v3.2.0b1

Now that we no longer use these in hyperlinks, we can use the right
unicode to display this unit correctly.

.github/workflows/build.yml

@@ -35,7 +35,7 @@ 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

.vscode/settings.json

@@ -1,9 +1,14 @@
 {
     "python.pythonPath": "${workspaceFolder}/.venv",
     "python.formatting.provider": "black",
-    "python.linting.pycodestyleEnabled": false,
+    "python.linting.pylintEnabled": false,
     "python.linting.flake8Enabled": true,
+    "python.linting.pycodestyleEnabled": false,
     "python.linting.enabled": true,
+    "[python]": {
+        "editor.formatOnSave": true,
+        "editor.defaultFormatter": "ms-python.python"
+    },
     "python.languageServer": "Pylance",
     "files.associations": {"*.inc": "restructuredtext"},
     "restructuredtext.confPath": "${workspaceFolder}/doc/main",
@@ -34,5 +39,6 @@
         "plaintext",
         "python",
         "restructuredtext",
-    ]
+    ],
+    "rewrap.wrappingColumn": 78,
 }

.vscode/spellright.dict

@@ -78,3 +78,4 @@ thermistor
 toctree
 TODO
 UART
+utf-8

CHANGELOG.md

@@ -2,10 +2,34 @@
 
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 
-## Unreleased
+## 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
 

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

@@ -8,10 +8,13 @@ SPHINXPROJ    = Pybricks
 SOURCEDIR     = main
 BUILDDIR      = "$(SOURCEDIR)"/build
 TAG           = main
+ifeq ($(BETA),1)
+	BETATAG   = "-tbeta"
+endif
 
 # 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) $(BETATAG) $(O)
 
 .PHONY: help Makefile
 
@@ -22,4 +25,4 @@ diagrams:
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) -t $(TAG) $(O)
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) -t $(TAG) $(BETATAG) $(O)

doc/common/conf.py

@@ -29,19 +29,15 @@ from docutils.parsers.rst import Directive
 from sphinx.application import Sphinx
 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 +49,29 @@ _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 +80,17 @@ 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 +98,10 @@ 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 +109,49 @@ 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 +164,14 @@ 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 +179,9 @@ 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 +191,7 @@ 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 +200,12 @@ 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 +225,46 @@ 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 +273,83 @@ 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, env, node, 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",
+    ]:
+
+        # 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 +21,11 @@ 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,
 }
 
 
@@ -40,15 +40,15 @@ 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 +67,14 @@ 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 +87,16 @@ 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

@@ -6,45 +6,48 @@
 import os
 
 # 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
 
+# On https://docs.pybricks.com/en/latest/, show features tagged as beta.
+if os.environ.get("READTHEDOCS_VERSION_NAME", None) == "latest":
+    tags.add("beta")  # noqa F821
 
 # 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

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 @@
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     </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 @@
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     </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" />
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+    </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
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+</svg>

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/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

@@ -38,7 +38,7 @@
     :height: 10 em
     :target: primehub.html
 
-.. pybricks-classlink:: InventorHub
+.. pybricks-classlink:: InventorHub PrimeHub
 
 .. figure:: ../../main/images/inventorhub.png
     :height: 10 em

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

doc/main/hubs/primehub.rst

@@ -6,232 +6,256 @@ Prime Hub / Inventor Hub
 .. figure:: ../../main/images/primeinventorhub.png
     :height: 15 em
 
-.. class:: InventorHub
+.. only:: not beta
 
-    This class is the same as the ``PrimeHub`` class, shown below. Both classes
-    work on both hubs.
+    .. note:: Pybricks support for these hubs is currently in development.
+              Please check back later!
 
-    These hubs are completely identical. They use the same Pybricks firmware.
+.. only:: beta
 
-.. autoclass:: pybricks.hubs.PrimeHub
-    :no-members:
+    .. 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.
 
-    .. rubric:: Using the hub status light
+    .. class:: InventorHub
 
-    .. figure:: ../../main/images/primehub_light_label.png
-        :width: 22 em
+        This class is the same as the ``PrimeHub`` class, shown below. Both classes
+        work on both hubs.
 
-    .. automethod:: pybricks.hubs::PrimeHub.light.on
+        These hubs are completely identical. They use the same Pybricks firmware.
 
-    .. automethod:: pybricks.hubs::PrimeHub.light.off
+    .. autoclass:: pybricks.hubs.PrimeHub
+        :no-members:
 
-    .. automethod:: pybricks.hubs::PrimeHub.light.blink
+        .. rubric:: Using the hub status light
 
-    .. automethod:: pybricks.hubs::PrimeHub.light.animate
+        .. figure:: ../../main/images/primehub_light_label.png
+            :width: 22 em
 
-    .. rubric:: Using the light matrix display
+        .. automethod:: pybricks.hubs::PrimeHub.light.on
 
-    .. figure:: ../../main/images/primehub_display_label.png
-        :width: 22 em
+        .. automethod:: pybricks.hubs::PrimeHub.light.off
 
-    .. automethod:: pybricks.hubs::PrimeHub.display.orientation
+        .. automethod:: pybricks.hubs::PrimeHub.light.blink
 
-    .. automethod:: pybricks.hubs::PrimeHub.display.off
+        .. automethod:: pybricks.hubs::PrimeHub.light.animate
 
-    .. automethod:: pybricks.hubs::PrimeHub.display.pixel
+        .. rubric:: Using the light matrix display
 
-    .. automethod:: pybricks.hubs::PrimeHub.display.image
+        .. figure:: ../../main/images/primehub_display_label.png
+            :width: 22 em
 
-    .. automethod:: pybricks.hubs::PrimeHub.display.animate
+        .. automethod:: pybricks.hubs::PrimeHub.display.orientation
 
-    .. automethod:: pybricks.hubs::PrimeHub.display.number
+        .. automethod:: pybricks.hubs::PrimeHub.display.off
 
-    .. automethod:: pybricks.hubs::PrimeHub.display.char
+        .. automethod:: pybricks.hubs::PrimeHub.display.pixel
 
-    .. automethod:: pybricks.hubs::PrimeHub.display.text
+        .. automethod:: pybricks.hubs::PrimeHub.display.image
 
-    .. rubric:: Using the buttons
+        .. automethod:: pybricks.hubs::PrimeHub.display.animate
 
-    .. figure:: ../../main/images/primehub_buttons_label.png
-        :width: 22 em
+        .. automethod:: pybricks.hubs::PrimeHub.display.number
 
-    .. automethod:: pybricks.hubs::PrimeHub.buttons.pressed
+        .. automethod:: pybricks.hubs::PrimeHub.display.char
 
-    .. rubric:: Using the IMU
+        .. automethod:: pybricks.hubs::PrimeHub.display.text
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.up
+        .. rubric:: Using the buttons
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.tilt
+        .. figure:: ../../main/images/primehub_buttons_label.png
+            :width: 22 em
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.acceleration
+        .. automethod:: pybricks.hubs::PrimeHub.buttons.pressed
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.angular_velocity
+        .. rubric:: Using the IMU
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.heading
+        .. automethod:: pybricks.hubs::PrimeHub.imu.up
 
-    .. automethod:: pybricks.hubs::PrimeHub.imu.reset_heading
+        .. automethod:: pybricks.hubs::PrimeHub.imu.tilt
 
-    .. rubric:: Using the speaker
+        .. automethod:: pybricks.hubs::PrimeHub.imu.acceleration
 
-    .. automethod:: pybricks.hubs::PrimeHub.speaker.beep
+        .. automethod:: pybricks.hubs::PrimeHub.imu.angular_velocity
 
-    .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes
+        .. automethod:: pybricks.hubs::PrimeHub.imu.heading
 
