npm/jedi: fix exports and copy extra files

The export keys were wrong and the README and CHANGELOG files were
missing the the final package.

.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 +1,36 @@
+name: pybricks_jedi
+
+on: [push, pull_request]
+
+jobs:
+  test:
+    if: github.ref_type != 'tag'
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+      with:
+        python-version: "3.10"
+    - 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-20.04
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+      with:
+        python-version: "3.10"
+    - 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-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 +58,4 @@ genrst/
 # Virtual environment
 ######################
 .venv/
+.python-version

.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 +2,59 @@
 
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 
+## Unreleased
+
+### Added
+- Code auto-completion for `EssentialHub`.
+
+### 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

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}_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)
                 copyfile(src_uri, build_uri)
 
         # Get requirements from sphinx-directive.
@@ -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/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/pupmotors.ldr

@@ -3,11 +3,12 @@
 0 !LICENSE MIT
 0 ROTATION CENTER 0 0 0 1 "Custom" 
 0 ROTATION CONFIG 0 0
-1 15 430 -96 190 0 0 1 1 0 0 0 1 0 54675c01.dat
-1 15 430 -96 400 0 0 1 1 0 0 0 1 0 54675c01.dat
-1 322 430 -72 30 0 0 1 1 0 0 0 1 0 54696c01.dat
-1 71 430 -72 -180 0 0 1 1 0 0 0 1 0 54696c01.dat
-1 71 190 -144 -180 1 0 0 0 1 0 0 0 1 22169c01.dat
-1 71 -20 -216 -140 1 0 0 0 1 0 0 0 1 22172c01.dat
-1 15 120 -320 160 1 0 0 0 1 0 0 0 1 26913c01.dat
+1 15 450 -76 -20 0 0 1 1 0 0 0 1 0 54675c01.dat
+1 15 -30 -76 280 0 0 1 1 0 0 0 1 0 68488c01.dat
+1 71 550 -76 200 0 0 1 1 0 0 0 1 0 69730c01.dat
+1 15 180 -72 140 0 0 1 1 0 0 0 1 0 54696c01.dat
+1 15 260 -72 350 0 0 1 1 0 0 0 1 0 54696p02c01.dat
+1 71 430 -84 470 1 0 0 0 1 0 0 0 1 22169c01.dat
+1 71 590 -86 360 1 0 0 0 1 0 0 0 1 22172c01.dat
+1 15 300 -110 630 1 0 0 0 1 0 0 0 1 26913c01.dat
 0

doc/main/diagram_source/pupmotors.svg

@@ -11,8 +11,8 @@
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    width="2000"
-   height="1118"
-   viewBox="0 0 529.16666 295.80416"
+   height="1126"
+   viewBox="0 0 529.16666 297.92083"
    version="1.1"
    id="svg8"
    inkscape:version="0.92.3 (2405546, 2018-03-11)"
@@ -58,8 +58,8 @@
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
      inkscape:zoom="0.35"
-     inkscape:cx="619.19211"
-     inkscape:cy="823.24691"
+     inkscape:cx="930.75599"
+     inkscape:cy="703.45816"
      inkscape:document-units="mm"
      inkscape:current-layer="layer1"
      showgrid="false"
@@ -87,18 +87,18 @@
      inkscape:label="Layer 1"
      inkscape:groupmode="layer"
      id="layer1"
-     transform="translate(0,-1.1958167)">
+     transform="translate(0,0.92084997)">
     <image
        sodipodi:absref="pupmotors.png"
        xlink:href="pupmotors.png"
-       width="529.16669"
-       height="295.80417"
+       y="-0.92085403"
+       x="0"
+       id="image876"
        preserveAspectRatio="none"
-       id="image853"
-       x="-2.220446e-16"
-       y="1.1958181" />
+       height="297.92084"
+       width="529.16669" />
     <g
-       transform="matrix(1.9732825,0,0,1.9732825,82.068314,-182.19652)"
+       transform="matrix(1.9732825,0,0,1.9732825,94.897251,-184.86922)"
        id="g2717">
       <g
          transform="matrix(1,-0.27773651,0,1,59.387949,102.27922)"
@@ -123,7 +123,7 @@
     </g>
     <g
        id="g2727"
-       transform="matrix(1.7059944,0,0,1.7059944,-18.326438,-250.00951)">
+       transform="matrix(1.7059944,0,0,1.7059944,-93.696445,-190.67567)">
       <g
          style="fill:#2980b9;fill-opacity:1;stroke:#fffbfb;stroke-width:0.13229167;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
          id="g2721"
@@ -147,7 +147,7 @@
          sodipodi:nodetypes="ccccsc" />
     </g>
     <g
-       transform="matrix(1.7059944,0,0,1.7059944,40.772154,-187.53273)"
+       transform="matrix(1.7059944,0,0,1.7059944,105.45138,-208.37975)"
        id="g2747">
       <g
          transform="matrix(1,-0.27773651,0,1,61.231459,102.02783)"
@@ -173,7 +173,7 @@
     </g>
     <g
        id="g2757"
-       transform="matrix(1.9732825,0,0,1.9732825,-63.81015,-178.54646)">
+       transform="matrix(1.9732825,0,0,1.9732825,-99.624267,-179.081)">
       <g
          style="fill:#2980b9;fill-opacity:1;stroke:#fffbfb;stroke-width:0.13229167;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
          id="g2751"
@@ -196,7 +196,7 @@
          style="fill:#2980b9;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     </g>
     <g
-       transform="matrix(1.9732825,0,0,1.9732825,-192.3424,-182.95247)"
+       transform="matrix(1.9732825,0,0,1.9732825,-253.27985,-174.39985)"
        id="g2767">
       <g
          transform="matrix(1,-0.27773651,0,1,59.387949,102.27922)"
@@ -221,7 +221,7 @@
     </g>
     <g
        id="g874"
-       transform="matrix(1.9732825,0,0,1.9732825,-208.72093,-323.71573)">
+       transform="matrix(1.9732825,0,0,1.9732825,-208.72093,-333.33743)">
       <g
          style="fill:#2980b9;fill-opacity:1;stroke:#fffbfb;stroke-width:0.13229167;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
          id="g868"
@@ -244,7 +244,7 @@
          style="fill:#2980b9;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     </g>
     <g
-       transform="matrix(1.9732825,0,0,1.9732825,-134.6376,-374.36454)"
+       transform="matrix(1.9732825,0,0,1.9732825,-103.63433,-335.34319)"
        id="g884">
       <g
          transform="matrix(1,-0.27773651,0,1,59.387949,102.27922)"
@@ -275,5 +275,29 @@
        rx="1.295833"
        ry="1.1623898"
        transform="matrix(0.89702138,0.44198716,0,1,0,0)" />
+    <g
+       id="g899"
+       transform="matrix(1.9732825,0,0,1.9732825,15.03334,-338.81769)">
+      <g
+         style="fill:#2980b9;fill-opacity:1;stroke:#fffbfb;stroke-width:0.13229167;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+         id="g893"
+         transform="matrix(1,-0.27773651,0,1,59.387949,102.27922)">
+        <path
+           id="path891"
+           style="fill:#2980b9;fill-opacity:1;fill-rule:evenodd;stroke:#fffbfb;stroke-width:0.13229167;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+           d="m 107.60315,149.3339 -4.4195,12.01847 -4.419489,-12.01847 c 2.609269,1.92005 6.179199,1.90899 8.838989,0 z"
+           inkscape:connector-curvature="0" />
+      </g>
+      <path
+         inkscape:connector-curvature="0"
+         id="path895"
+         d="m 148.90956,215.29575 c -8.02867,2.89572 -14.60635,11.81219 -14.60635,19.93021 l 1.74541,-0.62952 c 0,-7.05178 5.7198,-14.86961 12.86094,-17.44522 7.14113,-2.57561 12.86094,1.11628 12.86094,8.16806 l 1.74541,-0.62952 c 0,-8.11802 -6.57768,-12.28973 -14.60635,-9.39401 z"
+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;font-variant-ligatures:normal;font-variant-position:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-alternates:normal;font-feature-settings:normal;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;writing-mode:lr-tb;direction:ltr;text-orientation:mixed;dominant-baseline:auto;baseline-shift:baseline;text-anchor:start;white-space:normal;shape-padding:0;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;vector-effect:none;fill:#2980b9;fill-opacity:1;fill-rule:nonzero;stroke:#ffffff;stroke-width:0.1;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
+      <path
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 </svg>

doc/main/diagram_source/pupsensors.ldr

@@ -1,7 +1,8 @@
-0 Name: pupmotors
+0 Name: pupsensors.ldr
 0 Author: Pybricks {laurens@pybricks.com}
 0 !LICENSE MIT
 0 !LDCAD GROUP_DEF [topLevel=true] [LID=0] [GID=9FDP9pj0O55] [name=Group 1] [center=0 0 0]
+1 15 190 -290 750 -1 0 0 0 -1 0 0 0 1 47592c01.dat
 1 15 600 -280 180 1 0 0 0 1 0 0 0 1 37316.dat
 1 15 60 -272 160 -1 0 0 0 -1 0 0 0 1 37312c01.dat
 1 15 -400 -280 240 -1 0 0 0 -1 0 0 0 1 37308c01.dat

doc/main/diagram_source/sensor_colorlightmatrix.svg

@@ -0,0 +1,158 @@
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doc/main/ev3devices.rst

