npm/icons: v1.2.1

It was accidentally moved to a non-integer position. This causes the PNG to re-render. This increases the file size and makes it looks less crisp.

.github/workflows/build.yml

@@ -3,7 +3,19 @@
 
 name: Build Python package and docs
 
-on: [ push, pull_request ]
+on: 
+  push:
+    tags-ignore:
+      - "*"
+  pull_request:
+    paths:
+      - doc/**
+      - src/**
+      - poetry.lock
+      - poetry.toml
+      - pyproject.toml
+      - setup.cfg
+
 
 jobs:
   build:
@@ -35,7 +47,7 @@ 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

.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-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_ide_docs:
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v2
+    # 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 }}

.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/

.vscode/settings.json

@@ -1,10 +1,24 @@
 {
-    "python.pythonPath": "${workspaceFolder}/.venv",
+    "files.exclude": {
+      "**/__pycache__": true,
+    },
+
+    "python.autoComplete.extraPaths": ["jedi/src"],
     "python.formatting.provider": "black",
-    "python.linting.pycodestyleEnabled": false,
+    "python.linting.pylintEnabled": false,
     "python.linting.flake8Enabled": true,
+    "python.linting.pycodestyleEnabled": false,
     "python.linting.enabled": true,
+    "[python]": {
+        "editor.formatOnSave": true,
+        "editor.defaultFormatter": "ms-python.python"
+    },
     "python.languageServer": "Pylance",
+    "python.testing.pytestArgs": [
+        "jedi/tests"
+    ],
+    "python.testing.unittestEnabled": false,
+    "python.testing.pytestEnabled": true,
     "files.associations": {"*.inc": "restructuredtext"},
     "restructuredtext.confPath": "${workspaceFolder}/doc/main",
     "spellright.language": [
@@ -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

@@ -2,6 +2,62 @@
 
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 
+## Unreleased
+
+## 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

CONTRIBUTING.md

@@ -32,14 +32,91 @@ will actually be implemented.
      - 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:
+  - 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 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`.
 
 [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:**
 
@@ -49,8 +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:
 
@@ -90,4 +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

doc/Makefile

@@ -11,7 +11,7 @@ TAG           = main
 
 # Put it first so that "make" without argument is like "make help".
 help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) -t $(TAG) $(O)
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(TAG) $(O)
 
 .PHONY: help Makefile
 

doc/common/conf.py

@@ -27,21 +27,20 @@ from docutils import nodes
 from docutils.parsers.rst.directives import flag
 from docutils.parsers.rst import Directive
 from sphinx.application import Sphinx
+from sphinx.addnodes import pending_xref
+from sphinx.environment import BuildEnvironment
+from sphinx.util.nodes import make_refnode
 import toml
 
-TOP_DIR = os.path.abspath(os.path.join('..', '..'))
-sys.path.insert(0, os.path.join(TOP_DIR, 'src'))
-sys.path.append(os.path.abspath('../common/extensions'))
-
-from pybricks.hubs import EV3Brick  # noqa E402
-from pybricks.media.ev3dev import Image  # noqa E402
-from pybricks._common import Speaker  # noqa E402
+TOP_DIR = os.path.abspath(os.path.join("..", ".."))
+sys.path.insert(0, os.path.join(TOP_DIR, "src"))
+sys.path.append(os.path.abspath("../common/extensions"))
 
 # ON_RTD is whether we are on readthedocs.org
 # this line of code grabbed from docs.readthedocs.org
-ON_RTD = os.environ.get('READTHEDOCS', None) == 'True'
+ON_RTD = os.environ.get("READTHEDOCS", None) == "True"
 
-_pyproject = toml.load(os.path.join(TOP_DIR, 'pyproject.toml'))
+_pyproject = toml.load(os.path.join(TOP_DIR, "pyproject.toml"))
 
 # -- General configuration ------------------------------------------------
 
@@ -53,27 +52,29 @@ _pyproject = toml.load(os.path.join(TOP_DIR, 'pyproject.toml'))
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
-    'sphinx.ext.autodoc',
-    'sphinx.ext.napoleon',
-    'sphinx.ext.todo',
-    'sphinx.ext.mathjax',
-    'color',
-    'classlink',
-    'requirements',
-    'requirements-static',
+    "sphinx.ext.autodoc",
+    "sphinx.ext.napoleon",
+    "sphinx.ext.todo",
+    "sphinx.ext.mathjax",
+    # Custom Pybricks extensions
+    "color",
+    "classlink",
+    "requirements",
+    "requirements-static",
+    "versionchanged",
 ]
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['../common/_templates']
+templates_path = ["../common/_templates"]
 
 # The suffix(es) of source filenames.
 # You can specify multiple suffix as a list of string:
 #
 # source_suffix = ['.rst', '.md']
-source_suffix = '.rst'
+source_suffix = ".rst"
 
 # The master toctree document.
-master_doc = 'index'
+master_doc = "index"
 
 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
@@ -82,17 +83,17 @@ master_doc = 'index'
 # The full version, including alpha/beta/rc tags.
 release = "v" + _pyproject["tool"]["poetry"]["version"]
 # The short X.Y version.
-version = re.match(r'(v\d+\.\d+)', release)[0]
+version = re.match(r"(v\d+\.\d+)", release)[0]
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
 #
 # This is also used if you do content translation via gettext catalogs.
 # Usually you set "language" from the command line for these cases.
-language = None
+language = "en"
 
 # The name of the Pygments (syntax highlighting) style to use.
-pygments_style = 'xcode'
+pygments_style = "xcode"
 
 # If true, `todo` and `todoList` produce output, else they produce nothing.
 todo_include_todos = True
@@ -100,10 +101,10 @@ todo_include_todos = True
 # Figure numbering
 numfig = True
 numfig_format = {
-    'figure': 'Figure %s',
-    'table': 'Table %s',
-    'code-block': 'Listing %s',
-    'section': 'Section %s'
+    "figure": "Figure %s",
+    "table": "Table %s",
+    "code-block": "Listing %s",
+    "section": "Section %s",
 }
 
 # Find cross-reference errors
@@ -111,59 +112,49 @@ nitpicky = True
 
 # https://stackoverflow.com/a/30624034/1976323
 nitpick_ignore = [
-    ('py:class', 'bool'),
-    ('py:class', 'bytearray'),
-    ('py:class', 'bytes'),
-    ('py:class', 'callable'),
-    ('py:class', 'dict'),
-    ('py:class', 'float'),
-    ('py:class', 'int'),
-    ('py:class', 'iter'),
-    ('py:class', 'list'),
-    ('py:class', 'object'),
-    ('py:class', 'str'),
-    ('py:class', 'tuple'),
-    ('py:exc', 'OSError'),
-    ('py:exc', 'RuntimeError'),
-    ('py:exc', 'TypeError'),
-    ('py:exc', 'ValueError'),
+    ("py:class", "bool"),
+    ("py:class", "bytearray"),
+    ("py:class", "bytes"),
+    ("py:class", "callable"),
+    ("py:class", "dict"),
+    ("py:class", "float"),
+    ("py:class", "int"),
+    ("py:class", "iter"),
+    ("py:class", "list"),
+    ("py:class", "object"),
+    ("py:class", "str"),
+    ("py:class", "tuple"),
+    ("py:exc", "OSError"),
+    ("py:exc", "RuntimeError"),
+    ("py:exc", "TypeError"),
+    ("py:exc", "ValueError"),
 ]
 
 # not sure why, but this is needed for typing.IO in uselect
-nitpick_ignore.append(('py:class', 'IO'))
-
-# Workaround until change below is released.
-# https://github.com/sphinx-doc/sphinx/commit/86091934db5ec593b4b0c982b7f08f3231ef995b
-nitpick_ignore.extend([
-    ('py:class', '0'),
-    ('py:class', '1'),
-    ('py:class', '2'),
-    ('py:class', '3'),
-    ('py:class', 'big'),
-    ('py:class', 'little'),
-])
+nitpick_ignore.append(("py:obj", "typing.IO"))
 
