v3.1.0

pybricks.robotics: add type hint for curve()
This method was added in 30803fc.
2026-09-11 17:14:41 +00:00 · 2021-12-16 15:35:09 -06:00 · 2021-12-16 15:33:00 -06:00 · 2021-12-16 15:29:44 -06:00 · 2021-12-01 15:39:05 +01:00 · 2021-12-01 15:39:04 +01:00
29 changed files with 308 additions and 160 deletions
@@ -2,6 +2,20 @@

 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->

+## 3.1.0 - 2021-12-16
+
+### Added
+- Added maximum voltage setter for `DCMotor` and `Motor`.
+- Documented `DriveBase.curve()` method.
+
+### Changed
+- Removed `duty` setting from `Control.limits` method.
+- Removed `integral_range` setting from `Control.pid` method.
+
+### Fixed
+- Fixed link to Color Light Matrix page.
+- Fixed link to Inventor Hub page.
+
 ## 3.1.0rc1 - 2021-11-19

 ### Added
@@ -265,11 +265,14 @@ latex_documents = [
 exclude_patterns = [
    'ev3devices.rst',
    'hubs/ev3brick.rst',
+    'hubs/primehub.rst',
+    'geometry.rst',
    'iodevices/analogsensor.rst',
    'iodevices/dcmotor.rst',
    'iodevices/ev3devsensor.rst',
    'iodevices/i2cdevice.rst',
    'iodevices/lumpdevice.rst',
+    'iodevices/lwp3device.rst',
    'iodevices/uartdevice.rst',
    'media.rst',
    'messaging.rst',
@@ -5,13 +5,15 @@ from docutils.parsers.rst import Directive
 class PybricksClasslinkDirective(Directive):

    required_arguments = 1
+    optional_arguments = 1

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

        html = (
-            '<a href="{0}.html">'.format(name.lower()) +
+            '<a href="{0}.html">'.format(link.lower()) +
            '<dl class="py class">' +
            '<dt>' +
            '<em class="property">class </em>' +
@@ -3,11 +3,12 @@
 0 !LICENSE MIT
 0 ROTATION CENTER 0 0 0 1 "Custom" 
 0 ROTATION CONFIG 0 0
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@@ -11,8 +11,8 @@
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-   height="1118"
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+   height="1126"
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@@ -58,8 +58,8 @@
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@@ -87,18 +87,18 @@
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       xlink:href="pupmotors.png"
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@@ -123,7 +123,7 @@
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@@ -147,7 +147,7 @@
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@@ -1,7 +1,8 @@
-0 Name: pupmotors
+0 Name: pupsensors.ldr
 0 Author: Pybricks {laurens@pybricks.com}
 0 !LICENSE MIT
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@@ -12,7 +12,6 @@
   movehub
   cityhub
   technichub
-   primehub

 .. pybricks-classlink:: MoveHub

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

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

    .. rubric:: Using the hub status light

@@ -19,20 +20,6 @@ Technic Hub

    .. automethod:: pybricks.hubs::TechnicHub.light.animate

-    .. rubric:: Using the IMU
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.up
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.tilt
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.acceleration
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.angular_velocity
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.heading
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.reset_heading
-
    .. rubric:: Using the battery

    .. automethod:: pybricks.hubs::TechnicHub.battery.voltage
@@ -78,40 +65,6 @@ Creating light animations
 .. literalinclude::
    ../../../examples/pup/hub_technichub/light_animate.py

-IMU examples
---------------
-
-Testing which way is up
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_up.py
-
-
-Reading the tilt value
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_tilt.py
-
-Using a custom hub orientation
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_tilt_blast.py
-
-Reading acceleration and angular velocity vectors
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_read_vector.py
-
-Reading acceleration and angular velocity on one axis
-*****************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_technichub/imu_read_scalar.py
-
 Button and system examples
 ----------------------------------

@@ -49,16 +49,6 @@ Pybricks Documentation

 .. only:: ide

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

@@ -67,7 +57,7 @@ Pybricks Documentation

   .. rubric:: Programmable hubs

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

@@ -110,7 +100,6 @@ Pybricks Documentation
   parameters/index
   tools/index
   robotics
-   geometry
   signaltypes

 .. toctree::
@@ -10,7 +10,6 @@
   :hidden:

   pupdevice
-   lwp3device

 This module has classes for generic input/output devices.