@@ -44,17 +44,42 @@ Motors
 
     .. automethod:: pybricks.ev3devices.Motor.run_target
 
+    .. automethod:: pybricks.ev3devices.Motor.track_target
+
     .. automethod:: pybricks.ev3devices.Motor.run_until_stalled
 
     .. automethod:: pybricks.ev3devices.Motor.dc
 
-    .. rubric:: Advanced motion control
+    .. rubric:: Motor status
 
-    .. automethod:: pybricks.ev3devices.Motor.track_target
+    .. attribute:: control.scale
 
-    .. autoattribute:: pybricks.ev3devices.Motor.control
-        :annotation:
+        Number of degrees that the motor turns to complete one degree at the
+        output of the gear train. This is the gear ratio determined from the
+        ``gears`` argument when initializing the motor.
 
+    .. automethod:: pybricks.ev3devices.Motor.control.done
+
+    .. automethod:: pybricks.ev3devices.Motor.control.stalled
+
+    .. automethod:: pybricks.ev3devices.Motor.control.load
+
+    .. rubric:: Motor settings
+
+    You can only change these settings while the controller is stopped. For
+    example, you can change them at the start of your program. Alternatively,
+    first call :meth:`stop() <pybricks.ev3devices.Motor.stop>`, and then change
+    the settings.
+
+    .. automethod:: pybricks.ev3devices.Motor.settings
+
+    .. automethod:: pybricks.ev3devices.Motor.control.limits
+
+    .. automethod:: pybricks.ev3devices.Motor.control.pid
+
+    .. automethod:: pybricks.ev3devices.Motor.control.target_tolerances
+
+    .. automethod:: pybricks.ev3devices.Motor.control.stall_tolerances
 
 Touch Sensor
 ^^^^^^^^^^^^

doc/main/hubs/cityhub.rst

@@ -44,25 +44,25 @@ Turning the light on and off
 ****************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_cityhub/light_off.py
+    ../../../examples/pup/hub_common/build/light_off_cityhub.py
 
 Changing brightness and using custom colors
 *******************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_cityhub/light_hsv.py
+    ../../../examples/pup/hub_common/build/light_hsv_cityhub.py
 
 Making the light blink
 **********************
 
 .. literalinclude::
-    ../../../examples/pup/hub_cityhub/light_blink.py
+    ../../../examples/pup/hub_common/build/light_blink_cityhub.py
 
 Creating light animations
 *************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_cityhub/light_animate.py
+    ../../../examples/pup/hub_common/build/light_animate_cityhub.py
 
 Button and system examples
 ----------------------------------
@@ -71,10 +71,10 @@ Using the stop button during your program
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_cityhub/button_single.py
+    ../../../examples/pup/hub_common/build/button_single_cityhub.py
 
 Turning the hub off
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_cityhub/system_shutdown.py
+    ../../../examples/pup/hub_common/build/system_shutdown_cityhub.py

doc/main/hubs/essentialhub.rst

@@ -0,0 +1,146 @@
+.. pybricks-requirements:: essentialhub
+
+Essential Hub
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/images/essentialhub.png
+    :height: 15 em
+
+
+.. note:: Pybricks support for this hub is in beta.
+            Check the `installation instructions`_ to try it out.
+            The following functions may change before the final release.
+
+.. _installation instructions: https://pybricks.com/install/
+
+
+.. autoclass:: pybricks.hubs.EssentialHub
+    :no-members:
+
+    .. rubric:: Using the hub status light
+
+    .. automethod:: pybricks.hubs::EssentialHub.light.on
+
+    .. automethod:: pybricks.hubs::EssentialHub.light.off
+
+    .. automethod:: pybricks.hubs::EssentialHub.light.blink
+
+    .. automethod:: pybricks.hubs::EssentialHub.light.animate
+
+    .. rubric:: Using the button
+
+    .. automethod:: pybricks.hubs::EssentialHub.button.pressed
+
+    .. rubric:: Using the IMU
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.up
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.tilt
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.acceleration
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.angular_velocity
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.heading
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.reset_heading
+
+    .. rubric:: Using the battery
+
+    .. automethod:: pybricks.hubs::EssentialHub.battery.voltage
+
+    .. automethod:: pybricks.hubs::EssentialHub.battery.current
+
+    .. rubric:: Getting the charger status
+
+    .. automethod:: pybricks.hubs::EssentialHub.charger.connected
+
+    .. automethod:: pybricks.hubs::EssentialHub.charger.current
+
+    .. automethod:: pybricks.hubs::EssentialHub.charger.status
+
+    .. rubric:: System control
+
+    .. automethod:: pybricks.hubs::EssentialHub.system.set_stop_button
+
+    .. automethod:: pybricks.hubs::EssentialHub.system.name
+
+    .. automethod:: pybricks.hubs::EssentialHub.system.shutdown
+
+    .. automethod:: pybricks.hubs::EssentialHub.system.reset_reason
+
+Status light examples
+---------------------
+
+Turning the light on and off
+****************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/light_off_essentialhub.py
+
+Changing brightness and using custom colors
+*******************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/light_hsv_essentialhub.py
+
+Making the light blink
+**********************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/light_blink_essentialhub.py
+
+Creating light animations
+*************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/light_animate_essentialhub.py
+
+IMU examples
+---------------
+
+Testing which way is up
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/imu_up_essentialhub.py
+
+
+Reading the tilt value
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/imu_tilt_essentialhub.py
+
+Using a custom hub orientation
+**************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/imu_tilt_blast_essentialhub.py
+
+Reading acceleration and angular velocity vectors
+**************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/imu_read_vector_essentialhub.py
+
+Reading acceleration and angular velocity on one axis
+*****************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/imu_read_scalar_essentialhub.py
+
+System examples
+----------------------------------
+
+Using the stop button during your program
+*****************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/button_single_essentialhub.py
+
+Turning the hub off
+*****************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/system_shutdown_essentialhub.py

doc/main/hubs/ev3brick.rst

@@ -38,14 +38,18 @@ MINDSTORMS EV3 Brick
     .. automethod:: pybricks.hubs::EV3Brick.screen.clear
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.draw_text
+        :noindex:
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.print
+        :noindex:
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.set_font
+        :noindex:
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.load_image
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.draw_image
+        :noindex:
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.draw_pixel
 

doc/main/hubs/index.rst

@@ -13,6 +13,7 @@
    cityhub
    technichub
    primehub
+   essentialhub
 
 .. pybricks-classlink:: MoveHub
 
@@ -38,9 +39,14 @@
     :height: 10 em
     :target: primehub.html
 
-.. pybricks-classlink:: InventorHub
+.. pybricks-classlink:: InventorHub PrimeHub
 
 .. figure:: ../../main/images/inventorhub.png
     :height: 10 em
     :target: primehub.html
 
+.. pybricks-classlink:: EssentialHub
+
+.. figure:: ../../main/images/essentialhub.png
+    :height: 10 em
+    :target: essentialhub.html

doc/main/hubs/movehub.rst

@@ -27,6 +27,10 @@ Move Hub
 
     .. automethod:: pybricks.hubs::MoveHub.imu.acceleration
 
+        .. versionchanged:: 3.2
+
+            Changed acceleration units from m/s² to mm/s².
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::MoveHub.battery.voltage
@@ -52,13 +56,13 @@ Turning the light on and off
 ******************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_movehub/light_off.py
+    ../../../examples/pup/hub_common/build/light_off_movehub.py
 
 Making the light blink
 ******************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_movehub/light_blink.py
+    ../../../examples/pup/hub_common/build/light_blink_movehub.py
 
 IMU examples
 ---------------
@@ -67,7 +71,7 @@ Testing which way is up
 ********************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_movehub/imu_up.py
+    ../../../examples/pup/hub_common/build/imu_up_movehub.py
 
 Reading acceleration
 **************************************************
@@ -82,10 +86,10 @@ Using the stop button during your program
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_movehub/button_single.py
+    ../../../examples/pup/hub_common/build/button_single_movehub.py
 
 Turning the hub off
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_movehub/system_shutdown.py
+    ../../../examples/pup/hub_common/build/system_shutdown_movehub.py

doc/main/hubs/primehub.rst

@@ -6,6 +6,11 @@ Prime Hub / Inventor Hub
 .. figure:: ../../main/images/primeinventorhub.png
     :height: 15 em
 