 # -- Autodoc options ------------------------------------------------------
 
-autodoc_member_order = 'bysource'
+autodoc_member_order = "bysource"
 autodoc_default_options = {
-    'members': True,
-    'undoc-members': True,
+    "members": True,
+    "undoc-members": True,
 }
-autoclass_content = 'both'  # This ensures init arguments are not ignored
+autoclass_content = "both"  # This ensures init arguments are not ignored
 add_module_names = False  # Hide module name
 
 # -- Options for HTML output ----------------------------------------------
 
 if ON_RTD:
-    html_theme = 'default'
+    html_theme = "default"
 else:
     import sphinx_rtd_theme
-    html_theme = 'sphinx_rtd_theme'
+
+    html_theme = "sphinx_rtd_theme"
     html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
 
 html_context = {
-    'disclaimer': _DISCLAIMER,
+    "disclaimer": _DISCLAIMER,
 }
 
 # The theme to use for HTML and HTML Help pages.  See the documentation for
@@ -176,14 +167,14 @@ html_context = {
 # documentation.
 #
 html_theme_options = {
-   'style_external_links': True,
-   'logo_only': True,
+    "style_external_links": True,
+    "logo_only": True,
 }
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['../common/_static']
+html_static_path = ["../common/_static"]
 
 # Custom sidebar templates, must be a dictionary that maps document names
 # to template names.
@@ -191,9 +182,9 @@ html_static_path = ['../common/_static']
 # This is required for the alabaster theme
 # refs: http://alabaster.readthedocs.io/en/latest/installation.html#sidebars
 html_sidebars = {
-    '**': [
-        'relations.html',  # needs 'show_related': True theme option to display
-        'searchbox.html',
+    "**": [
+        "relations.html",  # needs 'show_related': True theme option to display
+        "searchbox.html",
     ]
 }
 
@@ -203,7 +194,7 @@ html_scaled_image_link = False
 # -- Options for HTMLHelp output ------------------------------------------
 
 # Output file base name for HTML help builder.
-htmlhelp_basename = 'Pybricksdoc'
+htmlhelp_basename = "Pybricksdoc"
 
 
 # -- Options for LaTeX output ---------------------------------------------
@@ -212,14 +203,12 @@ latex_elements = {
     # The paper size ('letterpaper' or 'a4paper').
     #
     # 'papersize': 'letterpaper',
-
     # The font size ('10pt', '11pt' or '12pt').
     #
     # 'pointsize': '10pt',
-
     # Additional stuff for the LaTeX preamble.
     #
-    'preamble': r'''
+    "preamble": r"""
     \usepackage{CJKutf8}
     \makeatletter
     \fancypagestyle{normal}{
@@ -239,51 +228,46 @@ latex_elements = {
         \renewcommand{\footrulewidth}{0.4pt}
     }
     \makeatother
-    ''' % {
-        'disclaimer': ' '.join((_DISCLAIMER, '©', copyright)),
+    """
+    % {
+        "disclaimer": " ".join((_DISCLAIMER, "©", copyright)),
     },
-
     # Latex figure (float) alignment
     #
     # 'figure_align': 'htbp',
-    'extraclassoptions': 'openany,oneside',
-
-    'releasename': 'Version',
+    "extraclassoptions": "openany,oneside",
+    "releasename": "Version",
 }
 
 # Grouping the document tree into LaTeX files. List of tuples
 # (source start file, target name, title,
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
-    (master_doc, ''.join([project, '-v', version, '.tex']), _TITLE,
-     author, 'manual'),
+    (master_doc, "".join([project, "-v", version, ".tex"]), _TITLE, author, "manual"),
 ]
 
 # -- Content control -----------------------------------------------------
 
 
 exclude_patterns = [
-    'ev3devices.rst',
-    'hubs/ev3brick.rst',
-    'iodevices/analogsensor.rst',
-    'iodevices/dcmotor.rst',
-    'iodevices/ev3devsensor.rst',
-    'iodevices/i2cdevice.rst',
-    'iodevices/lumpdevice.rst',
-    'iodevices/uartdevice.rst',
-    'media.rst',
-    'messaging.rst',
-    'nxtdevices.rst',
-    'tools/datalog.rst'
+    "ev3devices.rst",
+    "hubs/ev3brick.rst",
+    "iodevices/analogsensor.rst",
+    "iodevices/dcmotor.rst",
+    "iodevices/ev3devsensor.rst",
+    "iodevices/i2cdevice.rst",
+    "iodevices/lumpdevice.rst",
+    "iodevices/uartdevice.rst",
+    "media.rst",
+    "messaging.rst",
+    "nxtdevices.rst",
+    "tools/datalog.rst",
 ]
 
 
 # One entry per manual page. List of tuples
 # (source start file, name, description, authors, manual section).
-man_pages = [
-    (master_doc, 'pybricks', 'Pybricks Documentation',
-     [author], 1)
-]
+man_pages = [(master_doc, "pybricks", "Pybricks Documentation", [author], 1)]
 
 
 # -- Options for Texinfo output -------------------------------------------
@@ -292,33 +276,96 @@ man_pages = [
 # (source start file, target name, title, author,
 #  dir menu entry, description, category)
 texinfo_documents = [
-    (master_doc, 'Pybricks', 'Pybricks Documentation',
-     author, 'Pybricks', 'One line description of project.',
-     'Miscellaneous'),
+    (
+        master_doc,
+        "Pybricks",
+        "Pybricks Documentation",
+        author,
+        "Pybricks",
+        "One line description of project.",
+        "Miscellaneous",
+    ),
 ]
 
 
 # -- .. availability:: directive
 
+
 class AvailabilityDirective(Directive):
     has_content = True
     option_spec = {
-        'movehub': flag,
-        'cityhub': flag,
-        'technichub': flag,
-        'ev3dev-stretch': flag,
+        "movehub": flag,
+        "cityhub": flag,
+        "technichub": flag,
+        "ev3dev-stretch": flag,
     }
 
     def run(self):
         if not self.options:
-            raise self.error('Must specify at least one platform.')
+            raise self.error("Must specify at least one platform.")
         # TODO: make links to platform pages
-        return [nodes.emphasis(text='Availability: '),
-                nodes.Text(', '.join(self.options))]
+        return [
+            nodes.emphasis(text="Availability: "),
+            nodes.Text(", ".join(self.options)),
+        ]
+
+
+def on_missing_reference(
+    app: Sphinx, env: BuildEnvironment, node: pending_xref, contnode: nodes.Element
+) -> nodes.Element:
+    # The Number type alias is on the Signals and Units page instead of on the
+    # pybricks.parameters page so normal resolution doesn't work
+    if node["reftype"] == "class" and node["reftarget"] == "Number":
+        return make_refnode(
+            app.builder, node["refdoc"], "signaltypes", "numbers", contnode
+        )
+
+    # References with special characters can't exist, so we have to supress
+    # warnings when Sphinx tries to cross reference units like deg/s. For
+    # consistency, we also treat units without special characters this way.
+    for unit in [
+        "deg",
+        "deg/s",
+        "deg/s²",
+        "mm",
+        "mm/s",
+        "mm/s²",
+        "%",
+        "mV",
+        "mA",
+        "ms",
+        "mNm",
+        "Hz",
+        "°C",
+        "J",
+        "Ω",
+        "N",
+    ]:
+
+        # If they match on raw source, we are dealing with argument types.
+        if unit == contnode.rawsource:
+            # Return as-is to suppress missing cross reference warning. We
+            # could make this more fancy by returning an xref node that links
+            # to the signals page.
+            return contnode
+
+        # Return types are denoted as "int: deg"
+        try:
+            # Try to unpack the node.
+            ret_type, ret_unit = str(contnode).split(": ")
+        except ValueError:
+            # Not a valid format, so skip.
+            continue
+
+        # If it's a match, we could format the node so it looks a bit nicer.
+        # For now just keep the colon notation as is.
+        if unit == ret_unit:
+            return nodes.Text(f"{ret_type}: {ret_unit}")
 
 
 def setup(app: Sphinx):
-    app.add_directive('availability', AvailabilityDirective)
+    app.add_directive("availability", AvailabilityDirective)
+    app.connect("missing-reference", on_missing_reference)
 