-    .. rubric:: Using the battery
+        .. automethod:: pybricks.hubs::PrimeHub.imu.reset_heading
 
-    .. automethod:: pybricks.hubs::PrimeHub.battery.voltage
+        .. rubric:: Using the speaker
 
-    .. automethod:: pybricks.hubs::PrimeHub.battery.current
+        .. automethod:: pybricks.hubs::PrimeHub.speaker.volume
 
-    .. rubric:: System control
+        .. automethod:: pybricks.hubs::PrimeHub.speaker.beep
 
-    .. automethod:: pybricks.hubs::PrimeHub.system.set_stop_button
+        .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes
 
-    .. automethod:: pybricks.hubs::PrimeHub.system.name
+        .. rubric:: Using the battery
 
-    .. automethod:: pybricks.hubs::PrimeHub.system.shutdown
+        .. automethod:: pybricks.hubs::PrimeHub.battery.voltage
 
-    .. automethod:: pybricks.hubs::PrimeHub.system.reset_reason
+        .. automethod:: pybricks.hubs::PrimeHub.battery.current
 
-.. 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``.
+        .. rubric:: Getting the charger status
 
-Status light examples
----------------------
+        .. automethod:: pybricks.hubs::PrimeHub.charger.connected
 
-Turning the light on and off
-****************************
+        .. automethod:: pybricks.hubs::PrimeHub.charger.current
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/light_off.py
+        .. automethod:: pybricks.hubs::PrimeHub.charger.status
 
-Changing brightness and using custom colors
-*******************************************
+        .. rubric:: System control
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/light_hsv.py
+        .. automethod:: pybricks.hubs::PrimeHub.system.set_stop_button
 
-Making the light blink
-**********************
+        .. automethod:: pybricks.hubs::PrimeHub.system.name
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/light_blink.py
+        .. automethod:: pybricks.hubs::PrimeHub.system.shutdown
 
-Creating light animations
-*************************
+        .. automethod:: pybricks.hubs::PrimeHub.system.reset_reason
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/light_animate.py
+    .. 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``.
 
-Matrix display examples
------------------------
+    Status light examples
+    ---------------------
 
-Displaying images
-*****************
+    Turning the light on and off
+    ****************************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_image.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/light_off.py
 
-Displaying numbers
-******************
+    Changing brightness and using custom colors
+    *******************************************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_number.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/light_hsv.py
 
-Displaying text
-***************
+    Making the light blink
+    **********************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_text.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/light_blink.py
 
-Displaying individual pixels
-****************************
+    Creating light animations
+    *************************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_pixel.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/light_animate.py
 
-Changing the display orientation
-********************************
+    Matrix display examples
+    -----------------------
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_orientation.py
+    Displaying images
+    *****************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_orientation_imu.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/display_image.py
 
-Making your own images
-**********************
+    Displaying numbers
+    ******************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_matrix.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/display_number.py
 
-Combining images to make expressions
-************************************
+    Displaying text
+    ***************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_expression.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/display_text.py
 
-Displaying animations
-*********************
+    Displaying individual pixels
+    ****************************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/display_animate.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/display_pixel.py
 
-Button examples
----------------
+    Changing the display orientation
+    ********************************
 
-Detecting button presses
-************************
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/display_orientation.py
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/button_main.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/display_orientation_imu.py
 
-IMU examples
----------------
+    Making your own images
+    **********************
 
-Testing which way is up
-********************************
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/display_matrix.py
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_up.py
+    Combining images to make expressions
+    ************************************
 
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/display_expression.py
 
-Reading the tilt value
-********************************
+    Displaying animations
+    *********************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_tilt.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/display_animate.py
 
-Using a custom hub orientation
-**************************************************
+    Button examples
+    ---------------
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_tilt_blast.py
+    Detecting button presses
+    ************************
 
-Reading acceleration and angular velocity vectors
-**************************************************
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/button_main.py
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_read_vector.py
+    IMU examples
+    ---------------
 
-Reading acceleration and angular velocity on one axis
-*****************************************************
+    Testing which way is up
+    ********************************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/imu_read_scalar.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/imu_up.py
 
-System examples
-----------------------------------
 
-Changing the stop button combination
-*****************************************
+    Reading the tilt value
+    ********************************
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/button_stop.py
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/imu_tilt.py
 
-Turning the hub off
-*****************************************
+    Using a custom hub orientation
+    **************************************************
+
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/imu_tilt_blast.py
+
+    Reading acceleration and angular velocity vectors
+    **************************************************
+
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/imu_read_vector.py
+
+    Reading acceleration and angular velocity on one axis
+    *****************************************************
+
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/imu_read_scalar.py
+
+    System examples
+    ----------------------------------
+
+    Changing the stop button combination
+    *****************************************
+
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/button_stop.py
+
+    Turning the hub off
+    *****************************************
+
+    .. literalinclude::
+        ../../../examples/pup/hub_primehub/system_shutdown.py
+
+.. _installation instructions: https://pybricks.com/install/
 