+
+.. note:: Pybricks support for these hubs is in beta.
+            Check the `installation instructions`_ to try it out.
+            The following functions may change before the final release.
+
 .. class:: InventorHub
 
     This class is the same as the ``PrimeHub`` class, shown below. Both classes
@@ -73,6 +78,8 @@ Prime Hub / Inventor Hub
 
     .. rubric:: Using the speaker
 
+    .. automethod:: pybricks.hubs::PrimeHub.speaker.volume
+
     .. automethod:: pybricks.hubs::PrimeHub.speaker.beep
 
     .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes
@@ -83,6 +90,14 @@ Prime Hub / Inventor Hub
 
     .. automethod:: pybricks.hubs::PrimeHub.battery.current
 
+    .. rubric:: Getting the charger status
+
+    .. automethod:: pybricks.hubs::PrimeHub.charger.connected
+
+    .. automethod:: pybricks.hubs::PrimeHub.charger.current
+
+    .. automethod:: pybricks.hubs::PrimeHub.charger.status
+
     .. rubric:: System control
 
     .. automethod:: pybricks.hubs::PrimeHub.system.set_stop_button
@@ -94,8 +109,8 @@ Prime Hub / Inventor Hub
     .. automethod:: pybricks.hubs::PrimeHub.system.reset_reason
 
 .. note:: The examples below use the ``PrimeHub`` class. The examples work fine
-          on both hubs because they are the identical. If you prefer, you can
-          change this to ``InventorHub``.
+        on both hubs because they are the identical. If you prefer, you can
+        change this to ``InventorHub``.
 
 Status light examples
 ---------------------
@@ -104,25 +119,25 @@ Turning the light on and off
 ****************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_primehub/light_off.py
+    ../../../examples/pup/hub_common/build/light_off_primehub.py
 
 Changing brightness and using custom colors
 *******************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_primehub/light_hsv.py
+    ../../../examples/pup/hub_common/build/light_hsv_primehub.py
 
 Making the light blink
 **********************
 
 .. literalinclude::
-    ../../../examples/pup/hub_primehub/light_blink.py
+    ../../../examples/pup/hub_common/build/light_blink_primehub.py
 
 Creating light animations
 *************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_primehub/light_animate.py
+    ../../../examples/pup/hub_common/build/light_animate_primehub.py
 
 Matrix display examples
 -----------------------
@@ -194,32 +209,32 @@ Testing which way is up
 ********************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_up.py
+    ../../../examples/pup/hub_common/build/imu_up_primehub.py
 
 
 Reading the tilt value
 ********************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_tilt.py
+    ../../../examples/pup/hub_common/build/imu_tilt_primehub.py
 
 Using a custom hub orientation
 **************************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_tilt_blast.py
+    ../../../examples/pup/hub_common/build/imu_tilt_blast_primehub.py
 
 Reading acceleration and angular velocity vectors
 **************************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_read_vector.py
+    ../../../examples/pup/hub_common/build/imu_read_vector_primehub.py
 
 Reading acceleration and angular velocity on one axis
 *****************************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_read_scalar.py
+    ../../../examples/pup/hub_common/build/imu_read_scalar_primehub.py
 
 System examples
 ----------------------------------
@@ -234,4 +249,7 @@ Turning the hub off
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_primehub/system_shutdown.py
+    ../../../examples/pup/hub_common/build/system_shutdown_primehub.py
+
+.. _installation instructions: https://pybricks.com/install/
+

doc/main/hubs/technichub.rst

@@ -58,25 +58,25 @@ Turning the light on and off
 ****************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/light_off.py
+    ../../../examples/pup/hub_common/build/light_off_technichub.py
 
 Changing brightness and using custom colors
 *******************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/light_hsv.py
+    ../../../examples/pup/hub_common/build/light_hsv_technichub.py
 
 Making the light blink
 **********************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/light_blink.py
+    ../../../examples/pup/hub_common/build/light_blink_technichub.py
 
 Creating light animations
 *************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/light_animate.py
+    ../../../examples/pup/hub_common/build/light_animate_technichub.py
 
 IMU examples
 ---------------
@@ -85,32 +85,32 @@ Testing which way is up
 ********************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_up.py
+    ../../../examples/pup/hub_common/build/imu_up_technichub.py
 
 
 Reading the tilt value
 ********************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_tilt.py
+    ../../../examples/pup/hub_common/build/imu_tilt_technichub.py
 
 Using a custom hub orientation
 **************************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_tilt_blast.py
+    ../../../examples/pup/hub_common/build/imu_tilt_blast_technichub.py
 
 Reading acceleration and angular velocity vectors
 **************************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_read_vector.py
+    ../../../examples/pup/hub_common/build/imu_read_vector_technichub.py
 
 Reading acceleration and angular velocity on one axis
 *****************************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_read_scalar.py
+    ../../../examples/pup/hub_common/build/imu_read_scalar_technichub.py
 
 Button and system examples
 ----------------------------------
@@ -119,10 +119,10 @@ Using the stop button during your program
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/button_single.py
+    ../../../examples/pup/hub_common/build/button_single_technichub.py
 
 Turning the hub off
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_technichub/system_shutdown.py
+    ../../../examples/pup/hub_common/build/system_shutdown_technichub.py

doc/main/index.rst

@@ -28,8 +28,8 @@ Pybricks Documentation
 
    .. list-table::
 
-      * - **Technic Hub, City Hub, BOOST Move Hub**
-        - **SPIKE Prime Hub / MINDSTORMS Inventor Hub**
+      * - **Technic, City, and BOOST Move Hubs**
+        - **SPIKE Essential/Prime, and MINDSTORMS Inventor Hubs**
 
       * - .. figure:: ../main/images/powereduphubs.png
             :target: https://pybricks.com/install/technic-boost-city/

doc/main/iodevices/dcmotor.rst

@@ -9,12 +9,12 @@ EV3 DC Motor
 .. figure:: ../../main/images/rcxmotor.png
    :width: 40 %
 
-.. autoclass:: pybricks._common.DCMotor
+.. autoclass:: pybricks.iodevices.DCMotor
     :noindex:
     :no-members:
 
-    .. automethod:: pybricks._common.DCMotor.dc
+    .. automethod:: pybricks.iodevices.DCMotor.dc
         :noindex:
 
-    .. automethod:: pybricks._common.DCMotor.stop
+    .. automethod:: pybricks.iodevices.DCMotor.stop
         :noindex:

doc/main/micropython/builtins.rst

@@ -36,26 +36,12 @@ Basic types
 
 .. pybricks-requirements::
 
-..
-   _comment: The int class is defined manually because otherwise the classmethod is hidden, see https://github.com/pybricks/pybricks-api/issues/86
-
 .. autoclass:: ubuiltins.int
     :no-members:
 
     .. automethod:: ubuiltins.int.to_bytes
 
-    .. classmethod:: from_bytes(bytes: Union[bytes, bytearray], byteorder: Literal["little", "big"]) -> int
-
-        Returns the integer represented by the given bytes.
-
-        :param bytes: The bytes to convert.
-        :param byteorder: Determines the byte order used to represent the
-            integer. If byteorder is ``"big"``, the most significant byte is at
-            the beginning of the byte sequence. If byteorder is ``"little"``,
-            the most significant byte is at the end of the byte sequence.
-
-        :returns: The integer represented by the bytes.
-
+    .. automethod:: ubuiltins.int.from_bytes
 
 .. pybricks-requirements::
 

doc/main/nxtdevices.rst

@@ -45,6 +45,12 @@ NXT Color Sensor
 
     .. automethod:: pybricks.nxtdevices.ColorSensor.rgb
 
+    .. rubric:: Advanced color sensing
+
+    .. automethod:: pybricks.nxtdevices.ColorSensor.hsv
+
+    .. automethod:: pybricks.nxtdevices.ColorSensor.detectable_colors
+
     .. rubric:: Built-in light
 
     This sensor has a built-in light. You can make it red, green, blue, or turn

doc/main/parameters/side.rst

@@ -41,6 +41,11 @@ Side
     .. figure:: ../../main/images/orientation_inventorhub_label.png
         :height: 17 em
 
+    **Essential Hub**
+
+    .. figure:: ../../main/images/orientation_essentialhub_label.png
+        :height: 17 em
+
     **Move Hub**
 
     .. figure:: ../../main/images/orientation_movehub_label.png

doc/main/pupdevices/colorlightmatrix.rst

@@ -3,7 +3,7 @@
 Color Light Matrix
 ^^^^^^^^^^^^^^^^^^
 
-.. figure:: ../../main/images/color_light_matrix.png
+.. figure:: ../../main/images/sensor_colorlightmatrix_label.png
    :width: 35 %
 