 
 # -- Python domain hacks ---------------------------------------------------

doc/common/extensions/classlink.py

@@ -5,27 +5,31 @@ 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()) +
-            '<dl class="py class">' +
-            '<dt>' +
-            '<em class="property">class </em>' +
-            '<code class="sig-name descname">' + name + '</code>' +
-            '</dt>' +
-            '<dd></dd>' +
-            '</dl>' +
-            '</a>'
+            '<a href="{0}.html">'.format(link.lower())
+            + '<dl class="py class">'
+            + "<dt>"
+            + '<em class="property">class </em>'
+            + '<code class="sig-name descname">'
+            + name
+            + "</code>"
+            + "</dt>"
+            + "<dd></dd>"
+            + "</dl>"
+            + "</a>"
         )
 
         # Return the node
-        node = nodes.raw('', html, format="html")
+        node = nodes.raw("", html, format="html")
         return [node]
 
 
 def setup(app):
-    app.add_directive_to_domain('py', 'pybricks-classlink', PybricksClasslinkDirective)
+    app.add_directive_to_domain("py", "pybricks-classlink", PybricksClasslinkDirective)

doc/common/extensions/color.py

@@ -16,28 +16,27 @@ class PybricksColorDirective(Directive):
         color = getattr(Color, name)
 
         # Convert HSV to RGB
-        r, g, b = hsv_to_rgb(color.h/360, color.s/100, color.v/100)
+        r, g, b = hsv_to_rgb(color.h / 360, color.s / 100, color.v / 100)
 
         # Convert RGB to HEX
-        rgbhex = '#{0:02x}{1:02x}{2:02x}'.format(
-            round(r*255),
-            round(g*255),
-            round(b*255)
+        rgbhex = "#{0:02x}{1:02x}{2:02x}".format(
+            round(r * 255), round(g * 255), round(b * 255)
         )
 
         # Render a small block of the given color
         css = "background-color: {0}; color: {0}; width: 50px;".format(rgbhex)
 
         if name == "WHITE":
-            css += "border-style: solid; border-width: 0.5px;" + \
-                   "border-color: #666666;"
+            css += (
+                "border-style: solid; border-width: 0.5px;" + "border-color: #666666;"
+            )
 
         html = '<div id="test" style="{0}">_</div>'.format(css)
 
         # Return the node
-        node = nodes.raw('', html, format="html")
+        node = nodes.raw("", html, format="html")
         return [node]
 
 
 def setup(app):
-    app.add_directive_to_domain('py', 'pybricks-color', PybricksColorDirective)
+    app.add_directive_to_domain("py", "pybricks-color", PybricksColorDirective)

doc/common/extensions/requirements-static.py

@@ -10,10 +10,10 @@ FEATURES_SMALL = set()
 
 # Medium feature set.
 FEATURES_MEDIUM = FEATURES_SMALL | {
-    'pybricks-geometry',
-    'pybricks-iodevices',
-    'stm32-extra',
-    'stm32-float',
+    "pybricks-geometry",
+    "pybricks-iodevices",
+    "stm32-extra",
+    "stm32-float",
 }
 
 # Large feature set.
@@ -21,11 +21,12 @@ FEATURES_LARGE = FEATURES_MEDIUM | set()
 
 # Features per hub.
 HUB_FEATURES = {
-    'movehub': {'movehub'} | FEATURES_SMALL,
-    'cityhub': {'cityhub'} | FEATURES_MEDIUM,
-    'technichub': {'technichub'} | FEATURES_MEDIUM,
-    'primehub':  {'primehub', 'inventorhub'} | FEATURES_LARGE,
-    'inventorhub':  {'primehub', 'inventorhub'} | FEATURES_LARGE,
+    "movehub": {"movehub"} | FEATURES_SMALL,
+    "cityhub": {"cityhub"} | FEATURES_MEDIUM,
+    "technichub": {"technichub"} | FEATURES_MEDIUM,
+    "primehub": {"primehub", "inventorhub"} | FEATURES_LARGE,
+    "inventorhub": {"primehub", "inventorhub"} | FEATURES_LARGE,
+    "essentialhub": {"essentialhub"} | FEATURES_LARGE,
 }
 
 
@@ -40,15 +41,15 @@ class PybricksRequirementsStaticDirective(Directive):
         # CC BY-SA 4.0 via https://stackoverflow.com/a/63728208
         env = self.state.document.settings.env
 
-        destdir = path.join(env.app.builder.outdir, '_images')
+        destdir = path.join(env.app.builder.outdir, "_images")
         if not path.exists(destdir):
             makedirs(destdir)
 
         for hub in HUB_FEATURES:
             for compat in ("true", "false"):
-                uri = 'compat_{0}_{1}_label.png'.format(hub, compat)
-                src_uri = path.join(env.app.builder.srcdir, 'images', uri)
-                build_uri = path.join(env.app.builder.outdir, '_images', uri)
+                uri = "compat_{0}_{1}.png".format(hub, compat)
+                src_uri = path.join(env.app.builder.srcdir, "diagrams", uri)
+                build_uri = path.join(env.app.builder.outdir, "_images", uri)
                 copyfile(src_uri, build_uri)
 
         # Get requirements from sphinx-directive.
@@ -57,7 +58,7 @@ class PybricksRequirementsStaticDirective(Directive):
         # Cell with image of a hub.
         hub_cell = """
         <th><div class="align-default">
-        <img alt="" src="{0}_images/compat_{1}_{2}_label.png">
+        <img alt="" src="{0}_images/compat_{1}_{2}.png">
         </div></th>
         """
 
@@ -67,13 +68,14 @@ class PybricksRequirementsStaticDirective(Directive):
         depth_path = "../" * depth
 
         # Table row with hub images.
-        compat_row = "".join([
-            hub_cell.format(
-                depth_path,
-                hub,
-                "true" if requirements <= features else "false")
-            for hub, features in HUB_FEATURES.items()
-        ])
+        compat_row = "".join(
+            [
+                hub_cell.format(
+                    depth_path, hub, "true" if requirements <= features else "false"
+                )
+                for hub, features in HUB_FEATURES.items()
+            ]
+        )
 
         # Generate full table.
         html = """
@@ -86,16 +88,16 @@ class PybricksRequirementsStaticDirective(Directive):
                 </tbody>
             </table>
         </div>
-        """.format(compat_row)
+        """.format(
+            compat_row
+        )
 
         # Return the node.
-        node = nodes.raw('', html, format="html")
+        node = nodes.raw("", html, format="html")
         return [node]
 
 
 def setup(app):
     app.add_directive_to_domain(
-        'py',
-        'pybricks-requirements-static',
-        PybricksRequirementsStaticDirective
+        "py", "pybricks-requirements-static", PybricksRequirementsStaticDirective
     )

doc/common/extensions/requirements.py

@@ -29,25 +29,25 @@ from sphinx.util.osutil import copyfile
 from sphinx.util import logging
 
 
-CSS_FILE = 'requirements.css'
-JS_FILE = 'requirements.js'
+CSS_FILE = "requirements.css"
+JS_FILE = "requirements.js"
 
 
 class PybricksRequirementsDirective(Directive):
     has_content = True
-    option_spec = {'header': directives.unchanged}
+    option_spec = {"header": directives.unchanged}
 
     required_arguments = 0
     optional_arguments = 10
 
     def run(self):
         node = nodes.container()
-        node['classes'].append('toggle-content')
+        node["classes"].append("toggle-content")
 
         par = nodes.container()
-        par['classes'].append('toggle-header')
+        par["classes"].append("toggle-header")
 