-.. literalinclude::
-    ../../../examples/pup/hub_primehub/system_shutdown.py

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

@@ -79,7 +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
@@ -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 +4,26 @@ 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
+~~~~~~~
+
+.. class:: Number
+
+Numbers can be represented as integers or floating point values:
+
+    * Integers (:class:`int <ubuiltins.int>`) are whole numbers
+      like ``15`` or ``-123``.
+    * Floating point values (:class:`float <ubuiltins.float>`) are decimal
+      numbers like ``3.14`` or ``-123.45``.
+
+If you see :class:`Number <Number>` as the argument type, both
+:class:`int <ubuiltins.int>` and :class:`float <ubuiltins.float>` may be used.
+
+For example, :func:`wait(15) <pybricks.tools.wait>` and
+:func:`wait(15.75) <pybricks.tools.wait>` are both allowed. In most functions,
+however, your input value will be truncated to a whole number anyway. In this
+example, either command makes the program pause for just 15 milliseconds.
+
 Time
 ~~~~~~
 
@@ -56,12 +76,12 @@ 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 +134,17 @@ 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
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

doc/make.bat

@@ -15,6 +15,10 @@ if "%TAG%" == "" (
 	set TAG=main
 )
 
+if "%BETA%" == "1" (
+	set BETATAG=-tbeta
+)
+
 if "%1" == "" goto help
 
 %SPHINXBUILD% >NUL 2>NUL
@@ -30,11 +34,11 @@ if errorlevel 9009 (
 	exit /b 1
 )
 
-%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% -t %TAG%
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% -t %TAG% %BETATAG%
 goto end
 
 :help
-%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% -t %TAG%
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% -t %TAG% %BETATAG%
 
 :end
 popd

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/light_animate.py

@@ -12,12 +12,11 @@ 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_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_vector.py

@@ -4,8 +4,8 @@ from pybricks.tools import wait
 # Initialize the hub.
 hub = PrimeHub()
 
-# 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_primehub/light_animate.py

@@ -12,12 +12,11 @@ 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_shared/imu_read_vector.py

@@ -5,8 +5,8 @@ from pybricks.tools import wait
 # Initialize the hub.
 hub = ExampleHub()
 
-# 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_shared/light_animate.py

@@ -13,12 +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_shared/make_shared_examples.py

@@ -3,10 +3,10 @@
 import os
 
 # Get list of scripts to be parsed
-script_names = [f for f in os.listdir('.') if f != 'make_shared_examples.py']
+script_names = [f for f in os.listdir(".") if f != "make_shared_examples.py"]
 
 # Go through all template scripts
-for script in (open(f, 'r') for f in script_names):
+for script in (open(f, "r") for f in script_names):
 
     # First line contains hub info
     hubs = script.readline().strip().split()[3:]
@@ -15,17 +15,17 @@ for script in (open(f, 'r') for f in script_names):
 
     for hub in hubs:
         # Determine path to the hub
-        hub_path = os.path.join('..', 'hub_' + hub.lower())
+        hub_path = os.path.join("..", "hub_" + hub.lower())
 
         # Reset source script
         script.seek(0)
         script.readline()
 
         # Open destination script:
-        with open(os.path.join(hub_path, script.name), 'w') as dest_file:
+        with open(os.path.join(hub_path, script.name), "w") as dest_file:
 
             # Read script line by line
             for line in script.readlines():
 
                 # Replace hub name if present
-                dest_file.writelines(line.replace('ExampleHub', hub))
+                dest_file.writelines(line.replace("ExampleHub", hub))

examples/pup/hub_technichub/imu_read_vector.py

@@ -4,8 +4,8 @@ from pybricks.tools import wait
 # Initialize the hub.
 hub = TechnicHub()
 
-# 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_technichub/light_animate.py

@@ -12,12 +12,11 @@ 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/iodevices_pupdevice/port_info.py

@@ -51,7 +51,7 @@ for port in ports:
             raise
 
     # Get the device id
-    id = device.info()['id']
+    id = device.info()["id"]
 
     # Look up the name.
     try:

examples/pup/light/math.py

@@ -15,10 +15,10 @@ MAX = 100
 # Make the brightness fade in and out.
 while True:
     # Get phase of the cosine.
-    phase = watch.time()/PERIOD*2*pi
+    phase = watch.time() / PERIOD * 2 * pi
 
     # Evaluate the brightness.
-    brightness = (0.5 - 0.5*cos(phase))*MAX
+    brightness = (0.5 - 0.5 * cos(phase)) * MAX
 
     # Set light brightness and wait a bit.
     light.on(brightness)

examples/pup/motor/motor_absolute.py

@@ -0,0 +1,21 @@
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Port
+from pybricks.tools import wait
+
+# Initialize a motor on port A.
+example_motor = Motor(Port.A)
+
+while True:
+
+    # Get the default angle value.
+    angle = example_motor.angle()
+
+    # Get the angle between 0 and 360.
+    absolute_angle = example_motor.angle() % 360
+
+    # Get the angle between -180 and 179.
+    wrapped_angle = (example_motor.angle() + 180) % 360 - 180
+
+    # Print the results.
+    print(angle, absolute_angle, wrapped_angle)
+    wait(100)

examples/pup/remote/set_name.py

@@ -7,6 +7,6 @@ my_remote = Remote()
 print(my_remote.name())
 
 # Choose a new name.
-my_remote.name('truck2')
+my_remote.name("truck2")
 
 print("Done!")

examples/pup/remote/use_name.py

@@ -2,7 +2,7 @@ from pybricks.pupdevices import Remote
 from pybricks.tools import wait
 
 # Connect to a remote called truck2.
-truck_remote = Remote('truck2', timeout=None)
+truck_remote = Remote("truck2", timeout=None)
 
 print("Connected!")
 

examples/pup/sensor_color/cleanup.py

@@ -0,0 +1,23 @@
+from pybricks.parameters import Port
+from pybricks.pupdevices import ColorSensor
+from pybricks.tools import wait
+
+# Initialize the sensor.
+sensor = ColorSensor(Port.A)
+
+
+def main():
+    # Run the main code.
+    while True:
+        print(sensor.color())
+        wait(500)
+
+
+# Wrap the main code in try/finally so that the cleanup code always runs
+# when the program ends, even if an exception was raised.
+try:
+    main()
+finally:
+    # The cleanup code goes here.
+    print("Cleaning up.")
+    sensor.lights.off()

examples/pup/sensor_ultrasonic/math.py

@@ -15,12 +15,12 @@ PERIOD = 3000
 
 while True:
     # The phase is where we are in the unit circle now.
-    phase = watch.time()/PERIOD*2*pi
+    phase = watch.time() / PERIOD * 2 * pi
 
     # Each light follows a sine wave with a mean of 50, with an amplitude of 50.
     # We offset this sine wave by 90 degrees for each light, so that all the
     # lights do something different.
-    brightness = [sin(phase + offset*pi/2) * 50 + 50 for offset in range(4)]
+    brightness = [sin(phase + offset * pi / 2) * 50 + 50 for offset in range(4)]
 
     # Set the brightness values for all lights.
     eyes.lights.on(brightness)

poetry.lock

@@ -6,54 +6,46 @@ category = "dev"
 optional = false
 python-versions = "*"
 
-[[package]]
-name = "appdirs"
-version = "1.4.4"
-description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
-category = "dev"
-optional = false
-python-versions = "*"
-
 [[package]]
 name = "babel"
-version = "2.9.1"
+version = "2.10.1"
 description = "Internationalization utilities"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.6"
 
 [package.dependencies]
 pytz = ">=2015.7"
 
 [[package]]
 name = "black"
-version = "20.8b1"
+version = "22.3.0"
 description = "The uncompromising code formatter."
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.6.2"
 
 [package.dependencies]
-appdirs = "*"
-click = ">=7.1.2"
+click = ">=8.0.0"
 mypy-extensions = ">=0.4.3"
-pathspec = ">=0.6,<1"
-regex = ">=2020.1.8"
-toml = ">=0.10.1"
-typed-ast = ">=1.4.0"