 .. autoclass:: pybricks.pupdevices.ColorLightMatrix

doc/main/pupdevices/colorsensor.rst

@@ -82,3 +82,9 @@ Blinking the built-in lights
 
 .. literalinclude::
     ../../../examples/pup/sensor_color/lights_blink.py
+
+Turning off the lights when the program ends
+**********************************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color/cleanup.py

doc/main/pupdevices/dcmotor.rst

@@ -25,6 +25,9 @@ Motors without rotation sensors
     .. automethod:: pybricks.pupdevices.DCMotor.brake
         :noindex:
 
+    .. automethod:: pybricks.pupdevices.DCMotor.settings
+        :noindex:
+
 Examples
 -------------------
 

doc/main/pupdevices/index.rst

@@ -79,9 +79,9 @@
 
 .. pybricks-classlink:: ColorLightMatrix
 
-.. figure:: ../../main/images/color_light_matrix.png
+.. figure:: ../../main/images/sensor_colorlightmatrix_label.png
    :width: 35 %
-   :target: color-light-matrix.html
+   :target: colorlightmatrix.html
 
 .. pybricks-classlink:: Light
 

doc/main/pupdevices/motor.rst

@@ -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
@@ -120,6 +122,12 @@ Resetting the measured angle
 .. literalinclude::
     ../../../examples/pup/motor/motor_reset_angle.py
 
+Getting the absolute angle
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_absolute.py
+
 
 Movement examples
 -----------------------

doc/main/robotics.rst

@@ -22,6 +22,8 @@
 
     .. automethod:: pybricks.robotics.DriveBase.turn
 
+    .. automethod:: pybricks.robotics.DriveBase.curve
+
     .. automethod:: pybricks.robotics.DriveBase.settings
 
     .. rubric:: Drive forever

doc/main/signaltypes.rst

@@ -4,6 +4,12 @@ Signals and Units
 Many commands allow you to specify arguments in terms of well-known physical
 quantities. This page gives an overview of each quantity and its unit.
 