-        content = '.. pybricks-requirements-static:: ' + " ".join(self.arguments)
+        content = ".. pybricks-requirements-static:: " + " ".join(self.arguments)
 
         self.state.nested_parse(StringList([content]), self.content_offset, node)
 
@@ -60,20 +60,20 @@ def add_assets(app):
 
 
 def copy_assets(app, exception):
-    if app.builder.name not in ['html', 'readthedocs'] or exception:
+    if app.builder.name not in ["html", "readthedocs"] or exception:
         return
     logger = logging.getLogger(__name__)
-    logger.info('Copying requirements stylesheet/javascript... ', nonl=True)
-    dest = os.path.join(app.builder.outdir, '_static', CSS_FILE)
+    logger.info("Copying requirements stylesheet/javascript... ", nonl=True)
+    dest = os.path.join(app.builder.outdir, "_static", CSS_FILE)
     source = os.path.join(os.path.abspath(os.path.dirname(__file__)), CSS_FILE)
     copyfile(source, dest)
-    dest = os.path.join(app.builder.outdir, '_static', JS_FILE)
+    dest = os.path.join(app.builder.outdir, "_static", JS_FILE)
     source = os.path.join(os.path.abspath(os.path.dirname(__file__)), JS_FILE)
     copyfile(source, dest)
-    logger.info('done')
+    logger.info("done")
 
 
 def setup(app):
-    app.add_directive('pybricks-requirements', PybricksRequirementsDirective)
-    app.connect('builder-inited', add_assets)
-    app.connect('build-finished', copy_assets)
+    app.add_directive("pybricks-requirements", PybricksRequirementsDirective)
+    app.connect("builder-inited", add_assets)
+    app.connect("build-finished", copy_assets)

doc/common/extensions/versionchanged.py

@@ -0,0 +1,31 @@
+"""This directive hides the builtin directives
+    * versionchanged
+    * versionadded
+    * deprecated
+when building documentation with the 'ide' tag.
+"""
+from docutils import nodes
+from docutils.parsers.rst import Directive
+
+
+class PybricksVersionDirective(Directive):
+
+    has_content = True
+
+    def run(self):
+        html = ""
+        node = nodes.raw("", html, format="html")
+        return [node]
+
+
+def setup(app):
+    if "ide" in app.tags.tags:
+        app.add_directive_to_domain(
+            "py", "deprecated", PybricksVersionDirective, override=True
+        )
+        app.add_directive_to_domain(
+            "py", "versionadded", PybricksVersionDirective, override=True
+        )
+        app.add_directive_to_domain(
+            "py", "versionchanged", PybricksVersionDirective, override=True
+        )

doc/main/cad/copy-renders.sh

@@ -0,0 +1,62 @@
+rm output/*
+cp LPub3D/assem/main-*.png output/all.png 
+cp LPub3D/assem/main_1_ev3devices-*.png output/ev3device-all.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-color-*.png output/ev3device-color.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-ev3-*.png output/ev3device-ev3.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-gyro-*.png output/ev3device-gyro.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-infrared-*.png output/ev3device-infrared.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-motors-*.png output/ev3device-motors.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-touch-*.png output/ev3device-touch.png
+cp LPub3D/assem/main_1_ev3devices_1_ev3device-ultrasonic-*.png output/ev3device-ultrasonic.png
+cp LPub3D/assem/main_1_hubs_2_hubs-lwp3-*.png output/hub-lwp3.png
+cp LPub3D/assem/main_1_hubs-*0_1_1*.png output/hub-spike-inventor.png
+cp LPub3D/assem/main_1_hubs-*0_1_2*.png output/hub-all.png
+cp LPub3D/assem/main_1_hubs_1_hub-city-*.png output/hub-city.png
+cp LPub3D/assem/main_1_hubs_1_hub-essential-*35_-35_0_ABS.png output/hub-essential.png
+cp LPub3D/assem/main_1_hubs_1_hub-essential-*45_45_0_ABS.png output/hub-essential-orientation.png
+cp LPub3D/assem/main_1_hubs_1_hub-inventor-*35_-35_0_ABS.png output/hub-inventor.png
+cp LPub3D/assem/main_1_hubs_1_hub-inventor-*45_45_0_ABS.png output/hub-inventor-orientation.png
+cp LPub3D/assem/main_1_hubs_1_hub-move-*35_-35_0_ABS.png output/hub-move.png
+cp LPub3D/assem/main_1_hubs_1_hub-move-*45_45_0_ABS.png output/hub-move-orientation.png
+cp LPub3D/assem/main_1_hubs_1_hub-move-*35_-125_0_ABS.png output/hub-move-motor-a.png
+cp LPub3D/assem/main_1_hubs_1_hub-move-*35_55_0_ABS.png output/hub-move-motor-b.png
+cp LPub3D/assem/main_1_hubs_1_hub-prime-*35_-35_0_ABS.png output/hub-prime.png
+cp LPub3D/assem/main_1_hubs_1_hub-prime-*45_45_0_ABS.png output/hub-prime-orientation.png
+cp LPub3D/assem/main_1_hubs_1_hub-prime-*90_0_0_ABS.png output/hub-prime-display.png
+cp LPub3D/assem/main_1_hubs_1_hub-technic-*35_-35_0_ABS.png output/hub-technic.png
+cp LPub3D/assem/main_1_hubs_1_hub-technic-*45_-135_0_ABS.png output/hub-technic-orientation.png
+cp LPub3D/assem/main_1_iodevices-*.png output/iodevice-all.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-dcmotor-*.png output/iodevice-dcmotor.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-pupdevice-*.png output/iodevice-pupdevice.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12blue-*.png output/iodevice-rj12blue.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12brown-*.png output/iodevice-rj12brown.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12cyan-*.png output/iodevice-rj12cyan.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12green-*.png output/iodevice-rj12green.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12grey-*.png output/iodevice-rj12grey.png
+cp LPub3D/assem/main_1_iodevices_1_iodevice-rj12pcbbox-*.png output/iodevice-rj12pcbbox.png
+cp LPub3D/assem/main_1_nxtdevices-*.png output/nxtdevice-all.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-color-*.png output/nxtdevice-color.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-energy-*.png output/nxtdevice-energy.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-light-*.png output/nxtdevice-light.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-nxt-*.png output/nxtdevice-nxt.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-sound-*.png output/nxtdevice-sound.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-temperature-*.png output/nxtdevice-temperature.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-touch-*.png output/nxtdevice-touch.png
+cp LPub3D/assem/main_1_nxtdevices_1_nxtdevice-ultrasonic-*.png output/nxtdevice-ultrasonic.png
+cp LPub3D/assem/main_1_pupdcmotors-*.png output/pupdevice-dcmotors.png
+cp LPub3D/assem/main_1_pupdevices-*.png output/pupdevice-all.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-color-*0_0.png output/pupdevice-color-front.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-color-*ABS.png output/pupdevice-color.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-colordistance-*.png output/pupdevice-colordistance.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-force-*.png output/pupdevice-force.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-infrared-*.png output/pupdevice-infrared.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-light-*.png output/pupdevice-light.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-lightmatrix-*.png output/pupdevice-lightmatrix.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-pfmotor-*.png output/pupdevice-pfmotor.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-remote-*.png output/pupdevice-remote.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-tilt-*35_-35_0_ABS.png output/pupdevice-tilt.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-tilt-*45_-135_0_ABS.png output/pupdevice-tilt-orientation.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-ultrasonic-*0_0.png output/pupdevice-ultrasonic-front.png
+cp LPub3D/assem/main_1_pupdevices_1_pupdevice-ultrasonic-*ABS.png output/pupdevice-ultrasonic.png
+cp LPub3D/assem/main_1_pupmotors-*.png output/pupdevice-motors.png
+cp LPub3D/assem/main_1_imu-orientation-*.png output/imu-orientation.png