-typing-extensions = ">=3.7.4"
+pathspec = ">=0.9.0"
+platformdirs = ">=2"
+tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""}
+typing-extensions = {version = ">=3.10.0.0", markers = "python_version < \"3.10\""}
 
 [package.extras]
 colorama = ["colorama (>=0.4.3)"]
-d = ["aiohttp (>=3.3.2)", "aiohttp-cors"]
+d = ["aiohttp (>=3.7.4)"]
+jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
+uvloop = ["uvloop (>=0.15.2)"]
 
 [[package]]
 name = "certifi"
-version = "2021.5.30"
+version = "2022.5.18.1"
 description = "Python package for providing Mozilla's CA Bundle."
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 
 [[package]]
 name = "chardet"
@@ -65,7 +57,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [[package]]
 name = "charset-normalizer"
-version = "2.0.4"
+version = "2.0.12"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 category = "dev"
 optional = false
@@ -76,11 +68,11 @@ unicode_backport = ["unicodedata2"]
 
 [[package]]
 name = "click"
-version = "8.0.1"
+version = "8.1.3"
 description = "Composable command line interface toolkit"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.dependencies]
 colorama = {version = "*", markers = "platform_system == \"Windows\""}
@@ -111,7 +103,7 @@ stevedore = "*"
 
 [[package]]
 name = "docutils"
-version = "0.16"
+version = "0.17.1"
 description = "Docutils -- Python Documentation Utilities"
 category = "dev"
 optional = false
@@ -119,20 +111,20 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [[package]]
 name = "flake8"
-version = "3.9.2"
+version = "4.0.1"
 description = "the modular source code checker: pep8 pyflakes and co"
 category = "dev"
 optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
+python-versions = ">=3.6"
 
 [package.dependencies]
 mccabe = ">=0.6.0,<0.7.0"
-pycodestyle = ">=2.7.0,<2.8.0"
-pyflakes = ">=2.3.0,<2.4.0"
+pycodestyle = ">=2.8.0,<2.9.0"
+pyflakes = ">=2.4.0,<2.5.0"
 
 [[package]]
 name = "idna"
-version = "3.2"
+version = "3.3"
 description = "Internationalized Domain Names in Applications (IDNA)"
 category = "dev"
 optional = false
@@ -140,19 +132,35 @@ python-versions = ">=3.5"
 
 [[package]]
 name = "imagesize"
-version = "1.2.0"
+version = "1.3.0"
 description = "Getting image size from png/jpeg/jpeg2000/gif file"
 category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
+[[package]]
+name = "importlib-metadata"
+version = "4.11.4"
+description = "Read metadata from Python packages"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+zipp = ">=0.5"
+
+[package.extras]
+docs = ["sphinx", "jaraco.packaging (>=9)", "rst.linker (>=1.9)"]
+perf = ["ipython"]
+testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.0.1)", "packaging", "pyfakefs", "flufl.flake8", "pytest-perf (>=0.9.2)", "pytest-black (>=0.3.7)", "pytest-mypy (>=0.9.1)", "importlib-resources (>=1.3)"]
+
 [[package]]
 name = "jinja2"
-version = "3.0.1"
+version = "3.1.2"
 description = "A very fast and expressive template engine."
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.dependencies]
 MarkupSafe = ">=2.0"
@@ -162,11 +170,11 @@ i18n = ["Babel (>=2.7)"]
 
 [[package]]
 name = "markupsafe"
-version = "2.0.1"
+version = "2.1.1"
 description = "Safely add untrusted strings to HTML/XML markup."
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [[package]]
 name = "mccabe"
@@ -186,14 +194,14 @@ python-versions = "*"
 
 [[package]]
 name = "packaging"
-version = "21.0"
+version = "21.3"
 description = "Core utilities for Python packages"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
 
 [package.dependencies]
-pyparsing = ">=2.0.2"
+pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
 
 [[package]]
 name = "pathspec"
@@ -205,23 +213,35 @@ python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
 
 [[package]]
 name = "pbr"
-version = "5.6.0"
+version = "5.9.0"
 description = "Python Build Reasonableness"
 category = "dev"
 optional = false
 python-versions = ">=2.6"
 
+[[package]]
+name = "platformdirs"
+version = "2.5.2"
+description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx-autodoc-typehints (>=1.12)", "sphinx (>=4)"]
+test = ["appdirs (1.4.4)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)", "pytest (>=6)"]
+
 [[package]]
 name = "pycodestyle"
-version = "2.7.0"
+version = "2.8.0"
 description = "Python style guide checker"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [[package]]
 name = "pyflakes"
-version = "2.3.1"
+version = "2.4.0"
 description = "passive checker of Python programs"
 category = "dev"
 optional = false
@@ -229,39 +249,34 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "pygments"
-version = "2.9.0"
+version = "2.12.0"
 description = "Pygments is a syntax highlighting package written in Python."
 category = "dev"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.6"
 
 [[package]]
 name = "pyparsing"
-version = "2.4.7"
-description = "Python parsing module"
+version = "3.0.9"
+description = "pyparsing module - Classes and methods to define and execute parsing grammars"
 category = "dev"
 optional = false
-python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+python-versions = ">=3.6.8"
+
+[package.extras]
+diagrams = ["railroad-diagrams", "jinja2"]
 
 [[package]]
 name = "pytz"
-version = "2021.1"
+version = "2022.1"
 description = "World timezone definitions, modern and historical"
 category = "dev"
 optional = false
 python-versions = "*"
 
-[[package]]
-name = "regex"
-version = "2021.8.3"
-description = "Alternative regular expression module, to replace re."
-category = "dev"
-optional = false
-python-versions = "*"
-
 [[package]]
 name = "requests"
-version = "2.26.0"
+version = "2.27.1"
 description = "Python HTTP for Humans."
 category = "dev"
 optional = false
@@ -279,7 +294,7 @@ use_chardet_on_py3 = ["chardet (>=3.0.2,<5)"]
 
 [[package]]
 name = "restructuredtext-lint"
-version = "1.3.2"
+version = "1.4.0"
 description = "reStructuredText linter"
 category = "dev"
 optional = false
@@ -298,15 +313,15 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
 
 [[package]]
 name = "snowballstemmer"
-version = "2.1.0"
+version = "2.2.0"
 description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
 category = "dev"
 optional = false
 python-versions = "*"
 
 [[package]]
-name = "sphinx"
-version = "4.1.2"
+name = "Sphinx"
+version = "5.1.0.dev20220527.dev-20220527"
 description = "Python documentation generator"
 category = "dev"
 optional = false
@@ -316,8 +331,9 @@ python-versions = ">=3.6"
 alabaster = ">=0.7,<0.8"
 babel = ">=1.3"
 colorama = {version = ">=0.3.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.14,<0.18"
+docutils = ">=0.14,<0.19"
 imagesize = "*"
+importlib-metadata = {version = ">=4.4", markers = "python_version < \"3.10\""}
 Jinja2 = ">=2.3"
 packaging = "*"
 Pygments = ">=2.0"
@@ -332,30 +348,30 @@ sphinxcontrib-serializinghtml = ">=1.1.5"
 
 [package.extras]
 docs = ["sphinxcontrib-websupport"]
-lint = ["flake8 (>=3.5.0)", "isort", "mypy (>=0.900)", "docutils-stubs", "types-typed-ast", "types-pkg-resources", "types-requests"]
-test = ["pytest", "pytest-cov", "html5lib", "cython", "typed-ast"]
+lint = ["flake8 (>=3.5.0)", "isort", "mypy (>=0.950)", "docutils-stubs", "types-typed-ast", "types-requests"]
+test = ["pytest (>=4.6)", "html5lib", "cython", "typed-ast"]
+
+[package.source]
+type = "git"
+url = "https://github.com/pybricks/sphinx.git"
+reference = "b00124cb"
+resolved_reference = "b00124cb07318fd6875f6d53e0b26e50c7dde597"
 
 [[package]]
-name = "sphinx_rtd_theme"
-version = "0.5.2"
-description = ""
+name = "sphinx-rtd-theme"
+version = "1.0.0"
+description = "Read the Docs theme for Sphinx"
 category = "dev"
 optional = false
 python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
 
 [package.dependencies]
-docutils = "<0.17"
+docutils = "<0.18"
 sphinx = ">=1.6"
 
 [package.extras]
 dev = ["transifex-client", "sphinxcontrib-httpdomain", "bump2version"]
 
-[package.source]
-type = "git"
-url = "https://github.com/readthedocs/sphinx_rtd_theme.git"