+Numbers
+~~~~~~~
+
+.. autodata:: pybricks.parameters.Number
+  :noindex:
+
 Time
 ~~~~~~
 
@@ -56,12 +62,12 @@ use the following table to convert between commonly used units.
 
 .. _acceleration:
 
-rotational acceleration: deg/s/s
+rotational acceleration: deg/s²
 --------------------------------
 
 Rotational acceleration, or *angular acceleration* describes how fast the
 rotational speed changes. This is expressed as the change of the number of
-degrees per second, during one second (deg/s/s). This is also commonly written
+degrees per second, during one second (deg/s²). This is also commonly written
 as  :math:`deg/s^2`.
 
 For example, you can adjust the rotational acceleration setting of a ``Motor``
@@ -114,26 +120,17 @@ For example, the speed of a robotic vehicle is expressed in mm/s.
 
 .. _linacceleration:
 
-linear acceleration: mm/s/s
+linear acceleration: mm/s²
 --------------------------------
 
 Linear acceleration describes how fast the speed changes. This is expressed as
-the change of the millimeters per second, during one second (deg/s/s).
+the change of the millimeters per second, during one second (mm/s²).
 This is also commonly written as  :math:`mm/s^2`.
 
 For example, you can adjust the acceleration setting of a
 :class:`DriveBase <.robotics.DriveBase>` to change how
 smoothly or how quickly it reaches the constant speed set point.
 
-.. _linacceleration_m:
-
-linear acceleration: m/s/s
---------------------------------
-
-As above, but expressed in meters per second squared: :math:`m/s^2`.
-This is a more practical unit for large values such as those given by an
-accelerometer.
-
 Approximate and relative units
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

examples/ev3/bluetooth_client/client.py

@@ -9,17 +9,17 @@
 from pybricks.messaging import BluetoothMailboxClient, TextMailbox
 
 # This is the name of the remote EV3 or PC we are connecting to.
-SERVER = 'ev3dev'
+SERVER = "ev3dev"
 
 client = BluetoothMailboxClient()
-mbox = TextMailbox('greeting', client)
+mbox = TextMailbox("greeting", client)
 
-print('establishing connection...')
+print("establishing connection...")
 client.connect(SERVER)
-print('connected!')
+print("connected!")
 
 # In this program, the client sends the first message and then waits for the
 # server to reply.
-mbox.send('hello!')
+mbox.send("hello!")
 mbox.wait()
 print(mbox.read())

examples/ev3/bluetooth_pc/pcclient.py

@@ -17,17 +17,17 @@ from pybricks.messaging import BluetoothMailboxClient, TextMailbox
 # visible on the EV3. You can skip pairing if you already know the EV3 address.
 
 # This is the address of the server EV3 we are connecting to.
-SERVER = 'CC:78:AB:D8:4E:F6'
+SERVER = "CC:78:AB:D8:4E:F6"
 
 client = BluetoothMailboxClient()
-mbox = TextMailbox('greeting', client)
+mbox = TextMailbox("greeting", client)
 
-print('establishing connection...')
+print("establishing connection...")
 client.connect(SERVER)
-print('connected!')
+print("connected!")
 
 # In this program, the client sends the first message and then waits for the
 # server to reply.
-mbox.send('hello!')
+mbox.send("hello!")
 mbox.wait()
 print(mbox.read())

examples/ev3/bluetooth_pc/pybricks/bluetooth.py

@@ -18,17 +18,17 @@ BDADDR_ANY = ""
 
 def str2ba(string, ba):
     """Convert string to Bluetooth address"""
-    for i, v in enumerate(string.split(':')):
-        ba.b[5-i] = int(v, 16)
+    for i, v in enumerate(string.split(":")):
+        ba.b[5 - i] = int(v, 16)
 
 
 def ba2str(ba):
     """Convert Bluetooth address to string"""
     string = []
     for b in ba.b:
-        string.append('{:02X}'.format(b))
+        string.append("{:02X}".format(b))
     string.reverse()
-    return ':'.join(string).upper()
+    return ":".join(string).upper()
 
 
 class RFCOMMServer:
@@ -37,6 +37,7 @@ class RFCOMMServer:
     This is based on the ``socketserver.SocketServer`` class in the Python
     standard library.
     """
+
     request_queue_size = 1
 
     def __init__(self, server_address, RequestHandlerClass):
@@ -88,6 +89,7 @@ class StreamRequestHandler:
     This is based on ``socketserver.StreamRequestHandler`` from the Python
     standard library.
     """
+
     def __init__(self, request, client_address, server):
         self.request = request
         self.client_address = client_address
@@ -113,6 +115,7 @@ class ThreadingRFCOMMServer(ThreadingMixIn, RFCOMMServer):
     """Version of :class:`RFCOMMServer` that handles connections in a new
     thread.
     """
+
     pass
 
 

examples/ev3/bluetooth_pc/pybricks/messaging.py

@@ -5,8 +5,12 @@ from _thread import allocate_lock
 from errno import ECONNRESET
 from struct import pack, unpack
 
-from .bluetooth import (BDADDR_ANY, ThreadingRFCOMMServer,
-                        ThreadingRFCOMMClient, StreamRequestHandler)
+from .bluetooth import (
+    BDADDR_ANY,
+    ThreadingRFCOMMServer,
+    ThreadingRFCOMMClient,
+    StreamRequestHandler,
+)
 
 
 def resolve(brick):
@@ -99,7 +103,7 @@ class LogicMailbox(Mailbox):
     """
 
     def encode(self, value):
-        return b'\x01' if value else b'\x00'
+        return b"\x01" if value else b"\x00"
 
     def decode(self, payload):
         return bool(payload[0])
@@ -113,10 +117,10 @@ class NumericMailbox(Mailbox):
     """
 
     def encode(self, value):
-        return pack('<f', value)
+        return pack("<f", value)
 
     def decode(self, payload):
-        return unpack('<f', payload)[0]
+        return unpack("<f", payload)[0]
 
 
 class TextMailbox(Mailbox):
@@ -127,10 +131,10 @@ class TextMailbox(Mailbox):
     """
 
     def encode(self, value):
-        return ('{}\0'.format(value)).encode('utf-8')
+        return ("{}\0".format(value)).encode("utf-8")
 
     def decode(self, payload):
-        return payload.decode().strip('\0')
+        return payload.decode().strip("\0")
 
 
 # EV3 standard firmware is hard-coded to use channel 1
@@ -155,16 +159,16 @@ class MailboxHandler(StreamRequestHandler):
                 if ex.args[0] == ECONNRESET:
                     break
                 raise
-            size, = unpack('<H', buf)
+            (size,) = unpack("<H", buf)
             buf = self.rfile.recv(size)
-            msg_count, cmd_type, cmd, name_size = unpack('<HBBB', buf[0:5])
+            msg_count, cmd_type, cmd, name_size = unpack("<HBBB", buf[0:5])
             if cmd_type != SYSTEM_COMMAND_NO_REPLY:
-                raise ValueError('Bad message type')
+                raise ValueError("Bad message type")
             if cmd != WRITEMAILBOX:
-                raise ValueError('Bad command')
-            mbox = buf[5:5+name_size].decode().strip('\0')
-            data_size, = unpack('<H', buf[5+name_size:7+name_size])
-            data = buf[7+name_size:7+name_size+data_size]
+                raise ValueError("Bad command")
+            mbox = buf[5 : 5 + name_size].decode().strip("\0")
+            (data_size,) = unpack("<H", buf[5 + name_size : 7 + name_size])
+            data = buf[7 + name_size : 7 + name_size + data_size]
 
             with self.server._lock:
                 self.server._mailboxes[mbox] = data
@@ -216,9 +220,18 @@ class MailboxHandlerMixIn:
         mbox_len = len(mbox) + 1
         payload_len = len(payload)
         send_len = 7 + mbox_len + payload_len
-        fmt = '<HHBBB{}sH{}s'.format(mbox_len, payload_len)
-        data = pack(fmt, send_len, 1, SYSTEM_COMMAND_NO_REPLY, WRITEMAILBOX,
-                    mbox_len, mbox.encode('utf-8'), payload_len, payload)
+        fmt = "<HHBBB{}sH{}s".format(mbox_len, payload_len)
+        data = pack(
+            fmt,
+            send_len,
+            1,
+            SYSTEM_COMMAND_NO_REPLY,
+            WRITEMAILBOX,
+            mbox_len,
+            mbox.encode("utf-8"),
+            payload_len,
+            payload,
+        )
         with self._lock:
             if brick is None:
                 for client in self._clients.values():
@@ -255,7 +268,8 @@ class BluetoothMailboxServer(MailboxHandlerMixIn, ThreadingRFCOMMServer):
         """
         super().__init__()
         super(ThreadingRFCOMMServer, self).__init__(
-            (BDADDR_ANY, EV3_RFCOMM_CHANNEL), MailboxHandler)
+            (BDADDR_ANY, EV3_RFCOMM_CHANNEL), MailboxHandler
+        )
 
     def wait_for_connection(self, count=1):
         """Waits for a :class:`BluetoothMailboxClient` on a remote device to
@@ -326,7 +340,7 @@ class BluetoothMailboxClient(MailboxHandlerMixIn):
             raise ValueError('no paired devices matching "{}"'.format(brick))
         client = MailboxRFCOMMClient(self, addr)
         if self._clients.setdefault(addr, client) is not client:
-            raise ValueError('connection with this address already exists')
+            raise ValueError("connection with this address already exists")
         try:
             client.handle_request()
         except Exception:

examples/ev3/bluetooth_read_spike/connection.py

@@ -1,15 +1,9 @@
-
 from uctypes import addressof, sizeof, struct
 from usocket import socket, SOCK_STREAM
 
 from _thread import start_new_thread
 