doc/main/cad/devices.mpd

@@ -0,0 +1,841 @@
+0 FILE main.ldr
+0 main
+0 Name: main.ldr
+0 Author: Pybricks
+0 !LPUB RESOLUTION GLOBAL 150 DPI
+0 !LPUB PAGE SIZE GLOBAL 33.1102 46.8110 A0
+0 !LPUB PAGE MARGINS GLOBAL 0.0000 0.0000
+0 !LPUB PLI SHOW GLOBAL FALSE
+0 !LPUB PAGE ORIENTATION GLOBAL LANDSCAPE
+0 !LPUB PAGE BACKGROUND GLOBAL TRANSPARENT
+0 !LPUB ASSEM MODEL_SCALE GLOBAL  0.3
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 0 730 0 -37 1 0 0 0 1 0 0 0 1 pupdevices.ldr
+1 0 0 0 140 1 0 0 0 1 0 0 0 1 hubs.ldr
+1 0 70 0 333 1 0 0 0 1 0 0 0 1 pupmotors.ldr
+1 0 1340 380 700 0 0 1 0 1 0 -1 0 0 pupdcmotors.ldr
+1 0 -590 380 570 1 0 0 0 1 0 0 0 1 nxtdevices.ldr
+1 0 -280 380 1730 1 0 0 0 1 0 0 0 1 ev3devices.ldr
+1 0 -720 380 1840 1 0 0 0 1 0 0 0 1 iodevices.ldr
+0 BUFEXCHG A STORE
+1 0 -720 380 1840 1 0 0 0 1 0 0 0 1 imu-orientation.ldr
+0 BUFEXCHG A RETRIEVE
+0 ROTSTEP 40 -35 0 ABS
+0 
+0 STEP
+0 !LPUB INSERT COVER_PAGE BACK
+0 NOFILE
+0
+0 FILE pupdevices.ldr
+0 New Model
+0 Name: pupdevices.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 !LPUB ASSEM MODEL_SCALE GLOBAL  0.35
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+0 BUFEXCHG A STORE
+0 GHOST 1 0 1043 0 -136 1 0 0 0 1 0 0 0 1 pupdevice-pfmotor.ldr
+0 BUFEXCHG A RETRIEVE
+1 0 349 0 -225 1 0 0 0 1 0 0 0 1 pupdevice-color.ldr
+1 0 -31 0 -215 1 0 0 0 1 0 0 0 1 pupdevice-force.ldr
+1 0 139 0 -235 1 0 0 0 1 0 0 0 1 pupdevice-ultrasonic.ldr
+1 0 460 0 20 1 0 0 0 1 0 0 0 1 pupdevice-tilt.ldr
+1 0 300 0 20 1 0 0 0 1 0 0 0 1 pupdevice-colordistance.ldr
+1 0 130 0 20 1 0 0 0 1 0 0 0 1 pupdevice-infrared.ldr
+1 0 510 0 -280 1 0 0 0 1 0 0 0 1 pupdevice-lightmatrix.ldr
+1 0 560 0 60 1 0 0 0 1 0 0 0 1 pupdevice-light.ldr
+1 0 330 0 350 1 0 0 0 1 0 0 0 1 pupdevice-remote.ldr
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 
+0 
+0 
+0 NOFILE
+0
+0 FILE hubs.ldr
+0 New Model
+0 Name: hubs.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 !LPUB ASSEM MODEL_SCALE GLOBAL  0.35
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+1 0 80 30 -270 1 0 0 0 1 0 0 0 1 hub-prime.ldr
+1 0 -150 30 -130 1 0 0 0 1 0 0 0 1 hub-inventor.ldr
+0 ROTSTEP 40 -35 0 ABS
+1 0 280 0 -460 1 0 0 0 1 0 0 0 1 hub-essential.ldr
+1 0 0 0 0 1 0 0 0 1 0 0 0 1 hubs-lwp3.ldr
+0 STEP
+0 
+0 NOFILE
+0
+0 FILE pupdevice-color.ldr
+0 New Model
+0 Name: pupdevice-color.ldr
+0 Author: Pybricks
+0 Unofficial Model
+0 ROTATION CENTER 0 0 0 1 "Custom" 
+0 ROTATION CONFIG 0 0
+0 GHOST 1 15 0 0 -50 -1 0 0 0 -1 0 0 0 1 37308.dat
+0 ROTSTEP 0 0 0 ABS
+1 15 0 0 0 -1 0 0 0 -1 0 0 0 1 37308c01.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 NOFILE
+0
+0 FILE pupdevice-ultrasonic.ldr
+0 New Model
+0 Name: pupdevice-ultrasonic.ldr
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+1 0 150 0 -50 1 0 0 0 1 0 0 0 1 u9470c01.dat
+1 15 150 15 -50 1 0 0 0 1 0 0 0 1 u9218c01.dat
+1 0 120 0 -81 15 0 0 0 0 15 0 -1 0 box.dat
+1 0 180 0 -81 0 0 -8 15 0 0 0 -1 0 box.dat
+1 0 160 0 -81 0 0 8 -15 0 0 0 -1 0 box.dat
+1 4 195 -8 -81 0 0 2 -2 0 0 0 -1 0 box.dat
+1 2 150 0 -80 50 0 0 0 0 20 0 -1 0 box.dat
+1 1 195 0 -81 0 0 2 -2 0 0 0 -1 0 box.dat
+1 14 195 8 -81 0 0 2 -2 0 0 0 -1 0 box.dat
+0 ROTSTEP 35 -35 0 ABS
+0 
+0 
+0 
+0 NOFILE
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+0 
+0
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+0 ROTATION CONFIG 0 0
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doc/main/conf.py

@@ -4,47 +4,54 @@
 # Pybricks documentation build configuration file
 #
 import os
+import sys
 
 # General information about the project.
-project = 'pybricks'
-copyright = '2018-2021 The Pybricks Authors'
-author = ''
+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\
+_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.'
+               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'
+html_favicon = "../common/images/favicon.ico"
+html_logo = "../common/images/pybricks-logo-rtd.png"
+latex_logo = "../common/images/pybricks-logo-large.png"
 
 # Build main docs for RTD by default.
 # Since tags cannot be passed via the TAG make variable on read the docs,
 # add it manually.
-if os.environ.get('READTHEDOCS', None) == 'True':
-    tags.add('main')  # noqa F821
+if os.environ.get("READTHEDOCS", None) == "True":
+    tags.add("main")  # noqa F821
 
+# HACK: this allows Number type alias to be imported by Sphinx
+os.environ["SPHINX_BUILD"] = "True"
 
 # Addtional configuration of the IDE docs
-if 'ide' in tags.tags:  # noqa F821
-    _DISCLAIMER = ''
+if "ide" in tags.tags:  # noqa F821
+    _DISCLAIMER = ""
     html_show_copyright = False
     html_show_sphinx = False
-    html_css_files = ['css/ide.css']
-    html_js_files = ['js/ide.js']
+    html_css_files = ["css/ide.css"]
+    html_js_files = ["js/ide.js"]
 
-    imgmath_image_format = 'svg'
+    imgmath_image_format = "svg"
     imgmath_use_preview = True  # requires Sphinx v3
-    imgmath_latex_preamble = r'''
+    imgmath_latex_preamble = r"""
     \usepackage{newtxsf}
-    '''
+    """
 
 exec(open(os.path.abspath("../common/conf.py")).read())
 
 # Addtional configuration of the IDE docs
-if 'ide' in tags.tags:  # noqa F821
+if "ide" in tags.tags:  # noqa F821
 
-    extensions.remove('sphinx.ext.mathjax')  # noqa F821
-    extensions.append('sphinx.ext.imgmath')  # noqa F821
-    html_theme_options['prev_next_buttons_location'] = None  # noqa F821
+    extensions.remove("sphinx.ext.mathjax")  # noqa F821
+    extensions.append("sphinx.ext.imgmath")  # noqa F821
+    html_theme_options["prev_next_buttons_location"] = None  # noqa F821
+
+# Build hub specific example scripts.
+sys.path.append(os.path.abspath("../../examples/pup/hub_common"))
+import make_examples  # noqa F401, E402

doc/main/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/main/diagram_source/compat_movehub_false.svg