-reference = "f5b02911ae074c09e690d2ad87ef95c0b2ee678c"
-resolved_reference = "f5b02911ae074c09e690d2ad87ef95c0b2ee678c"
-
 [[package]]
 name = "sphinxcontrib-applehelp"
 version = "1.0.2"
@@ -429,7 +445,7 @@ test = ["pytest"]
 
 [[package]]
 name = "stevedore"
-version = "3.3.0"
+version = "3.5.0"
 description = "Manage dynamic plugins for Python applications"
 category = "dev"
 optional = false
@@ -447,70 +463,100 @@ optional = false
 python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
 
 [[package]]
-name = "typed-ast"
-version = "1.4.3"
-description = "a fork of Python 2 and 3 ast modules with type comment support"
+name = "tomli"
+version = "2.0.1"
+description = "A lil' TOML parser"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 
 [[package]]
 name = "typing-extensions"
-version = "3.10.0.0"
-description = "Backported and Experimental Type Hints for Python 3.5+"
+version = "4.2.0"
+description = "Backported and Experimental Type Hints for Python 3.7+"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 
 [[package]]
 name = "urllib3"
-version = "1.26.6"
+version = "1.26.9"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, <4"
 
 [package.extras]
-brotli = ["brotlipy (>=0.6.0)"]
+brotli = ["brotlicffi (>=0.8.0)", "brotli (>=1.0.9)", "brotlipy (>=0.6.0)"]
 secure = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "certifi", "ipaddress"]
 socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7,<2.0)"]
 
+[[package]]
+name = "zipp"
+version = "3.8.0"
+description = "Backport of pathlib-compatible object wrapper for zip files"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+docs = ["sphinx", "jaraco.packaging (>=9)", "rst.linker (>=1.9)"]
+testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.0.1)", "jaraco.itertools", "func-timeout", "pytest-black (>=0.3.7)", "pytest-mypy (>=0.9.1)"]
+
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 lock-version = "1.1"
 python-versions = "^3.8"
-content-hash = "a30654ac4b71b01879e5875d1e1022ae9010643223c2a016c7293ff60f1dc655"
+content-hash = "35b6b0fa356034e7f45487c068c004da91e298009a637e024455e7e18bcc1396"
 
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@@ -521,60 +567,70 @@ doc8 = [
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pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.1.0rc1"
+version = "3.2.0b1"
 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>" ]
@@ -28,11 +28,11 @@ packages = [
 python = "^3.8"
 
 [tool.poetry.dev-dependencies]
-black = {version = "^20.8b1", allow-prereleases = true}
+black = "^22.3.0"
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-flake8 = "^3.8.4"
-Sphinx = "^4.1.0"
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+flake8 = "^4.0"
+Sphinx = { git = "https://github.com/pybricks/sphinx.git", rev = "b00124cb" }
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 toml = "^0.10.0"
 
 [build-system]

rtd-requirements.txt

@@ -1,5 +1,5 @@
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 # See pyproject.toml for local development
-Sphinx==4.1.2
-git+git://github.com/readthedocs/sphinx_rtd_theme@f5b0291#egg=sphinx-rtd-theme
+git+https://github.com/pybricks/sphinx@b00124c#egg=Sphinx
+sphinx-rtd-theme==1.0.0
 toml

setup.cfg

@@ -2,6 +2,7 @@
 [flake8]
 exclude = .venv/,*.pyi
 max-line-length = 88
+ignore = E203,W503
 
 [doc8]
 ignore-path = .venv/,doc/main/build/,doc/api/build/,pybricks.egg-info/,npm/

src/pybricks/_common.pyi

@@ -1,154 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
-
-from pybricks.geometry import Matrix, vector
-from typing import Collection, Iterable, List, Optional, Tuple, Union, overload
-
-from .parameters import Button, Color, Direction, Side, Stop, Port, Axis
-from .media.ev3dev import SoundFile
-
-class DCMotor:
-    def __init__(
-        self, port: Port, positive_direction: Direction = Direction.CLOCKWISE
-    ): ...
-    def dc(self, duty: int) -> None: ...
-    def stop(self) -> None: ...
-    def brake(self) -> None: ...
-
-class Control:
-    @overload
-    def limits(self) -> Tuple[int, int, int]: ...
-    @overload
-    def limits(
-        self,
-        speed: Optional[int] = None,
-        acceleration: Optional[int] = None,
-        actuation: Optional[int] = None,
-    ) -> None: ...
-    def pid(self) -> Tuple[int, int, int, int, int, int]: ...
-    @overload
-    def pid(
-        self,
-        kp: Optional[int] = None,
-        ki: Optional[int] = None,
-        kd: Optional[int] = None,
-        integral_range: Optional[int] = None,
-        integral_rate: Optional[int] = None,
-    ) -> None: ...
-    @overload
-    def target_tolerances(self) -> Tuple[int, int]: ...
-    @overload
-    def target_tolerances(
-        self, speed: Optional[int] = None, position: Optional[int] = None
-    ) -> None: ...
-    @overload
-    def stall_tolerances(self) -> Tuple[int, int]: ...
-    @overload
-    def stall_tolerances(
-        self, speed: Optional[int] = None, time: Optional[int] = None
-    ) -> None: ...
-    def trajectory(
-        self,
-    ) -> Tuple[int, int, int, int, int, int, int, int, int, int, int, int]: ...
-    def stalled(self) -> bool: ...
-    def done(self) -> bool: ...
-
-class Motor(DCMotor):
-    control: Control
-    def __init__(
-        self,
-        port: Port,
-        positive_direction: Direction = Direction.CLOCKWISE,
-        gears: Optional[Union[Collection[int], Collection[Collection[int]]]] = None,
-    ): ...
-    def angle(self) -> int: ...
-    def speed(self) -> int: ...
-    def reset_angle(self, angle: int) -> None: ...
-    def hold(self) -> None: ...
-    def run(self, speed: int) -> None: ...
-    def run_time(
-        self, speed: int, time: int, then: Stop = Stop.HOLD, wait: bool = True
-    ) -> None: ...
-    def run_angle(
-        self, speed: int, rotation_angle: int, then: Stop = Stop.HOLD, wait: bool = True
-    ) -> None: ...
-    def run_target(
-        self, speed: int, target_angle: int, then: Stop = Stop.HOLD, wait: bool = True
-    ) -> None: ...
-    def run_until_stalled(
-        self, speed: int, then: Stop = Stop.COAST, duty_limit: Optional[int] = None
-    ) -> int: ...
-    def track_target(self, target_angle: int) -> None: ...
-
-class Speaker:
-    def beep(self, frequency: int = 500, duration: int = 100) -> None: ...
-    def play_notes(self, notes: Iterable[str], tempo: int = 120) -> None: ...
-    def play_file(self, file_name: Union[SoundFile, str]) -> None: ...
-    def say(self, text: str) -> None: ...
-    def set_speech_options(
-        self,
-        language: Optional[str] = None,
-        voice: Optional[str] = None,
-        speed: Optional[int] = None,
-        pitch: Optional[int] = None,
-    ): ...
-    def set_volume(self, volume: int, which: str = "_all_") -> None: ...
-
-class Light:
-    def on(self, brightness: int = 100) -> None: ...
-    def off(self) -> None: ...
-    def blink(self, durations: Collection[int]) -> None: ...
-    def animate(self, brightness_values: Collection[int], interval: int) -> None: ...
-    def reset(self) -> None: ...
-
-class ColorLight:
-    def on(self, color: Optional[Color]) -> None: ...
-    def off(self) -> None: ...
-    def blink(self, color: Color, durations: Collection[int]) -> None: ...
-    def animate(self, colors: Collection[Color], interval: int) -> None: ...
-    def reset(self) -> None: ...
-
-class LightArray:
-    def __init__(self, n: int): ...
-    def on(self, brightness: int) -> None: ...
-    def off(self) -> None: ...
-    def blink(self, durations: Collection[int]) -> None: ...
-    def animate(self, brightness_values: Collection[int], interval: int) -> None: ...
-
-class LightMatrix:
-    def __init__(self, rows: int, columns: int): ...
-    def orientation(self, up: Side) -> None: ...
-    def image(self, matrix: Matrix) -> None: ...
-    def animate(self, matrices: Collection[Matrix], interval, int) -> None: ...
-    def pixel(self, row: int, column: int, brightness: int = 100) -> None: ...
-    def off(self) -> None: ...
