v3.1.0

This method was added in 30803fc.

CHANGELOG.md

@@ -2,10 +2,19 @@
 
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 
-## Unreleased
+## 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
 

doc/common/conf.py

@@ -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',

doc/common/extensions/classlink.py

@@ -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>' +

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 15 450 -76 -20 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 15 -30 -76 280 0 0 1 1 0 0 0 1 0 68488c01.dat
-1 322 430 -72 30 0 0 1 1 0 0 0 1 0 54696c01.dat
+1 71 550 -76 200 0 0 1 1 0 0 0 1 0 69730c01.dat
-1 71 430 -72 -180 0 0 1 1 0 0 0 1 0 54696c01.dat
+1 15 180 -72 140 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 15 260 -72 350 0 0 1 1 0 0 0 1 0 54696p02c01.dat
-1 71 -20 -216 -140 1 0 0 0 1 0 0 0 1 22172c01.dat
+1 71 430 -84 470 1 0 0 0 1 0 0 0 1 22169c01.dat
-1 15 120 -320 160 1 0 0 0 1 0 0 0 1 26913c01.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"
+   height="1126"
-   viewBox="0 0 529.16666 295.80416"
+   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:cx="930.75599"
-     inkscape:cy="823.24691"
+     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"
+       y="-0.92085403"
-       height="295.80417"
+       x="0"
+       id="image876"
        preserveAspectRatio="none"
-       id="image853"
+       height="297.92084"
-       x="-2.220446e-16"
+       width="529.16669" />
-       y="1.1958181" />
     <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
+         inkscape:connector-curvature="0"
+         id="path897"
+         d="m 161.70224,224.65346 1.85836,-0.53454 0.43431,0.40926 -0.98973,1.42822 c 0,0 -2.13398,-0.30486 -2.13398,-0.32574 0,-0.0209 0.83104,-0.9772 0.83104,-0.9772 z"
+         style="fill:#2980b9;fill-opacity:1;stroke:none;stroke-width:0.26458332px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
+    </g>
   </g>
 </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 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="svg2"
+   width="504"
+   height="322"
+   viewBox="0 0 504 322"
+   sodipodi:docname="sensor_colorlightmatrix.svg"
+   inkscape:version="0.92.3 (2405546, 2018-03-11)">
+  <metadata
+     id="metadata8">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs6">
+    <clipPath
+       clipPathUnits="userSpaceOnUse"
+       id="clipPath846">
+      <path
+         style="fill:none;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+         d="m 384.47481,408.57086 22.58181,23.6974 88.18587,13.9655 -36.98745,-79.56651 -97.14072,-16.49296 z"
+         id="path848"
+         inkscape:connector-curvature="0" />
+    </clipPath>
+    <clipPath
+       clipPathUnits="userSpaceOnUse"
+       id="clipPath874">
+      <path
+         style="fill:none;stroke:#000000;stroke-width:0.10000001;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+         d="m 491.27259,265.371 c 1.71728,2.18035 5.94442,12.92235 5.94442,12.92235 l 40.68619,39.65737 -0.39629,25.87184 -22.19247,7.07325 -62.08608,-14.9528 10.83204,-57.24707 z"
+         id="path876"
+         inkscape:connector-curvature="0" />
+    </clipPath>
+  </defs>
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1853"
+     inkscape:window-height="1145"
+     id="namedview4"
+     showgrid="false"
+     inkscape:zoom="0.70710678"
+     inkscape:cx="-39.716728"
+     inkscape:cy="-44.222535"
+     inkscape:window-x="67"
+     inkscape:window-y="27"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="svg2"
+     inkscape:snap-bbox="true"
+     inkscape:snap-global="false" />
+  <image
+     sodipodi:absref="sensor_colorlightmatrix_main.png"
+     xlink:href="sensor_colorlightmatrix_main.png"
+     y="0"
+     x="0"
+     id="image10"
+     preserveAspectRatio="none"
+     height="322"
+     width="504" />
+  <rect
+     style="fill:#e51a1a;fill-opacity:0.62566845;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal"
+     id="rect31"
+     width="45.163605"
+     height="44.564522"
+     x="390.70432"
+     y="293.66827"
+     transform="matrix(0.94626691,-0.32338666,0,1,0,0)" />
+  <rect
+     transform="matrix(0.94626691,-0.32338666,0,1,0,0)"
+     y="338.23279"
+     x="390.70432"
+     height="43.275879"
+     width="45.163605"
+     id="rect838"
+     style="fill:#e5701a;fill-opacity:0.62566845;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal" />
+  <rect
+     style="fill:#e5bf1a;fill-opacity:0.62566845;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal"
+     id="rect840"
+     width="45.163605"
+     height="38.992153"
+     x="390.70432"
+     y="381.46179"
+     transform="matrix(0.94626691,-0.32338666,0,1,0,0.05126953)"
+     clip-path="url(#clipPath846)" />
+  <rect
+     transform="matrix(0.94626691,-0.32338666,0,1,0,0)"
+     y="293.66827"
+     x="435.86792"
+     height="44.564514"
+     width="41.462769"
+     id="rect856"
+     style="fill:#00af05;fill-opacity:0.62566847;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal" />
+  <rect
+     style="fill:#0044fb;fill-opacity:0.62566847;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal"
+     id="rect858"
+     width="40.347229"
+     height="44.564514"
+     x="477.33069"
+     y="293.66827"
+     transform="matrix(0.94626691,-0.32338666,0,1,0,0)"
+     clip-path="url(#clipPath874)" />
+  <rect
+     style="fill:#5dffe2;fill-opacity:1;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal"
+     id="rect860"
+     width="41.462769"
+     height="43.261936"
+     x="435.86792"
+     y="338.24722"
+     transform="matrix(0.94626691,-0.32338666,0,1,0,0)" />
+  <rect
+     transform="matrix(0.94626691,-0.32338666,0,1,0,0)"
+     y="338.24722"
+     x="477.33069"
+     height="43.261951"
+     width="40.347229"
+     id="rect862"
+     style="fill:#941ae5;fill-opacity:0.62566847;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal" />
+  <rect
+     transform="matrix(0.94626691,-0.32338666,0,1,0,0)"
+     y="381.51306"
+     x="435.86792"
+     height="38.88504"
+     width="41.489174"
+     id="rect868"
+     style="fill:#1acee5;fill-opacity:0.62566847;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal" />
+  <rect
+     style="fill:#e51a9a;fill-opacity:0.62566847;stroke:none;stroke-width:1.94267738;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;paint-order:normal"
+     id="rect870"
+     width="40.281181"
+     height="38.928104"
+     x="477.33069"
+     y="381.51306"
+     transform="matrix(0.94626691,-0.32338666,0,1,0,0)" />
+</svg>