@@ -1,106 +0,0 @@
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-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-
-<svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
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-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:xlink="http://www.w3.org/1999/xlink"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="150"
-   height="135"
-   viewBox="0 0 39.687499 35.718751"
-   version="1.1"
-   id="svg887"
-   inkscape:version="0.92.3 (2405546, 2018-03-11)"
-   sodipodi:docname="compat_movehub_false.svg">
-  <defs
-     id="defs881">
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-       clipPathUnits="userSpaceOnUse"
-       id="clipPath1545">
-      <rect
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-         id="rect1547"
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-         height="35.71875"
-         x="-25.390602"
-         y="312.93103" />
-    </clipPath>
-  </defs>
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-     id="base"
-     pagecolor="#fcfcfc"
-     bordercolor="#666666"
-     borderopacity="1.0"
-     inkscape:pageopacity="1"
-     inkscape:pageshadow="2"
-     inkscape:zoom="3.959798"
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-     inkscape:document-units="px"
-     inkscape:current-layer="layer1"
-     showgrid="false"
-     units="px"
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-     inkscape:window-x="1920"
-     inkscape:window-y="0"
-     inkscape:window-maximized="1"
-     inkscape:snap-global="false" />
-  <metadata
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-    <rdf:RDF>
-      <cc:Work
-         rdf:about="">
-        <dc:format>image/svg+xml</dc:format>
-        <dc:type
-           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
-      </cc:Work>
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-       width="39.6875"
-       height="35.71875"
-       x="3.5527137e-15"
-       y="261.28122" />
-    <image
-       sodipodi:absref="../images/movehub.png"
-       xlink:href="../images/movehub.png"
-       transform="translate(25.390602,-51.6498)"
-       clip-path="url(#clipPath1545)"
-       style="stroke-width:5.92592621"
-       width="40.183594"
-       height="35.71875"
-       preserveAspectRatio="none"
-       id="image1492"
-       x="-25.506657"
-       y="312.93103" />
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-       id="g862"
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-      <path
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-         inkscape:connector-curvature="0" />
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-  </g>
-</svg>

doc/main/diagram_source/compat_movehub_true.svg

@@ -1,96 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-
-<svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:xlink="http://www.w3.org/1999/xlink"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="150"
-   height="135"
-   viewBox="0 0 39.687499 35.718751"
-   version="1.1"
-   id="svg887"
-   inkscape:version="0.92.3 (2405546, 2018-03-11)"
-   sodipodi:docname="compat_movehub_true.svg">
-  <defs
-     id="defs881">
-    <clipPath
-       clipPathUnits="userSpaceOnUse"
-       id="clipPath1545">
-      <rect
-         style="fill:#fe2020;fill-opacity:0.48022599;stroke:none;stroke-width:0.99999994;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal"
-         id="rect1547"
-         width="39.6875"
-         height="35.71875"
-         x="-25.390602"
-         y="312.93103" />
-    </clipPath>
-  </defs>
-  <sodipodi:namedview
-     id="base"
-     pagecolor="#fcfcfc"
-     bordercolor="#666666"
-     borderopacity="1.0"
-     inkscape:pageopacity="1"
-     inkscape:pageshadow="2"
-     inkscape:zoom="3.959798"
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-       xlink:href="../images/movehub.png"
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-</svg>