-    def number(self, number: int) -> None: ...
-    def char(self, char: str) -> None: ...
-    def text(self, text: str, on: int = 500, off: int = 50) -> None: ...
-    def reset(self) -> None: ...
-
-class Keypad:
-    def pressed(self) -> Tuple[Button]: ...
-
-class Battery:
-    def voltage(self) -> int: ...
-    def current(self) -> int: ...
-
-class Accelerometer:
-    def neutral(self, top: Axis, front: Axis) -> None: ...
-    @overload
-    def acceleration(self) -> vector[float, float, float]: ...
-    @overload
-    def acceleration(self, axis: Axis) -> int: ...
-    def tilt(self) -> Tuple[int, int]: ...
-    def tapped(self) -> bool: ...
-    def shaken(self) -> bool: ...
-    def up(self) -> Side: ...
-
-class IMU(Accelerometer):
-    def heading(self) -> int: ...
-    def reset_heading(self, angle): ...
-    @overload
-    def gyro(self) -> vector[float, float, float]: ...
-    @overload
-    def gyro(self, axis: Axis) -> int: ...

src/pybricks/ev3dev/_speaker.py

@@ -0,0 +1,112 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2018-2021 The Pybricks Authors
+
+
+class Speaker:
+    """Plays beeps and sounds using a speaker."""
+
+    def beep(self, frequency=500, duration=100):
+        """Play a beep/tone.
+
+        Arguments:
+            frequency (:ref:`frequency`):
+                Frequency of the beep. Frequencies below 100
+                are treated as 100.
+            duration (:ref:`time`):
+                Duration of the beep. If the duration is less
+                than 0, then the method returns immediately and the frequency
+                play continues to play indefinitely.
+        """
+        pass
+
+    def play_notes(self, notes, tempo=120):
+        """Plays a sequence of musical notes. For example:
+        ``['C4/4', 'C4/4', 'G4/4', 'G4/4']``.
+
+        Each note is a string with the following format:
+
+            - The first character is the name of the note, ``A`` to ``G``
+              or ``R`` for a rest.
+            - Note names can also include an accidental ``#`` (sharp) or
+              ``b`` (flat). ``B#``/``Cb`` and ``E#``/``Fb`` are not
+              allowed.
+            - The note name is followed by the octave number ``2``
+              to ``8``. For example ``C4`` is middle C. The octave changes
+              to the next number at the note C, for example, ``B3`` is the
+              note below middle C (``C4``).
+            - The octave is followed by ``/`` and a number that indicates
+              the size of the note. For example ``/4`` is a quarter note,
+              ``/8`` is an eighth note and so on.
+            - This can optionally followed by a ``.`` to make a dotted
+              note. Dotted notes are 1-1/2 times as long as notes without a
+              dot.
+            - The note can optionally end with a ``_`` which is a tie or a
+              slur. This causes there to be no pause between this note and
+              the next note.
+
+        Arguments:
+            notes (iter):
+                A sequence of notes to be played.
+            tempo (int):
+                Beats per minute. A quarter note is one beat.
+        """
+        pass
+
+    def play_file(self, file):
+        """Plays a sound file.
+
+        Arguments:
+            file (str):
+                Path to the sound file, including the file extension.
+        """
+
+        pass
+
+    def say(self, text):
+        """Says a given text string.
+
+        You can configure the language and voice of the text using
+        :meth:`.set_speech_options`.
+
+        Arguments:
+            text (str): What to say.
+        """
+
+        pass
+
+    def set_speech_options(self, language=None, voice=None, speed=None, pitch=None):
+        """Configures speech settings used by the :meth:`.say` method.
+
+        Any option that is set to ``None`` will not be changed. If an option
+        is set to an invalid value :meth:`.say` will use the default value
+        instead.
+
+        Arguments:
+            language (str):
+                Language of the text. For example, you can choose ``'en'``
+                (English) or ``'de'`` (German). [#espeak_lang]_
+            voice (str):
+                The voice to use. For example, you can choose ``'f1'`` (female
+                voice variant 1) or ``'m3'`` (male voice variant 3).
+                [#espeak_lang]_
+            speed (int):
+                Number of words per minute.
+            pitch (int):
+                Pitch (0 to 99). Higher numbers make the voice higher pitched
+                and lower numbers make the voice lower pitched.
+        """
+        pass
+
+    def set_volume(self, volume, which="_all_"):
+        """Sets the speaker volume.
+
+        Arguments:
+            volume (:ref:`percentage`):
+                Volume of the speaker.
+            which (str):
+                Which volume to set. ``'Beep'`` sets the volume for
+                `beep` and `play_notes`. ``'PCM'`` sets the
+                volume for :meth:`.play_file` and :meth:`.say`. ``'_all_'``
+                sets both at the same time.
+        """
+        pass

src/pybricks/ev3dev/_speaker.pyi

@@ -0,0 +1,20 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020-2021 The Pybricks Authors
+
+from typing import Iterable, Optional, Union
+
+from pybricks.media.ev3dev import SoundFile
+
+class Speaker:
+    def beep(self, frequency: int = 500, duration: int = 100) -> None: ...
+    def play_notes(self, notes: Iterable[str], tempo: int = 120) -> None: ...
+    def play_file(self, file_name: Union[SoundFile, str]) -> None: ...
+    def say(self, text: str) -> None: ...
+    def set_speech_options(
+        self,
+        language: Optional[str] = None,
+        voice: Optional[str] = None,
+        speed: Optional[int] = None,
+        pitch: Optional[int] = None,
+    ): ...
+    def set_volume(self, volume: int, which: str = "_all_") -> None: ...

src/pybricks/ev3devices.py

@@ -1,16 +1,22 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2020 The Pybricks Authors
+# Copyright (c) 2018-2022 The Pybricks Authors
 
 """LEGO® MINDSTORMS® EV3 motors and sensors."""
 
-from .parameters import Direction as _Direction
-from ._common import Motor  # noqa E402
+from .parameters import Direction, Port, Color, Button
+from ._common import Motor as _Motor
+
+from typing import Optional, Tuple, List
+
+
+class Motor(_Motor):
+    pass
 
 
 class TouchSensor:
     """LEGO® MINDSTORMS® EV3 Touch Sensor."""
 
-    def __init__(self, port):
+    def __init__(self, port: Port):
         """TouchSensor(port)
 
         Arguments:
@@ -18,13 +24,14 @@ class TouchSensor:
         """
         pass
 
-    def pressed(self):
-        """Checks if the sensor is pressed.
+    def pressed(self) -> bool:
+        """pressed() -> bool
+
+        Checks if the sensor is pressed.
 
         Returns:
-            bool: ``True`` if the sensor is pressed, ``False`` if it is
+            ``True`` if the sensor is pressed, ``False`` if it is
             not pressed.
-
         """
         pass
 
@@ -32,53 +39,59 @@ class TouchSensor:
 class ColorSensor:
     """LEGO® MINDSTORMS® EV3 Color Sensor."""
 
-    def __init__(self, port):
+    def __init__(self, port: Port):
         """ColorSensor(port)
 
         Arguments:
             port (Port): Port to which the sensor is connected.
-
         """
         pass
 
-    def color(self):
-        """Measures the color of a surface.
+    def color(self) -> Optional[Color]:
+        """color() -> Color
 
-        :returns:
-            ``Color.BLACK``, ``Color.BLUE``, ``Color.GREEN``, ``Color.YELLOW``,
-            ``Color.RED``, ``Color.WHITE``, ``Color.BROWN`` or ``None``.
-        :rtype: :class:`Color <.parameters.Color>`, or ``None`` if no color is
-                detected.
-
-        """
-        pass
-
-    def ambient(self):
-        """Measures the ambient light intensity.
+        Measures the color of a surface.
 