doc/main/hubs/index.rst

@@ -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
-

doc/main/hubs/technichub.rst

@@ -6,8 +6,9 @@ Technic Hub
 .. figure:: ../../main/images/technichub.png
     :height: 15 em
 
-.. autoclass:: pybricks.hubs.TechnicHub
+.. class:: TechnicHub
-    :no-members:
+
+    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
 ----------------------------------
 

doc/main/index.rst

@@ -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::

doc/main/iodevices/index.rst

@@ -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

doc/main/parameters/side.rst

@@ -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

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/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

@@ -79,7 +79,7 @@
 
 .. pybricks-classlink:: ColorLightMatrix
 
-.. figure:: ../../main/images/color_light_matrix.png
+.. figure:: ../../main/images/sensor_colorlightmatrix_label.png
    :width: 35 %
    :target: colorlightmatrix.html
 

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

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

pyproject.toml

@@ -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>" ]

src/pybricks/_common.py

@@ -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
+            reserved: This setting is not used.
-                the target angle or distance, in which integral control errors
-                are accumulated.
             integral_rate (:ref:`speed` or :ref:`linspeed`): Maximum rate at
                 which the error integral is allowed to grow.
         """

src/pybricks/_common.pyi

@@ -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, Optional, Tuple, Union, overload
-from typing import Collection, Iterable, List, 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

src/pybricks/robotics.py

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

src/pybricks/robotics.pyi

@@ -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: ...