doc/main/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/main/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
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-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
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-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/main/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
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-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/main/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/main/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
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-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
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-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
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-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
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-0 MLCAD BTG Group name
-1 1 -250 -100 -780 0 1 0 0 0 -1 -1 0 0 32278.dat
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-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/main/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]
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-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]
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-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
-1 151 1100 -320 -520 1 0 0 0 1 0 0 0 1 54732b.dat
-1 3 1100 -320 -470 0 0 -30 0 1 0 50 0 0 box.dat
-1 0 1210 -321 -520 -20 0 0 0 1 0 0 0 -10 box.dat
-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]
-0 !LDCAD PATH_CAP [group=end] [color=0] [posOri=0 16 155 0 0 1 0 1 0 -1 0 0] [part=2727ac01.dat] [extraLen=0mm] [inlineRef=false]
-
-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
-
-0 //End cap reference(s)
-1 0 0 0 155 0 0 1 0 1 0 -1 0 0 6625c01.dat
-1 0 0 16 155 0 0 1 0 1 0 -1 0 0 2727ac01.dat
-
-0 //Segments
-0 // Segment 1, this block is (recursively) generated from "ldcElecWire2Seg.dat"
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-5 24 -2.885238 4.000011 15.000001 -2.77102 3.425975 15.000001 -2.885238 4.000011 55.645161 -2.885238 4.000011 14.000001
-5 24 -2.77102 3.425975 15.000001 -2.44588 2.939305 15.000001 -2.77102 3.425975 55.645161 -2.77102 3.425975 14.000001
-5 24 -2.44588 2.939305 15.000001 -1.95922 2.614194 15.000001 -2.44588 2.939305 55.645161 -2.44588 2.939305 14.000001
-5 24 -1.95922 2.614194 15.000001 -1.385212 2.499961 15.000001 -1.95922 2.614194 55.645161 -1.95922 2.614194 14.000001
-5 24 -1.385212 2.499961 15.000001 -0.811175 2.61418 15.000001 -1.385212 2.499961 55.645161 -1.385212 2.499961 14.000001
-5 24 -0.811175 2.61418 15.000001 -0.324505 2.93932 15.000001 -0.811175 2.61418 55.645161 -0.811175 2.61418 14.000001
-5 24 -0.324505 2.93932 15.000001 -0.00062 3.425975 15.000001 -0.324505 2.93932 55.645161 -0.324505 2.93932 14.000001
-
-0 // Segment 2, this block is (recursively) generated from "ldcElecWire2Seg.dat"
-4 16 0.32452 2.939305 95.790321 -0.00062 3.425975 95.790321 -0.00062 3.425975 55.645161 0.32452 2.939305 55.645161
-4 16 0.81118 2.614194 95.790321 0.32452 2.939305 95.790321 0.32452 2.939305 55.645161 0.81118 2.614194 55.645161
-4 16 1.385188 2.499961 95.790321 0.81118 2.614194 95.790321 0.81118 2.614194 55.645161 1.385188 2.499961 55.645161
-4 16 1.959225 2.61418 95.790321 1.385188 2.499961 95.790321 1.385188 2.499961 55.645161 1.959225 2.61418 55.645161
-4 16 2.445895 2.93932 95.790321 1.959225 2.61418 95.790321 1.959225 2.61418 55.645161 2.445895 2.93932 55.645161
-4 16 2.771006 3.42598 95.790321 2.445895 2.93932 95.790321 2.445895 2.93932 55.645161 2.771006 3.42598 55.645161
-4 16 2.885238 3.999988 95.790321 2.771006 3.42598 95.790321 2.771006 3.42598 55.645161 2.885238 3.999988 55.645161
-4 16 2.77102 4.574025 95.790321 2.885238 3.999988 95.790321 2.885238 3.999988 55.645161 2.77102 4.574025 55.645161
-4 16 2.44588 5.060695 95.790321 2.77102 4.574025 95.790321 2.77102 4.574025 55.645161 2.44588 5.060695 55.645161
-4 16 1.95922 5.385806 95.790321 2.44588 5.060695 95.790321 2.44588 5.060695 55.645161 1.95922 5.385806 55.645161
-4 16 1.385212 5.500039 95.790321 1.95922 5.385806 95.790321 1.95922 5.385806 55.645161 1.385212 5.500039 55.645161
-4 16 0.811175 5.38582 95.790321 1.385212 5.500039 95.790321 1.385212 5.500039 55.645161 0.811175 5.38582 55.645161
-4 16 0.324505 5.06068 95.790321 0.811175 5.38582 95.790321 0.811175 5.38582 55.645161 0.324505 5.06068 55.645161
-4 16 -0.000606 4.57402 95.790321 0.324505 5.06068 95.790321 0.324505 5.06068 55.645161 -0.000606 4.57402 55.645161
-4 16 -0.32452 5.060695 95.790321 -0.000606 4.57402 95.790321 -0.000606 4.57402 55.645161 -0.32452 5.060695 55.645161
-4 16 -0.81118 5.385806 95.790321 -0.32452 5.060695 95.790321 -0.32452 5.060695 55.645161 -0.81118 5.385806 55.645161
-4 16 -1.385188 5.500039 95.790321 -0.81118 5.385806 95.790321 -0.81118 5.385806 55.645161 -1.385188 5.500039 55.645161
-4 16 -1.959225 5.38582 95.790321 -1.385188 5.500039 95.790321 -1.385188 5.500039 55.645161 -1.959225 5.38582 55.645161
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-4 16 -2.771006 4.57402 95.790321 -2.445895 5.06068 95.790321 -2.445895 5.06068 55.645161 -2.771006 4.57402 55.645161
-4 16 -2.885238 4.000011 95.790321 -2.771006 4.57402 95.790321 -2.771006 4.57402 55.645161 -2.885238 4.000011 55.645161
-4 16 -2.77102 3.425975 95.790321 -2.885238 4.000011 95.790321 -2.885238 4.000011 55.645161 -2.77102 3.425975 55.645161
-4 16 -2.44588 2.939305 95.790321 -2.77102 3.425975 95.790321 -2.77102 3.425975 55.645161 -2.44588 2.939305 55.645161
-4 16 -1.95922 2.614194 95.790321 -2.44588 2.939305 95.790321 -2.44588 2.939305 55.645161 -1.95922 2.614194 55.645161
-4 16 -1.385212 2.499961 95.790321 -1.95922 2.614194 95.790321 -1.95922 2.614194 55.645161 -1.385212 2.499961 55.645161
-4 16 -0.811175 2.61418 95.790321 -1.385212 2.499961 95.790321 -1.385212 2.499961 55.645161 -0.811175 2.61418 55.645161
-4 16 -0.324505 2.93932 95.790321 -0.811175 2.61418 95.790321 -0.811175 2.61418 55.645161 -0.324505 2.93932 55.645161
-4 16 -0.00062 3.425975 95.790321 -0.324505 2.93932 95.790321 -0.324505 2.93932 55.645161 -0.00062 3.425975 55.645161
-5 24 -0.00062 3.425975 55.645161 -0.00062 3.425975 95.790321 -0.574645 4.811795 55.645161 0.32452 2.939305 55.645161
-5 24 0.32452 2.939305 55.645161 0.32452 2.939305 95.790321 -0.00062 3.425975 55.645161 0.81118 2.614194 55.645161
-5 24 0.81118 2.614194 55.645161 0.81118 2.614194 95.790321 0.32452 2.939305 55.645161 1.385188 2.499961 55.645161
-5 24 1.385188 2.499961 55.645161 1.385188 2.499961 95.790321 0.81118 2.614194 55.645161 1.959225 2.61418 55.645161
-5 24 1.959225 2.61418 55.645161 1.959225 2.61418 95.790321 1.385188 2.499961 55.645161 2.445895 2.93932 55.645161
-5 24 2.445895 2.93932 55.645161 2.445895 2.93932 95.790321 1.959225 2.61418 55.645161 2.771006 3.42598 55.645161
-5 24 2.771006 3.42598 55.645161 2.771006 3.42598 95.790321 2.445895 2.93932 55.645161 2.885238 3.999988 55.645161
-5 24 2.885238 3.999988 55.645161 2.885238 3.999988 95.790321 2.771006 3.42598 55.645161 2.77102 4.574025 55.645161
-5 24 2.77102 4.574025 55.645161 2.77102 4.574025 95.790321 2.885238 3.999988 55.645161 2.44588 5.060695 55.645161
-5 24 2.44588 5.060695 55.645161 2.44588 5.060695 95.790321 2.77102 4.574025 55.645161 1.95922 5.385806 55.645161
-5 24 1.95922 5.385806 55.645161 1.95922 5.385806 95.790321 2.44588 5.060695 55.645161 1.385212 5.500039 55.645161
-5 24 1.385212 5.500039 55.645161 1.385212 5.500039 95.790321 1.95922 5.385806 55.645161 0.811175 5.38582 55.645161
-5 24 0.811175 5.38582 55.645161 0.811175 5.38582 95.790321 1.385212 5.500039 55.645161 0.324505 5.06068 55.645161
-5 24 0.324505 5.06068 55.645161 0.324505 5.06068 95.790321 0.811175 5.38582 55.645161 -0.000606 4.57402 55.645161
-5 24 -0.000606 4.57402 55.645161 -0.000606 4.57402 95.790321 -0.574627 3.188214 55.645161 0.324505 5.06068 55.645161
-5 24 -0.000606 4.57402 55.645161 -0.000606 4.57402 95.790321 0.574645 3.188205 55.645161 -0.32452 5.060695 55.645161
-5 24 -0.32452 5.060695 55.645161 -0.32452 5.060695 95.790321 -0.000606 4.57402 55.645161 -0.81118 5.385806 55.645161
-5 24 -0.81118 5.385806 55.645161 -0.81118 5.385806 95.790321 -0.32452 5.060695 55.645161 -1.385188 5.500039 55.645161
-5 24 -1.385188 5.500039 55.645161 -1.385188 5.500039 95.790321 -0.81118 5.385806 55.645161 -1.959225 5.38582 55.645161