         Returns:
-            :ref:`percentage`: Ambient light intensity, ranging from 0 (dark)
-            to 100 (bright).
+            ``Color.BLACK``, ``Color.BLUE``, ``Color.GREEN``,
+            ``Color.YELLOW``, ``Color.RED``, ``Color.WHITE``, ``Color.BROWN``,
+            or ``None`` if no color is detected.
+
         """
         pass
 
-    def reflection(self):
-        """Measures the reflection of a surface using a red light.
+    def ambient(self) -> int:
+        """ambient() -> int: %
+
+        Measures the ambient light intensity.
 
         Returns:
-            :ref:`percentage`: Reflection, ranging from 0 (no reflection) to
-            100 (high reflection).
+            Ambient light intensity, ranging from 0% (dark)
+            to 100% (bright).
+        """
+        pass
+
+    def reflection(self) -> int:
+        """reflection() -> int: %
+
+        Measures the reflection of a surface using a red light.
+
+        Returns:
+            Reflection, ranging from 0% (no reflection) to
+            100% (high reflection).
 
         """
         pass
 
-    def rgb(self):
-        """Measures the reflection of a surface using a red, green, and then a
+    def rgb(self) -> Tuple[int, int, int]:
+        """rgb() -> Tuple[int, int, int]
+
+        Measures the reflection of a surface using a red, green, and then a
         blue light.
 
-        :returns: Tuple of reflections for red, green, and blue light, each
-                  ranging from 0.0 (no reflection) to 100.0 (high reflection).
-        :rtype: (:ref:`percentage`, :ref:`percentage`, :ref:`percentage`)
+        Returns:
+            Tuple of reflections for red, green, and blue light, each
+            ranging from 0.0% (no reflection) to 100.0% (high reflection).
         """
         pass
 
@@ -86,7 +99,7 @@ class ColorSensor:
 class InfraredSensor:
     """LEGO® MINDSTORMS® EV3 Infrared Sensor and Beacon."""
 
-    def __init__(self, port):
+    def __init__(self, port: Port):
         """InfraredSensor(port)
 
         Arguments:
@@ -95,57 +108,66 @@ class InfraredSensor:
         """
         pass
 
-    def distance(self):
-        """Measures the relative distance between the sensor and an object using
+    def distance(self) -> int:
+        """distance() -> int: %
+
+        Measures the relative distance between the sensor and an object using
         infrared light.
 
         Returns:
-            :ref:`relativedistance`: Relative distance ranging from 0 (closest)
-            to 100 (farthest).
+            Relative distance ranging from 0% (closest)
+            to 100% (farthest).
 
         """
         pass
 
-    def beacon(self, channel):
-        """Measures the relative distance and angle between the remote and the
+    def beacon(self, channel: int) -> Tuple[Optional[int], Optional[int]]:
+        """
+        beacon(channel) -> Tuple[int, int]
+        beacon(channel) -> Tuple[None, None]
+
+        Measures the relative distance and angle between the remote and the
         infrared sensor.
 
         Arguments:
             channel (int): Channel number of the remote.
 
-        :returns: Tuple of relative distance (0 to 100) and approximate angle
-                  (-75 to 75 degrees) between remote and infrared sensor.
-        :rtype: (:ref:`relativedistance`, :ref:`angle`) or
-                (``None``, ``None``) if no remote is detected.
+        Returns:
+            Tuple of relative distance (0% to 100%) and approximate angle
+            (-75 to 75 degrees) between remote and infrared sensor or
+            a tuple of (``None``, ``None``) if no remote is detected.
         """
         pass
 
-    def buttons(self, channel):
-        """Checks which buttons on the infrared remote are pressed.
+    def buttons(self, channel: int) -> List[Button]:
+        """buttons(channel) -> List[Button]
+
+        Checks which buttons on the infrared remote are pressed.
 
         This method can detect up to two buttons at once. If you press
-        more buttons, you may not get useful data.
+        more buttons, you'll still get just two buttons.
 
         Arguments:
             channel (int): Channel number of the remote.
 
-        :returns: List of pressed buttons on the remote on selected channel.
-        :rtype: List of :class:`Button <Button>`
+        Returns:
+            List of pressed buttons on the remote on the selected channel.
 
         """
         pass
 
-    def keypad(self):
-        """Checks which buttons on the infrared remote are pressed.
+    def keypad(self) -> List[Button]:
+        """keypad() -> List[Button]
+
+        Checks which buttons on the infrared remote are pressed.
 
         This method can independently detect all 4 up/down buttons, but
         it cannot detect the beacon button.
 
         This method only works with the remote in channel 1.
 
-        :returns: List of pressed buttons on the remote on selected channel.
-        :rtype: List of :class:`Button <Button>`
-
+        Returns:
+            List of pressed buttons.
         """
         pass
 
@@ -153,8 +175,8 @@ class InfraredSensor:
 class GyroSensor:
     """LEGO® MINDSTORMS® EV3 Gyro Sensor."""
 
-    def __init__(self, port, positive_direction=_Direction.CLOCKWISE):
-        """
+    def __init__(self, port: Port, positive_direction: Direction = Direction.CLOCKWISE):
+        """GyroSensor(port)
 
         Arguments:
             port (Port): Port to which the sensor is connected.
@@ -165,41 +187,35 @@ class GyroSensor:
         """
         pass
 
-    def speed(self):
-        """Gets the speed (angular velocity) of the sensor.
+    def speed(self) -> int:
+        """speed() -> int: deg/s
+
+        Gets the speed (angular velocity) of the sensor.
 
         Returns:
-            :ref:`speed`: Sensor angular velocity.
+            Angular velocity.
 
         """
         pass
 
-    def angle(self):
-        """Gets the accumulated angle of the sensor.
+    def angle(self) -> int:
+        """angle() -> int: deg
+
+        Gets the accumulated angle of the sensor.
 
         Returns:
-            :ref:`angle`: Rotation angle.
+            Rotation angle.
 
         """
         pass
 
-    def reset_angle(self, angle):
-        """Sets the rotation angle of the sensor to a desired value.
+    def reset_angle(self, angle: int) -> None:
+        """reset_angle(angle)
+
+        Sets the rotation angle of the sensor to a desired value.
 
         Arguments:
-            angle (:ref:`angle`): Value to which the angle should be reset.
-        """
-        pass
-
-    def _calibrate(self):
-        """Calibrates the sensor.
-
-        This process sets the speed and angle to zero and ensures that the
-        angle value does not drift.
-
-        Make sure that the sensor does not move while calibrating.
-
-        This process can take up to 15 seconds.
+            angle (Number, deg): Value to which the angle should be reset.
         """
         pass
 
@@ -207,7 +223,7 @@ class GyroSensor:
 class UltrasonicSensor:
     """LEGO® MINDSTORMS® EV3 Ultrasonic Sensor."""
 
-    def __init__(self, port):
+    def __init__(self, port: Port):
         """UltrasonicSensor(port)
 
         Arguments:
@@ -216,8 +232,10 @@ class UltrasonicSensor:
         """
         pass
 
-    def distance(self, silent=False):
-        """Measures the distance between the sensor and an object using
+    def distance(self, silent: bool = False) -> int:
+        """distance(silent=False) -> int: mm
+
+        Measures the distance between the sensor and an object using
         ultrasonic sound waves.
 
         Arguments:
@@ -228,13 +246,15 @@ class UltrasonicSensor:
                            If this happens, unplug it and plug it back in.
 
         Returns:
-            :ref:`distance`: Distance.
+            Measured distance.
 
         """
         pass
 
-    def presence(self):
-        """Checks for the presence of other ultrasonic sensors by detecting