-from pybricks.bluetooth import (
-    str2ba,
-    sockaddr_rc,
-    AF_BLUETOOTH,
-    BTPROTO_RFCOMM
-)
+from pybricks.bluetooth import str2ba, sockaddr_rc, AF_BLUETOOTH, BTPROTO_RFCOMM
 from pybricks.tools import wait, StopWatch
 
 
@@ -25,7 +19,7 @@ def get_bluetooth_rfcomm_socket(address, channel):
     return sock
 
 
-class SpikePrimeStreamReader():
+class SpikePrimeStreamReader:
     def __init__(self, address):
 
         try:
@@ -56,8 +50,8 @@ class SpikePrimeStreamReader():
                 break
             try:
                 data = eval(raw)
-                if data['m'] == 0:
-                    self._values = data['p']
+                if data["m"] == 0:
+                    self._values = data["p"]
             except (SyntaxError, KeyError):
                 pass
 
@@ -65,8 +59,8 @@ class SpikePrimeStreamReader():
         return self._values
 
     def device(self, port):
-        if 'A' <= port <= 'F':
-            return self.values()[ord(port)-ord('A')][1]
+        if "A" <= port <= "F":
+            return self.values()[ord(port) - ord("A")][1]
         else:
             raise ValueError
 

examples/ev3/bluetooth_read_spike/main.py

@@ -9,7 +9,7 @@ ev3 = EV3Brick()
 ev3.speaker.beep()
 
 # Create the connection. See README.md to find the address for your SPIKE hub.
-spike = SpikePrimeStreamReader('F4:84:4C:AA:C8:A4')
+spike = SpikePrimeStreamReader("F4:84:4C:AA:C8:A4")
 
 # Now you can simply read values!
 for i in range(100):

examples/ev3/bluetooth_read_spike/rover.py

@@ -12,7 +12,7 @@ ev3 = EV3Brick()
 ev3.speaker.beep()
 
 # Create the connection. See README.md to find the address for your SPIKE hub.
-spike = SpikePrimeStreamReader('F4:84:4C:AA:C8:A4')
+spike = SpikePrimeStreamReader("F4:84:4C:AA:C8:A4")
 
 # Initialize the motors and drive base
 left_motor = Motor(Port.B)
@@ -24,5 +24,5 @@ while True:
     yaw, pitch, roll = spike.orientation()
 
     # Set speed and turn rate based on orientation
-    robot.drive(-pitch*6, roll*2)
+    robot.drive(-pitch * 6, roll * 2)
     wait(20)

examples/ev3/bluetooth_server/server.py

@@ -9,15 +9,15 @@
 from pybricks.messaging import BluetoothMailboxServer, TextMailbox
 
 server = BluetoothMailboxServer()
-mbox = TextMailbox('greeting', server)
+mbox = TextMailbox("greeting", server)
 
 # The server must be started before the client!
-print('waiting for connection...')
+print("waiting for connection...")
 server.wait_for_connection()
-print('connected!')
+print("connected!")
 
 # In this program, the server waits for the client to send the first message
 # and then sends a reply.
 mbox.wait()
 print(mbox.read())
-mbox.send('hello to you!')
+mbox.send("hello to you!")

examples/ev3/buttons_quickstart/menu.py

@@ -8,7 +8,7 @@ def wait_for_button(ev3):
     """
 
     # Show a picture of the buttons on the screen.
-    ev3.screen.load_image('buttons.png')
+    ev3.screen.load_image("buttons.png")
 
     # Tip: add text or icons to the image to help you
     # remember what each button will do in your program.

examples/ev3/datalog/main.py

@@ -8,7 +8,7 @@ from pybricks.tools import DataLog, StopWatch, wait
 #   log_2020_02_13_10_07_44_431260.csv
 # * You can optionally specify the titles of your data columns. For example,
 #   if you want to record the motor angles at a given time, you could do:
-data = DataLog('time', 'angle')
+data = DataLog("time", "angle")
 
 # Initialize a motor and make it move
 wheel = Motor(Port.B)

examples/ev3/datalog_extra/main.py

@@ -3,13 +3,13 @@ from pybricks.parameters import Color
 from pybricks.tools import DataLog
 
 # Create a data log file called my_file.txt
-data = DataLog('time', 'angle', name='my_file', timestamp=False, extension='txt')
+data = DataLog("time", "angle", name="my_file", timestamp=False, extension="txt")
 
 # The log method uses the print() method to add a line of text.
 # So, you can do much more than saving numbers. For example:
-data.log('Temperature', 25)
-data.log('Sunday', 'Monday', 'Tuesday')
-data.log({'Kiwi': Color.GREEN}, {'Banana': Color.YELLOW})
+data.log("Temperature", 25)
+data.log("Sunday", "Monday", "Tuesday")
+data.log({"Kiwi": Color.GREEN}, {"Banana": Color.YELLOW})
 
 # You can upload the file to your computer, but you can also print the data:
 print(data)

examples/ev3/ev3devsensor/class_example.py

@@ -13,22 +13,22 @@ class MySensor(Ev3devSensor):
         super().__init__(port)
 
         # Get the sysfs path.
-        self.path = '/sys/class/lego-sensor/sensor' + str(self.sensor_index)
+        self.path = "/sys/class/lego-sensor/sensor" + str(self.sensor_index)
 
     def get_modes(self):
         """Get a list of mode strings so we don't have to look them up."""
 
         # The path of the modes file.
-        modes_path = self.path + '/modes'
+        modes_path = self.path + "/modes"
 
         # Open the modes file.
-        with open(modes_path, 'r') as m:
+        with open(modes_path, "r") as m:
 
             # Read the contents.
             contents = m.read()
 
             # Strip the newline symbol, and split at every space symbol.
-            return contents.strip().split(' ')
+            return contents.strip().split(" ")
 
 
 # Initialize the sensor

examples/ev3/ev3devsensor/main.py

@@ -10,10 +10,10 @@ sensor = Ev3devSensor(Port.S3)
 
 while True:
     # Read the raw RGB values
-    r, g, b = sensor.read('RGB-RAW')
+    r, g, b = sensor.read("RGB-RAW")
 
     # Print results
-    print('R: {0}\t G: {1}\t B: {2}'.format(r, g, b))
+    print("R: {0}\t G: {1}\t B: {2}".format(r, g, b))
 
     # Wait
     wait(200)

examples/ev3/i2c_extra/main.py

@@ -10,7 +10,7 @@ ev3 = EV3Brick()
 device = I2CDevice(Port.S2, 0xD2 >> 1)
 
 # Recommended for reading
-result, = device.read(reg=0x0F, length=1)
+(result,) = device.read(reg=0x0F, length=1)
 
 # Read 1 byte from no particular register:
 device.read(reg=None, length=1)
@@ -23,10 +23,10 @@ device.read(reg=None, length=0)
 # can choose to skip the register or data as follows:
 
 # Recommended for writing:
-device.write(reg=0x22, data=b'\x08')
+device.write(reg=0x22, data=b"\x08")
 
 # Write 1 byte to no particular register:
-device.write(reg=None, data=b'\x08')
+device.write(reg=None, data=b"\x08")
 
 # Write 0 bytes to a particular register:
 device.write(reg=0x08, data=None)

examples/ev3/ps4/main.py

@@ -21,7 +21,7 @@ in_file = open(infile_path, "rb")
 
 # Define the format the event data will be read.
 # https://docs.python.org/3/library/struct.html#format-characters
-FORMAT = 'llHHi'
+FORMAT = "llHHi"
 EVENT_SIZE = struct.calcsize(FORMAT)
 event = in_file.read(EVENT_SIZE)
 
@@ -30,10 +30,11 @@ event = in_file.read(EVENT_SIZE)
 # numbers (-100 to 100)
 def scale(val, src, dst):
 
-    result = (float(val - src[0]) / (src[1] - src[0]))
+    result = float(val - src[0]) / (src[1] - src[0])
     result = result * (dst[1] - dst[0]) + dst[0]
     return result
 
+
 # Create a loop to react to events
 # This loop reacte to all main PS4 button and stick events. I have left out
 # buttons like share and options, but can easily be added in by referring

examples/ev3/rcx_touch/main.py

@@ -7,7 +7,7 @@ from pybricks.tools import wait
 
 class RCXTouchSensor(AnalogSensor):
     def pressed(self):
-        return self.resistance() < 50*1000
+        return self.resistance() < 50 * 1000
 
 
 ev3 = EV3Brick()

examples/ev3/screen_extra/main.py

@@ -15,12 +15,24 @@ ev3 = EV3Brick()
 # SPLIT SCREEN ################################################################
 
 # Make a sub-image for the left half of the screen
-left = Image(ev3.screen, sub=True, x1=0, y1=0,
-             x2=ev3.screen.width // 2 - 1, y2=ev3.screen.height - 1)
+left = Image(
+    ev3.screen,
+    sub=True,
+    x1=0,
+    y1=0,
+    x2=ev3.screen.width // 2 - 1,
+    y2=ev3.screen.height - 1,
+)
 
 # Make a sub-image for the right half of the screen
-right = Image(ev3.screen, sub=True, x1=ev3.screen.width // 2, y1=0,
-              x2=ev3.screen.width - 1, y2=ev3.screen.height - 1)
+right = Image(
+    ev3.screen,
+    sub=True,
+    x1=ev3.screen.width // 2,
+    y1=0,
+    x2=ev3.screen.width - 1,
+    y2=ev3.screen.height - 1,
+)
 
 # Use a monospaced font so that text is vertically aligned when we print
 right.set_font(Font(size=8, monospace=True))
@@ -53,7 +65,7 @@ for t in range(200):
 
     # Print every 10th value on right side
     if t % 10 == 0:
-        right.print('{:10.2f}{:10.2f}'.format(x1, y1))
+        right.print("{:10.2f}{:10.2f}".format(x1, y1))
 
     wait(100)
 
@@ -64,8 +76,8 @@ for t in range(200):
 buf = Image(ev3.screen)
 
 # Load images from file
-bg = Image('background.png')
-sprite = Image('sprite.png')
+bg = Image("background.png")
+sprite = Image("sprite.png")
 
 # Number of cells in each sprite animation
 NUM_CELLS = 8
@@ -75,12 +87,28 @@ CELL_WIDTH, CELL_HEIGHT = 75, 100
 
 # Get sub-images for each individual cell
 # This is more efficient that loading individual images
-walk_right = [Image(sprite, sub=True, x1=x * CELL_WIDTH, y1=0,
-                    x2=(x + 1) * CELL_WIDTH - 1, y2=CELL_HEIGHT - 1)
-              for x in range(NUM_CELLS)]