-5 24 -1.959225 5.38582 55.645161 -1.959225 5.38582 95.790321 -1.385188 5.500039 55.645161 -2.445895 5.06068 55.645161
-5 24 -2.445895 5.06068 55.645161 -2.445895 5.06068 95.790321 -1.959225 5.38582 55.645161 -2.771006 4.57402 55.645161
-5 24 -2.771006 4.57402 55.645161 -2.771006 4.57402 95.790321 -2.445895 5.06068 55.645161 -2.885238 4.000011 55.645161
-5 24 -2.885238 4.000011 55.645161 -2.885238 4.000011 95.790321 -2.771006 4.57402 55.645161 -2.77102 3.425975 55.645161
-5 24 -2.77102 3.425975 55.645161 -2.77102 3.425975 95.790321 -2.885238 4.000011 55.645161 -2.44588 2.939305 55.645161
-5 24 -2.44588 2.939305 55.645161 -2.44588 2.939305 95.790321 -2.77102 3.425975 55.645161 -1.95922 2.614194 55.645161
-5 24 -1.95922 2.614194 55.645161 -1.95922 2.614194 95.790321 -2.44588 2.939305 55.645161 -1.385212 2.499961 55.645161
-5 24 -1.385212 2.499961 55.645161 -1.385212 2.499961 95.790321 -1.95922 2.614194 55.645161 -0.811175 2.61418 55.645161
-5 24 -0.811175 2.61418 55.645161 -0.811175 2.61418 95.790321 -1.385212 2.499961 55.645161 -0.324505 2.93932 55.645161
-5 24 -0.324505 2.93932 55.645161 -0.324505 2.93932 95.790321 -0.811175 2.61418 55.645161 -0.00062 3.425975 55.645161
-5 24 -0.00062 3.425975 55.645161 -0.00062 3.425975 95.790321 0.574627 4.811786 55.645161 -0.324505 2.93932 55.645161
-5 24 -0.00062 3.425975 95.790321 0.32452 2.939305 95.790321 -0.00062 3.425975 116.1129 -0.00062 3.425975 55.645161
-5 24 0.32452 2.939305 95.790321 0.81118 2.614194 95.790321 0.32452 2.939305 116.1129 0.32452 2.939305 55.645161
-5 24 0.81118 2.614194 95.790321 1.385188 2.499961 95.790321 0.81118 2.614194 116.1129 0.81118 2.614194 55.645161
-5 24 1.385188 2.499961 95.790321 1.959225 2.61418 95.790321 1.385188 2.499961 116.1129 1.385188 2.499961 55.645161
-5 24 1.959225 2.61418 95.790321 2.445895 2.93932 95.790321 1.959225 2.61418 116.1129 1.959225 2.61418 55.645161
-5 24 2.445895 2.93932 95.790321 2.771006 3.42598 95.790321 2.445895 2.93932 116.1129 2.445895 2.93932 55.645161
-5 24 2.771006 3.42598 95.790321 2.885238 3.999988 95.790321 2.771006 3.42598 116.1129 2.771006 3.42598 55.645161
-5 24 2.885238 3.999988 95.790321 2.77102 4.574025 95.790321 2.885238 3.999988 116.1129 2.885238 3.999988 55.645161
-5 24 2.77102 4.574025 95.790321 2.44588 5.060695 95.790321 2.77102 4.574025 116.1129 2.77102 4.574025 55.645161
-5 24 2.44588 5.060695 95.790321 1.95922 5.385806 95.790321 2.44588 5.060695 116.1129 2.44588 5.060695 55.645161
-5 24 1.95922 5.385806 95.790321 1.385212 5.500039 95.790321 1.95922 5.385806 116.1129 1.95922 5.385806 55.645161
-5 24 1.385212 5.500039 95.790321 0.811175 5.38582 95.790321 1.385212 5.500039 116.1129 1.385212 5.500039 55.645161
-5 24 0.811175 5.38582 95.790321 0.324505 5.06068 95.790321 0.811175 5.38582 116.1129 0.811175 5.38582 55.645161
-5 24 0.324505 5.06068 95.790321 -0.000606 4.57402 95.790321 0.324505 5.06068 116.1129 0.324505 5.06068 55.645161
-5 24 -0.000606 4.57402 95.790321 -0.32452 5.060695 95.790321 0.00062 4.574025 116.1129 -0.000606 4.57402 55.645161
-5 24 -0.32452 5.060695 95.790321 -0.81118 5.385806 95.790321 -0.32452 5.060695 116.1129 -0.32452 5.060695 55.645161
-5 24 -0.81118 5.385806 95.790321 -1.385188 5.500039 95.790321 -0.81118 5.385806 116.1129 -0.81118 5.385806 55.645161
-5 24 -1.385188 5.500039 95.790321 -1.959225 5.38582 95.790321 -1.385188 5.500039 116.1129 -1.385188 5.500039 55.645161
-5 24 -1.959225 5.38582 95.790321 -2.445895 5.06068 95.790321 -1.959225 5.38582 116.1129 -1.959225 5.38582 55.645161
-5 24 -2.445895 5.06068 95.790321 -2.771006 4.57402 95.790321 -2.445895 5.06068 116.1129 -2.445895 5.06068 55.645161
-5 24 -2.771006 4.57402 95.790321 -2.885238 4.000011 95.790321 -2.771006 4.57402 116.1129 -2.771006 4.57402 55.645161
-5 24 -2.885238 4.000011 95.790321 -2.77102 3.425975 95.790321 -2.885238 4.000011 116.1129 -2.885238 4.000011 55.645161
-5 24 -2.77102 3.425975 95.790321 -2.44588 2.939305 95.790321 -2.77102 3.425975 116.1129 -2.77102 3.425975 55.645161
-5 24 -2.44588 2.939305 95.790321 -1.95922 2.614194 95.790321 -2.44588 2.939305 116.1129 -2.44588 2.939305 55.645161
-5 24 -1.95922 2.614194 95.790321 -1.385212 2.499961 95.790321 -1.95922 2.614194 116.1129 -1.95922 2.614194 55.645161
-5 24 -1.385212 2.499961 95.790321 -0.811175 2.61418 95.790321 -1.385212 2.499961 116.1129 -1.385212 2.499961 55.645161
-5 24 -0.811175 2.61418 95.790321 -0.324505 2.93932 95.790321 -0.811175 2.61418 116.1129 -0.811175 2.61418 55.645161
-5 24 -0.324505 2.93932 95.790321 -0.00062 3.425975 95.790321 -0.324505 2.93932 116.1129 -0.324505 2.93932 55.645161
-
-0 // Segment 3, this block is (recursively) generated from "ldcElecWire2Seg.dat"
-4 16 0.32452 2.939305 136.435486 -0.00062 3.425975 136.435486 -0.00062 3.425975 95.790321 0.32452 2.939305 95.790321
-4 16 0.81118 2.614194 136.435486 0.32452 2.939305 136.435486 0.32452 2.939305 95.790321 0.81118 2.614194 95.790321
-4 16 1.385188 2.499961 136.435486 0.81118 2.614194 136.435486 0.81118 2.614194 95.790321 1.385188 2.499961 95.790321
-4 16 1.959225 2.61418 136.435486 1.385188 2.499961 136.435486 1.385188 2.499961 95.790321 1.959225 2.61418 95.790321
-4 16 2.445895 2.93932 136.435486 1.959225 2.61418 136.435486 1.959225 2.61418 95.790321 2.445895 2.93932 95.790321
-4 16 2.771006 3.42598 136.435486 2.445895 2.93932 136.435486 2.445895 2.93932 95.790321 2.771006 3.42598 95.790321
-4 16 2.885238 3.999988 136.435486 2.771006 3.42598 136.435486 2.771006 3.42598 95.790321 2.885238 3.999988 95.790321
-4 16 2.77102 4.574025 136.435486 2.885238 3.999988 136.435486 2.885238 3.999988 95.790321 2.77102 4.574025 95.790321
-4 16 2.44588 5.060695 136.435486 2.77102 4.574025 136.435486 2.77102 4.574025 95.790321 2.44588 5.060695 95.790321
-4 16 1.95922 5.385806 136.435486 2.44588 5.060695 136.435486 2.44588 5.060695 95.790321 1.95922 5.385806 95.790321
-4 16 1.385212 5.500039 136.435486 1.95922 5.385806 136.435486 1.95922 5.385806 95.790321 1.385212 5.500039 95.790321
-4 16 0.811175 5.38582 136.435486 1.385212 5.500039 136.435486 1.385212 5.500039 95.790321 0.811175 5.38582 95.790321
-4 16 0.324505 5.06068 136.435486 0.811175 5.38582 136.435486 0.811175 5.38582 95.790321 0.324505 5.06068 95.790321
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-4 16 -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
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-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
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-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
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-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
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-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
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-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
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-
-0 // Segment 4, this block is (recursively) generated from "ldcElecWire2Seg.dat"
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-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
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-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
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-5 24 -1.385212 2.499961 136.435486 -1.385212 2.499961 140 -1.95922 2.614194 136.435486 -0.811175 2.61418 136.435486
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-5 24 -0.324505 2.93932 136.435486 -0.324505 2.93932 140 -0.811175 2.61418 136.435486 -0.00062 3.425975 136.435486
-5 24 -0.00062 3.425975 136.435486 -0.00062 3.425975 140 0.574627 4.811786 136.435486 -0.324505 2.93932 136.435486
-5 24 -0.00062 3.425975 140 0.32452 2.939305 140 -0.00062 3.425975 141 -0.00062 3.425975 136.435486
-5 24 0.32452 2.939305 140 0.81118 2.614194 140 0.32452 2.939305 141 0.32452 2.939305 136.435486
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-5 24 -1.95922 2.614194 140 -1.385212 2.499961 140 -1.95922 2.614194 141 -1.95922 2.614194 136.435486
-5 24 -1.385212 2.499961 140 -0.811175 2.61418 140 -1.385212 2.499961 141 -1.385212 2.499961 136.435486
-5 24 -0.811175 2.61418 140 -0.324505 2.93932 140 -0.811175 2.61418 141 -0.811175 2.61418 136.435486
-5 24 -0.324505 2.93932 140 -0.00062 3.425975 140 -0.324505 2.93932 141 -0.324505 2.93932 136.435486

doc/main/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/main/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