            then (Stop): What to do after coming to a standstill.
+            wait (bool): Wait for the maneuver to complete before continuing
+                         with the rest of the program.
+        """
+        pass
+
+    def curve(self, radius, angle, then=_Stop.HOLD, wait=True):
+        """Drives an arc along a circle of a given radius, by a given angle.
+
+        Arguments:
+            radius (:ref:`dimension`): Radius of the circle.
+            angle (:ref:`angle`): Angle along the circle.
+            then (Stop): What to do after coming to a standstill.
+            wait (bool): Wait for the maneuver to complete before continuing
+                         with the rest of the program.
        """
        pass
@@ -1,8 +1,10 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
+# Copyright (c) 2020-2021 The Pybricks Authors

 from typing import Optional, Tuple, overload, Union
+
 from ._common import Control, Motor
+from .parameters import Stop

 class DriveBase:
    distance_control: Control
@@ -32,3 +34,6 @@ class DriveBase:
    ) -> None: ...
    def straight(self, distance: int) -> None: ...
    def turn(self, angle: int) -> None: ...
+    def curve(
+        self, radius: int, angle: int, then: Stop = Stop.HOLD, wait: bool = True
+    ) -> None: ...
Author	SHA1	Message	Date
David Lechner	dd77c548d2	v3.1.0	2021-12-16 15:35:09 -06:00
David Lechner	022afabd30	pybricks.robotics: add type hint for curve() This method was added in `30803fc`.	2021-12-16 15:33:00 -06:00
David Lechner	ce17123325	pybricks._common: remove type hint for integral_range() This was removed in `e061617`. Also fix import of Axis while we are touching this file.	2021-12-16 15:29:44 -06:00
Laurens Valk	f2346df4e5	pybricks.iodevices: Hide LWP3Device This is not part of the upcoming release. Hiding is nicer than adding not-ready disclaimers throughout, especially since this information is very easy to access via our beta channel.	2021-12-01 15:39:05 +01:00
Laurens Valk	94c659ba6d	pybricks.geometry: Hide module and IMU examples. This is not part of the upcoming release. Hiding is nicer than adding not-ready disclaimers throughout, especially since this information is very easy to access via our beta channel.	2021-12-01 15:39:04 +01:00
Laurens Valk	9c0298bad0	doc/main/index: Drop beta note. This is a normal release.	2021-12-01 15:39:04 +01:00
Laurens Valk	602b21fe9d	doc/main/hubs: Hide Prime Hub. This is not part of the upcoming release. Hiding is nicer than adding not-ready disclaimers throughout, especially since this information is very easy to access via our beta channel.	2021-12-01 15:39:04 +01:00
Laurens Valk	30803fc017	pybricks.robotics.DriveBase: Add curve method. This generalizes motion to curves (arcs), which is in between straight lines and in-place turns.	2021-12-01 15:38:27 +01:00
Laurens Valk	749eceefc4	pybricks.robotics.DriveBase: Document then and wait arguments.	2021-12-01 15:35:37 +01:00
Laurens Valk	57f6f0fbef	pybricks.pupdevices.DCMotor: Document settings method. Also update changelog for recent changes.	2021-12-01 14:55:34 +01:00
Laurens Valk	e061617c34	pybricks.common.Control: Drop integral_range. This setting is no longer used. We leave a placeholder setting so we don't break existing programs. See https://github.com/pybricks/pybricks-micropython/commit/e82dd6a2be4e378ab0b1ee7e3b2643fe654de4a9#diff-e529f43c94cf766ade4b68930f9713a45b62618f4305e4c0c88ba872e9f9cd0e	2021-12-01 14:54:21 +01:00
Laurens Valk	eb09ecd7c7	pybricks.common.Control: Drop duty limit. This is now a per-motor voltage limit. See https://github.com/pybricks/support/issues/536	2021-12-01 14:41:09 +01:00
Laurens Valk	06a1542613	pybricks.pupdevices.DCMotor: Document settings method. See https://github.com/pybricks/support/issues/536	2021-12-01 14:40:06 +01:00
Laurens Valk	82a8f2ae89	pybricks.pupdevices.Motor: Add small motor render. Fixes https://github.com/pybricks/support/issues/441	2021-11-23 08:59:44 +01:00
Laurens Valk	7d0fe9cb85	doc/common/extensions: Fix classlink. Allow the link to be different from the name. This lets us fix the link for the Inventor Hub, which was linking to a non-existent page.	2021-11-22 14:49:20 +01:00
Laurens Valk	1af876ac8f	pybricks.pupdevices.ColorLightMatrix: Fix render. - Use isometric projection - Fix broken plug - Use correct background color While we are at it, add colors to show which 9 colors this device supports.	2021-11-22 14:49:20 +01:00
David Lechner	718a28c0da	@pybricks/ide-docs v2.0.1	2021-11-19 20:30:11 -06:00
David Lechner	a2a375cb5c	docs/pupdevices: fix broken link The link to the color light matrix page was broken due to an invalid file name.	2021-11-19 20:28:33 -06:00
David Lechner	466d8d6c86	@pybricks/ide-docs v2.0.0	2021-11-19 19:59:19 -06:00
David Lechner	e77b3dcf4d	v3.1.0rc1	2021-11-19 19:42:07 -06:00
David Lechner	b6d1eef2a1	pybricks.iodevices.LWP3Device: add api and docs This adds docs and API stubs for pybricks.iodevices.LWP3Device. Fixes: https://github.com/pybricks/support/issues/534	2021-11-19 19:31:53 -06:00
David Lechner	20cb5fdde5	doc: make all titles sentence case This makes the casing of titles consistent throughout the docs. Fixes: https://github.com/pybricks/pybricks-api/issues/75	2021-11-19 19:30:57 -06:00
David Lechner	2f574e8c03	pybricks.pupdevices.ColorLightMatrix: add api and docs This adds the SPIKE 3x3 Color Light Matrix to the API and docs.	2021-11-19 19:30:57 -06:00
David Lechner	9d8531a85b	npm/ide-docs: move npm packaging to separate directory This makes a clean separation between the packaging and the docs.	2021-11-19 19:30:57 -06:00
David Lechner	fee122cf33	CHANGELOG: move to top level This makes the CHANGELOG easy to find.	2021-11-19 16:37:38 -06:00
David Lechner	f42ed06d4f	doc/main/CHANGELOG: use keepachangelog.com recommendations This updates the changelog to use keepachangelog.com recommendations to make it consistent with other Pybricks changelogs.	2021-08-30 13:29:38 -05:00
David Lechner	a8126f0bed	doc/main: fix dir in package.json Another case of a missed ide to main directory.	2021-08-30 12:20:44 -05:00