-walk_left = [Image(sprite, sub=True, x1=x * CELL_WIDTH, y1=CELL_HEIGHT,
-                   x2=(x + 1) * CELL_WIDTH - 1, y2=2 * CELL_HEIGHT - 1)
-             for x in range(NUM_CELLS)]
+walk_right = [
+    Image(
+        sprite,
+        sub=True,
+        x1=x * CELL_WIDTH,
+        y1=0,
+        x2=(x + 1) * CELL_WIDTH - 1,
+        y2=CELL_HEIGHT - 1,
+    )
+    for x in range(NUM_CELLS)
+]
+walk_left = [
+    Image(
+        sprite,
+        sub=True,
+        x1=x * CELL_WIDTH,
+        y1=CELL_HEIGHT,
+        x2=(x + 1) * CELL_WIDTH - 1,
+        y2=2 * CELL_HEIGHT - 1,
+    )
+    for x in range(NUM_CELLS)
+]
 
 
 # Walk from left to right

examples/ev3/screen_print/main.py

@@ -8,7 +8,7 @@ from pybricks.media.ev3dev import Font
 # load them once at the beginning of the program like this:
 tiny_font = Font(size=6)
 big_font = Font(size=24, bold=True)
-chinese_font = Font(size=24, lang='zh-cn')
+chinese_font = Font(size=24, lang="zh-cn")
 
 
 # Initialize the EV3
@@ -16,19 +16,19 @@ ev3 = EV3Brick()
 
 
 # Say hello
-ev3.screen.print('Hello!')
+ev3.screen.print("Hello!")
 
 # Say tiny hello
 ev3.screen.set_font(tiny_font)
-ev3.screen.print('hello')
+ev3.screen.print("hello")
 
 # Say big hello
 ev3.screen.set_font(big_font)
-ev3.screen.print('HELLO')
+ev3.screen.print("HELLO")
 
 # Say Chinese hello
 ev3.screen.set_font(chinese_font)
-ev3.screen.print('你好')
+ev3.screen.print("你好")
 
 # Wait some time to look at the screen
 wait(5000)

examples/ev3/speaker_basics/main.py

@@ -26,9 +26,23 @@ wait(1000)
 # PLAY NOTES ##################################################################
 
 # Twinkle, Twinkle Little Star
-A = ['C4/4', 'C4/4', 'G4/4', 'G4/4', 'A4/4', 'A4/4', 'G4/2',
-     'F4/4', 'F4/4', 'E4/4', 'E4/4', 'D4/4', 'D4/4', 'C4/2']
-B = ['G4/4', 'G4/4', 'F4/4', 'F4/4', 'E4/4', 'E4/4', 'D4/2'] * 2
+A = [
+    "C4/4",
+    "C4/4",
+    "G4/4",
+    "G4/4",
+    "A4/4",
+    "A4/4",
+    "G4/2",
+    "F4/4",
+    "F4/4",
+    "E4/4",
+    "E4/4",
+    "D4/4",
+    "D4/4",
+    "C4/2",
+]
+B = ["G4/4", "G4/4", "F4/4", "F4/4", "E4/4", "E4/4", "D4/2"] * 2
 TWINKLE = A + B + A
 
 ev3.speaker.play_notes(TWINKLE)
@@ -46,10 +60,10 @@ wait(1000)
 # TEXT TO SPEECH ##############################################################
 
 # Say something in English
-ev3.speaker.say('I am am E V 3. Pleased to meet you.')
+ev3.speaker.say("I am am E V 3. Pleased to meet you.")
 
 # Say something in Danish + female
-ev3.speaker.set_speech_options(voice='da+f5')
-ev3.speaker.say('Leg godt!')
+ev3.speaker.set_speech_options(voice="da+f5")
+ev3.speaker.say("Leg godt!")
 
 wait(1000)

examples/ev3/uart_basics/main.py

@@ -11,7 +11,7 @@ ev3 = EV3Brick()
 ser = UARTDevice(Port.S2, baudrate=115200)
 
 # Write some data
-ser.write(b'\r\nHello, world!\r\n')
+ser.write(b"\r\nHello, world!\r\n")
 
 # Play a sound while we wait for some data
 for i in range(3):

examples/ev3/vernier_surface_temperature/main.py

@@ -10,8 +10,8 @@ def convert_raw_to_temperature(voltage):
 
     # Convert the raw voltage to the NTC resistance
     # according to the Vernier Adapter EV3 block.
-    counts = voltage/5000*4096
-    ntc = 15000*(counts)/(4130-counts)
+    counts = voltage / 5000 * 4096
+    ntc = 15000 * (counts) / (4130 - counts)
 
     # Handle log(0) safely: make sure that ntc value is positive.
     if ntc <= 0:
@@ -21,7 +21,7 @@ def convert_raw_to_temperature(voltage):
     K0 = 1.02119e-3
     K1 = 2.22468e-4
     K2 = 1.33342e-7
-    return 1/(K0 + K1*log(ntc) + K2*log(ntc)**3)
+    return 1 / (K0 + K1 * log(ntc) + K2 * log(ntc) ** 3)
 
 
 # Initialize the adapter on port 1

examples/pup/hub_cityhub/button_single.py

@@ -1,25 +0,0 @@
-from pybricks.hubs import CityHub
-from pybricks.parameters import Color, Button
-from pybricks.tools import wait, StopWatch
-
-# Initialize the hub.
-hub = CityHub()
-
-# Disable the stop button.
-hub.system.set_stop_button(None)
-
-# Check the button for 5 seconds.
-watch = StopWatch()
-while watch.time() < 5000:
-
-    # Set light to green if pressed, else red.
-    if hub.button.pressed():
-        hub.light.on(Color.GREEN)
-    else:
-        hub.light.on(Color.RED)
-
-# Enable the stop button again.
-hub.system.set_stop_button(Button.CENTER)
-
-# Now you can press the stop button as usual.
-wait(5000)

examples/pup/hub_cityhub/light_animate.py

@@ -1,23 +0,0 @@
-from pybricks.hubs import CityHub
-from pybricks.parameters import Color
-from pybricks.tools import wait
-from umath import sin, pi
-
-# Initialize the hub.
-hub = CityHub()
-
-# Make an animation with multiple colors.
-hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
-
-wait(10000)
-
-# Make the color RED grow faint and bright using a sine pattern.
-hub.light.animate(
-    [Color.RED * (0.5 * sin(i / 15 * pi) + 0.5) for i in range(30)], 40)
-
-wait(10000)
-
-# Cycle through a rainbow of colors.
-hub.light.animate([Color(h=i*8) for i in range(45)], interval=40)
-
-wait(10000)

examples/pup/hub_cityhub/light_blink.py

@@ -1,16 +0,0 @@
-from pybricks.hubs import CityHub
-from pybricks.parameters import Color
-from pybricks.tools import wait
-
-# Initialize the hub
-hub = CityHub()
-
-# Keep blinking red on and off.
-hub.light.blink(Color.RED, [500, 500])
-
-wait(10000)
-
-# Keep blinking green slowly and then quickly.
-hub.light.blink(Color.GREEN, [500, 500, 50, 900])
-
-wait(10000)

examples/pup/hub_cityhub/light_off.py

@@ -1,15 +0,0 @@
-from pybricks.hubs import CityHub
-from pybricks.parameters import Color
-from pybricks.tools import wait
-
-# Initialize the hub.
-hub = CityHub()
-
-# Turn the light on and off 5 times.
-for i in range(5):
-
-    hub.light.on(Color.RED)
-    wait(1000)
-
-    hub.light.off()
-    wait(500)

examples/pup/hub_cityhub/system_shutdown.py

@@ -1,12 +0,0 @@
-from pybricks.hubs import CityHub
-from pybricks.tools import wait
-
-# Initialize the hub.
-hub = CityHub()
-
-# Say goodbye and give some time to send it.
-print("Goodbye!")
-wait(100)
-
-# Shut the hub down.
-hub.system.shutdown()

examples/pup/hub_common/button_single.py

@@ -1,10 +1,10 @@
-# ExampleHub = MoveHub CityHub TechnicHub
-from pybricks.hubs import ExampleHub
+# ThisHub = MoveHub CityHub TechnicHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.parameters import Color, Button
 from pybricks.tools import wait, StopWatch
 
 # Initialize the hub.
-hub = ExampleHub()
+hub = ThisHub()
 
 # Disable the stop button.
 hub.system.set_stop_button(None)

examples/pup/hub_common/imu_read_scalar.py

@@ -1,10 +1,10 @@
-# ExampleHub = TechnicHub PrimeHub
-from pybricks.hubs import ExampleHub
+# ThisHub = TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.tools import wait
 from pybricks.geometry import Axis
 
 # Initialize the hub.
-hub = ExampleHub()
+hub = ThisHub()
 
 # Get the acceleration or angular_velocity along a single axis.
 # If you need only one value, this is more memory efficient.

examples/pup/hub_common/imu_read_vector.py

@@ -1,11 +1,12 @@
-from pybricks.hubs import PrimeHub
+# ThisHub = TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = PrimeHub()
+hub = ThisHub()
 
-# Get the acceleration vector.
-print(hub.imu.acceleration())
+# Get the acceleration vector in g's.
+print(hub.imu.acceleration() / 9810)
 
 # Get the angular velocity vector.
 print(hub.imu.angular_velocity())

examples/pup/hub_common/imu_tilt.py

@@ -1,8 +1,9 @@
-from pybricks.hubs import PrimeHub
+# ThisHub = TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = PrimeHub()
+hub = ThisHub()
 
 while True:
     # Read the tilt values.

examples/pup/hub_common/imu_tilt_blast.py

@@ -1,11 +1,12 @@
-from pybricks.hubs import PrimeHub
+# ThisHub = TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.tools import wait
 from pybricks.geometry import Axis
 
 # Initialize the hub. In this case, specify that the hub is mounted with the
 # top side facing forward and the front side facing to the right.
 # For example, this is how the hub is mounted in BLAST in the 51515 set.
-hub = PrimeHub(top_side=Axis.X, front_side=-Axis.Y)
+hub = ThisHub(top_side=Axis.X, front_side=-Axis.Y)
 
 while True:
     # Read the tilt values. Now, the values are 0 when BLAST stands upright.

examples/pup/hub_common/imu_up.py

@@ -1,9 +1,10 @@
-from pybricks.hubs import PrimeHub
+# ThisHub = TechnicHub PrimeHub MoveHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.parameters import Color, Side
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = PrimeHub()
+hub = ThisHub()
 
 # Define colors for each side in a dictionary.
 SIDE_COLORS = {

examples/pup/hub_common/light_animate.py

@@ -1,10 +1,11 @@
-from pybricks.hubs import PrimeHub
+# ThisHub = CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.parameters import Color
 from pybricks.tools import wait
 from umath import sin, pi
 
 # Initialize the hub.
-hub = PrimeHub()
+hub = ThisHub()
 
 # Make an animation with multiple colors.
 hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
@@ -12,12 +13,11 @@ hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
 wait(10000)
 
 # Make the color RED grow faint and bright using a sine pattern.
-hub.light.animate(