@@ -19,9 +18,3 @@ This module has classes for generic input/output devices.
 .. figure:: ../../main/images/sensor_pup.png
   :width: 70 %
   :target: pupdevice.html
-
-.. pybricks-classlink:: LWP3Device
-
-.. figure:: ../../main/images/powereduphubs.png
-   :width: 70 %
-   :target: lwp3device.html
@@ -26,21 +26,6 @@ Side
    .. autoattribute:: pybricks.parameters.Side.RIGHT
        :annotation:

-
-    Screens or light matrices have only four sides. For those,
-    ``TOP`` is treated the same as ``FRONT``, and ``BOTTOM`` is treated the
-    same as ``BACK``. The diagrams below define the sides for relevant devices.
-
-    **Prime Hub**
-
-    .. figure:: ../../main/images/orientation_primehub_label.png
-        :height: 17 em
-
-    **Inventor Hub**
-
-    .. figure:: ../../main/images/orientation_inventorhub_label.png
-        :height: 17 em
-
    **Move Hub**

    .. figure:: ../../main/images/orientation_movehub_label.png
@@ -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
@@ -25,6 +25,9 @@ Motors without rotation sensors
    .. automethod:: pybricks.pupdevices.DCMotor.brake
        :noindex:

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

@@ -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

@@ -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
@@ -22,6 +22,8 @@

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

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

    .. rubric:: Drive forever
@@ -2,6 +2,11 @@

 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->

+## 2.0.1 - 2021-11-19
+
+### Fixed
+- Fixed link to Color Light Matrix page.
+
 ## 2.0.0 - 2021-11-19

 ### Changed
@@ -1,6 +1,6 @@
 {
  "name": "@pybricks/ide-docs",
-  "version": "2.0.0",
+  "version": "2.0.1",
  "description": "Special build of Pybricks API docs for embedding in an IDE.",
  "repository": {
    "type": "git",
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.1.0rc1"
+version = "3.1.0"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 authors = ["The Pybricks Authors <dev@pybricks.com>"]
 maintainers = ["Laurens Valk <laurens@pybricks.com>", "David Lechner <david@pybricks.com>" ]
@@ -88,6 +88,16 @@ class DCMotor:
        is generated while the motor is still moving."""
        pass

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

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

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

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

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

        If no arguments are given, this will return the current values.
@@ -130,9 +138,7 @@ class Control:
            kd (int): Derivative position (or proportional speed) control
                constant. It is the feedback torque per
                unit of speed: µNm/(deg/s).
-            integral_range (:ref:`angle` or :ref:`distance`): Region around
-                the target angle or distance, in which integral control errors
-                are accumulated.
+            reserved: This setting is not used.
            integral_rate (:ref:`speed` or :ref:`linspeed`): Maximum rate at
                which the error integral is allowed to grow.
        """
@@ -1,10 +1,10 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
+# Copyright (c) 2020-2021 The Pybricks Authors

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

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

 class DCMotor:
@@ -32,7 +32,6 @@ class Control:
        kp: Optional[int] = None,
        ki: Optional[int] = None,
        kd: Optional[int] = None,
-        integral_range: Optional[int] = None,
        integral_rate: Optional[int] = None,
    ) -> None: ...
    @overload
@@ -1,10 +1,12 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2020 The Pybricks Authors
+# Copyright (c) 2018-2021 The Pybricks Authors

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

 from ._common import Control as _Control

+from .parameters import Stop as _Stop
+

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

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

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

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

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

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

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

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

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

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

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

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

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