-    [Color.RED * (0.5 * sin(i / 15 * pi) + 0.5) for i in range(30)], 40)
+hub.light.animate([Color.RED * (0.5 * sin(i / 15 * pi) + 0.5) for i in range(30)], 40)
 
 wait(10000)
 
 # Cycle through a rainbow of colors.
-hub.light.animate([Color(h=i*8) for i in range(45)], interval=40)
+hub.light.animate([Color(h=i * 8) for i in range(45)], interval=40)
 
 wait(10000)

examples/pup/hub_common/light_blink.py

@@ -1,10 +1,10 @@
-# ExampleHub = MoveHub CityHub TechnicHub PrimeHub
-from pybricks.hubs import ExampleHub
+# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.parameters import Color
 from pybricks.tools import wait
 
 # Initialize the hub
-hub = ExampleHub()
+hub = ThisHub()
 
 # Keep blinking red on and off.
 hub.light.blink(Color.RED, [500, 500])

examples/pup/hub_common/light_hsv.py

@@ -1,9 +1,10 @@
-from pybricks.hubs import CityHub
+# ThisHub = CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.parameters import Color
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = CityHub()
+hub = ThisHub()
 
 # Show the color at 30% brightness.
 hub.light.on(Color.RED * 0.3)

examples/pup/hub_common/light_off.py

@@ -1,10 +1,10 @@
-# ExampleHub = MoveHub CityHub TechnicHub PrimeHub
-from pybricks.hubs import ExampleHub
+# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.parameters import Color
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = ExampleHub()
+hub = ThisHub()
 
 # Turn the light on and off 5 times.
 for i in range(5):

examples/pup/hub_common/make_examples.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+"""Generates hub-specific examples from common template script."""
+
+import pathlib
+
+# Make build directory.
+dir_path = pathlib.Path(__file__).parent
+build_path = dir_path / "build"
+build_path.mkdir(exist_ok=True)
+
+# Get list of scripts to be parsed.
+file_paths = [f for f in dir_path.glob("*.py") if f.stem != "make_examples"]
+
+# Go through all template scripts
+for file_path in file_paths:
+
+    with open(file_path) as template:
+
+        # First line contains hub info
+        hubs = template.readline().strip().split()[3:]
+
+        print("Converting", template.name, "to", hubs)
+
+        for hub in hubs:
+            # Path to hub-specific output script.
+            gen_path = build_path / (file_path.stem + "_" + hub.lower() + ".py")
+
+            # Reset source script and skip over header.
+            template.seek(0)
+            template.readline()
+
+            # Open destination script:
+            with open(gen_path, "w") as dest_file:
+
+                # Read script line by line.
+                for line in template.readlines():
+
+                    # Replace hub name if present.
+                    dest_file.writelines(line.replace("ThisHub", hub))

examples/pup/hub_common/system_shutdown.py

@@ -1,8 +1,9 @@
-from pybricks.hubs import MoveHub
+# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = MoveHub()
+hub = ThisHub()
 
 # Say goodbye and give some time to send it.
 print("Goodbye!")

examples/pup/hub_movehub/button_single.py

@@ -1,25 +0,0 @@
-from pybricks.hubs import MoveHub
-from pybricks.parameters import Color, Button
-from pybricks.tools import wait, StopWatch
-
-# Initialize the hub.
-hub = MoveHub()
-
-# Disable the stop button.
-hub.system.set_stop_button(None)
-
-# Check the button for 5 seconds.
-watch = StopWatch()
-while watch.time() < 5000:
-
-    # Set light to green if pressed, else red.
-    if hub.button.pressed():
-        hub.light.on(Color.GREEN)
-    else:
-        hub.light.on(Color.RED)
-
-# Enable the stop button again.
-hub.system.set_stop_button(Button.CENTER)
-
-# Now you can press the stop button as usual.
-wait(5000)

examples/pup/hub_movehub/imu_up.py

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

examples/pup/hub_movehub/light_blink.py

@@ -1,16 +0,0 @@
-from pybricks.hubs import MoveHub
-from pybricks.parameters import Color
-from pybricks.tools import wait
-
-# Initialize the hub
-hub = MoveHub()
-
-# Keep blinking red on and off.
-hub.light.blink(Color.RED, [500, 500])
-
-wait(10000)
-
-# Keep blinking green slowly and then quickly.
-hub.light.blink(Color.GREEN, [500, 500, 50, 900])
-
-wait(10000)

examples/pup/hub_movehub/light_off.py

@@ -1,15 +0,0 @@
-from pybricks.hubs import MoveHub
-from pybricks.parameters import Color
-from pybricks.tools import wait
-
-# Initialize the hub.
-hub = MoveHub()
-
-# Turn the light on and off 5 times.
-for i in range(5):
-
-    hub.light.on(Color.RED)
-    wait(1000)
-
-    hub.light.off()
-    wait(500)

examples/pup/hub_primehub/display_animate.py

@@ -12,7 +12,7 @@ hub.light.off()
 brightness = list(range(0, 100, 4)) + list(range(100, 0, -4))
 
 # Create an animation of the heart icon with changing brightness.
-hub.display.animate([Icon.HEART * i/100 for i in brightness], 30)
+hub.display.animate([Icon.HEART * i / 100 for i in brightness], 30)
 
 # The animation repeats in the background. Here we just wait.
 while True:

examples/pup/hub_primehub/display_expression.py

@@ -12,15 +12,15 @@ while True:
 
     # Start with random left brow: up or down.
     if randint(0, 100) < 70:
-        brows = Icon.EYE_LEFT_BROW*0.5
+        brows = Icon.EYE_LEFT_BROW * 0.5
     else:
-        brows = Icon.EYE_LEFT_BROW_UP*0.5
+        brows = Icon.EYE_LEFT_BROW_UP * 0.5
 
     # Add random right brow: up or down.
     if randint(0, 100) < 70:
-        brows += Icon.EYE_RIGHT_BROW*0.5
+        brows += Icon.EYE_RIGHT_BROW * 0.5
     else:
-        brows += Icon.EYE_RIGHT_BROW_UP*0.5
+        brows += Icon.EYE_RIGHT_BROW_UP * 0.5
 
     for i in range(3):
         # Display eyes open plus the random brows.
@@ -28,5 +28,7 @@ while True:
         wait(2000)
 
         # Display eyes blinked plus the random brows.
-        hub.display.image(Icon.EYE_LEFT_BLINK*0.7 + Icon.EYE_RIGHT_BLINK*0.7 + brows)
+        hub.display.image(
+            Icon.EYE_LEFT_BLINK * 0.7 + Icon.EYE_RIGHT_BLINK * 0.7 + brows
+        )
         wait(200)

examples/pup/hub_primehub/display_matrix.py

@@ -6,13 +6,15 @@ from pybricks.geometry import Matrix
 hub = PrimeHub()
 
 # Make a square that is bright on the outside and faint in the middle.
-SQUARE = Matrix([
-    [100, 100, 100, 100, 100],
-    [100, 50,  50,  50,  100],
-    [100, 50,  0,   50,  100],
-    [100, 50,  50,  50,  100],
-    [100, 100, 100, 100, 100],
-])
+SQUARE = Matrix(
+    [
+        [100, 100, 100, 100, 100],
+        [100, 50, 50, 50, 100],
+        [100, 50, 0, 50, 100],
+        [100, 50, 50, 50, 100],
+        [100, 100, 100, 100, 100],
+    ]
+)
 
 # Display the square.
 hub.display.image(SQUARE)

examples/pup/hub_primehub/display_text.py

@@ -5,8 +5,8 @@ from pybricks.tools import wait
 hub = PrimeHub()
 
 # Display the letter A for two seconds.
-hub.display.char('A')
+hub.display.char("A")
 wait(2000)
 
 # Display text, one letter at a time.
-hub.display.text('Hello, world!')
+hub.display.text("Hello, world!")

examples/pup/hub_primehub/imu_read_scalar.py

@@ -1,20 +0,0 @@
-from pybricks.hubs import PrimeHub
-from pybricks.tools import wait
-from pybricks.geometry import Axis
-
-# Initialize the hub.
-hub = PrimeHub()
-
-# Get the acceleration or angular_velocity along a single axis.
-# If you need only one value, this is more memory efficient.
-while True:
-
-    # Read the forward acceleration.
-    forward_acceleration = hub.imu.acceleration(Axis.X)
-
-    # Read the yaw rate.
-    yaw_rate = hub.imu.angular_velocity(Axis.Z)
-
-    # Print the yaw rate.
-    print(yaw_rate)
-    wait(100)

examples/pup/hub_primehub/light_blink.py

@@ -1,16 +0,0 @@
-from pybricks.hubs import PrimeHub
-from pybricks.parameters import Color
-from pybricks.tools import wait
-
-# Initialize the hub
-hub = PrimeHub()
-
-# Keep blinking red on and off.
-hub.light.blink(Color.RED, [500, 500])
-
-wait(10000)
-
-# Keep blinking green slowly and then quickly.
-hub.light.blink(Color.GREEN, [500, 500, 50, 900])
-
-wait(10000)

examples/pup/hub_primehub/light_hsv.py

@@ -1,21 +0,0 @@
-from pybricks.hubs import PrimeHub
-from pybricks.parameters import Color
-from pybricks.tools import wait
-
-# Initialize the hub.
-hub = PrimeHub()
-
-# Show the color at 30% brightness.
-hub.light.on(Color.RED * 0.3)
-
-wait(2000)
-
-# Use your own custom color.
-hub.light.on(Color(h=30, s=100, v=50))
-
-wait(2000)
-
-# Go through all the colors.
-for hue in range(360):
-    hub.light.on(Color(hue))
-    wait(10)

examples/pup/hub_primehub/light_off.py

@@ -1,15 +0,0 @@
-from pybricks.hubs import PrimeHub
-from pybricks.parameters import Color
-from pybricks.tools import wait
-
-# Initialize the hub.
-hub = PrimeHub()
-
-# Turn the light on and off 5 times.
-for i in range(5):
-
-    hub.light.on(Color.RED)
-    wait(1000)
-
-    hub.light.off()
-    wait(500)

examples/pup/hub_primehub/system_shutdown.py

@@ -1,12 +0,0 @@
-from pybricks.hubs import PrimeHub
-from pybricks.tools import wait
-
-# Initialize the hub.
-hub = PrimeHub()
-
-# Say goodbye and give some time to send it.
-print("Goodbye!")
-wait(100)
-
-# Shut the hub down.
-hub.system.shutdown()