+    def presence(self) -> bool:
+        """presence() -> bool
+
+        Checks for the presence of other ultrasonic sensors by detecting
         ultrasonic sounds.
 
         If the other ultrasonic sensor is operating in silent mode, you can
@@ -242,7 +262,7 @@ class UltrasonicSensor:
         measurement.
 
         Returns:
-            bool: ``True`` if ultrasonic sounds are detected,
+            ``True`` if ultrasonic sounds are detected,
             ``False`` if not.
         """
         pass

src/pybricks/ev3devices.pyi

@@ -1,38 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
-
-from typing import List, Optional, Tuple
-
-from .parameters import Color, Direction, Port, Button
-from ._common import Motor  # noqa E402
-
-class TouchSensor:
-    def __init__(self, port: Port): ...
-    def pressed(self) -> bool: ...
-
-class ColorSensor:
-    def __init__(self, port: Port): ...
-    def color(self) -> Optional[Color]: ...
-    def ambient(self) -> int: ...
-    def reflection(self) -> int: ...
-    def rgb(self) -> Tuple[int, int, int]: ...
-
-class InfraredSensor:
-    def __init__(self, port: Port): ...
-    def distance(self) -> int: ...
-    def beacon(self, channel: int) -> Tuple[Optional[int], Optional[int]]: ...
-    def buttons(self, channel: int) -> List[Button]: ...
-    def keypad(self) -> List[Button]: ...
-
-class GyroSensor:
-    def __init__(
-        self, port: Port, positive_direction: Direction = Direction.CLOCKWISE
-    ): ...
-    def speed(self) -> int: ...
-    def angle(self) -> int: ...
-    def reset_angle(self, angle: int) -> None: ...
-
-class UltrasonicSensor:
-    def __init__(self, port: Port): ...
-    def distance(self, silent: bool = False) -> int: ...
-    def presence(self) -> bool: ...

src/pybricks/geometry.py

@@ -1,16 +1,58 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2020 The Pybricks Authors
+# Copyright (c) 2018-2022 The Pybricks Authors
 
 """Core linear algebra functionality for orientation sensors and robotics."""
 
+from __future__ import annotations
+
+from typing import Tuple, Collection, overload
+
 
 class Matrix:
-    """Mathematical representation of a matrix. It supports common operations
-    such as matrix addition (``+``), subtraction (``-``),
-    and multiplication (``*``). A :class:`.Matrix` object is immutable."""
+    """Mathematical representation of a matrix. It supports
+    addition (``A + B``), subtraction (``A - B``),
+    and matrix multiplication (``A * B``) for matrices of compatible size.
 
-    def __init__(self, rows):
-        """
+    It also supports scalar multiplication (``c * A`` or ``A * c``)
+    and scalar division (``A / c``).
+
+    A :class:`.Matrix` object is immutable."""
+
+    def __add__(self, other) -> Matrix:
+        ...
+
+    def __iadd__(self, other) -> Matrix:
+        ...
+
+    def __sub__(self, other) -> Matrix:
+        ...
+
+    def __isub__(self, other) -> Matrix:
+        ...
+
+    def __mul__(self, other) -> Matrix:
+        ...
+
+    def __rmul__(self, other) -> Matrix:
+        ...
+
+    def __imul__(self, other) -> Matrix:
+        ...
+
+    def __truediv__(self, other) -> Matrix:
+        ...
+
+    def __itruediv__(self, other) -> Matrix:
+        ...
+
+    def __floordiv__(self, other) -> Matrix:
+        ...
+
+    def __ifloordiv__(self, other) -> Matrix:
+        ...
+
+    def __init__(self, rows: Collection[Collection[int]]):
+        """Matrix(rows)
 
         Arguments:
             rows (list): List of rows. Each row is itself a list of numbers.
@@ -18,36 +60,49 @@ class Matrix:
         """
 
     @property
-    def T(self):
+    def T(self) -> Matrix:
         """Returns a new :class:`.Matrix` that is the transpose of the
         original."""
         pass
 
     @property
-    def shape(self):
+    def shape(self) -> Tuple[int, int]:
         """Returns a tuple (``m``, ``n``),
         where ``m`` is the number of rows and ``n`` is the number of columns.
         """
         pass
 
 
-def vector(x, y, z=None):
-    """Convenience function to create a :class:`.Matrix` with the
-    shape (``3``, ``1``) or (``2``, ``1``).
+@overload
+def vector(x: float, y: float) -> Matrix:
+    ...
+
+
+@overload
+def vector(x: float, y: float, z: float) -> Matrix:
+    ...
+
+
+def vector(*args):
+    """
+    vector(x, y) -> Matrix
+    vector(x, y, z) -> Matrix
+
+    Convenience function to create a :class:`.Matrix` with the
+    shape (``2``, ``1``) or (``3``, ``1``).
 
     Arguments:
         x (float): x-coordinate of the vector.
         y (float): y-coordinate of the vector.
         z (float): z-coordinate of the vector (optional).
 
-
     Returns:
-            Matrix: A matrix with the shape of a column vector.
+        A matrix with the shape of a column vector.
     """
     pass
 
 
-class Axis():
+class Axis:
     """Unit axes of a coordinate system.
 
     .. data:: X = vector(1, 0, 0)
@@ -55,6 +110,7 @@ class Axis():
     .. data:: Z = vector(0, 0, 1)
 
     """
-    X = vector(1, 0, 0)
-    Y = vector(0, 1, 0)
-    Z = vector(0, 0, 1)
+
+    X: Matrix = vector(1, 0, 0)
+    Y: Matrix = vector(0, 1, 0)
+    Z: Matrix = vector(0, 0, 1)

src/pybricks/geometry.pyi

@@ -1,18 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
-
-from typing import Collection, Optional, Tuple
-
-class Matrix:
-    def __init__(self, rows: Collection[int]): ...
-    @property
-    def T(self) -> Matrix: ...
-    @property
-    def shape(self) -> Tuple[int, int]: ...
-
-def vector(x: float, y: float, z: Optional[float] = None) -> Matrix: ...
-
-class Axis:
-    X: Matrix
-    Y: Matrix
-    Z: Matrix

src/pybricks/hubs.py

@@ -2,14 +2,21 @@
 # Copyright (c) 2018-2020 The Pybricks Authors
 
 """LEGO® Programmable Hubs."""
-from ._common import (Speaker as _Speaker, Battery as _Battery,
-                      ColorLight as _ColorLight, Keypad as _Keypad,
-                      LightMatrix as _LightMatrix, IMU as _IMU,
-                      System as _System,
-                      SimpleAccelerometer as _SimpleAccelerometer)
+from ._common import (
+    Speaker as _Speaker,
+    Battery as _Battery,
+    ColorLight as _ColorLight,
+    Keypad as _Keypad,
+    LightMatrix as _LightMatrix,
+    IMU as _IMU,
+    Charger as _Charger,
+    System as _System,
+    SimpleAccelerometer as _SimpleAccelerometer,
+)
+from .ev3dev._speaker import Speaker as _EV3Speaker
+from .geometry import Axis as _Axis
 from .media.ev3dev import Image as _Image
 from .parameters import Button as _Button
-from .geometry import Axis as _Axis
 
 
 class EV3Brick:
@@ -17,15 +24,17 @@ class EV3Brick:
 
     # These class attributes are here for auto-documentation only.
     # In reality, they are instance attributes created by __init__.
-    buttons = _Keypad((
-        _Button.LEFT,
-        _Button.RIGHT,
-        _Button.CENTER,
-        _Button.UP,
-        _Button.DOWN,
-    ))
-    screen = _Image('_screen_')
-    speaker = _Speaker()
+    buttons = _Keypad(
+        (
+            _Button.LEFT,
+            _Button.RIGHT,
+            _Button.CENTER,
+            _Button.UP,
+            _Button.DOWN,
+        )
+    )
+    screen = _Image("_screen_")
+    speaker = _EV3Speaker()
     battery = _Battery()
     light = _ColorLight()
 
@@ -87,12 +96,15 @@ class PrimeHub:
     # These class attributes are here for auto-documentation only.
     # In reality, they are instance attributes created by __init__.
     battery = _Battery()
-    buttons = _Keypad((
-        _Button.LEFT,
-        _Button.RIGHT,
-        _Button.CENTER,
-        _Button.BLUETOOTH,
-    ))
+    buttons = _Keypad(
+        (
+            _Button.LEFT,
+            _Button.RIGHT,
+            _Button.CENTER,
+            _Button.BLUETOOTH,
+        )
+    )
+    charger = _Charger()
     light = _ColorLight()
     display = _LightMatrix(5, 5)
     speaker = _Speaker()
@@ -118,4 +130,5 @@ class PrimeHub:
 
 class InventorHub(PrimeHub):
     """LEGO® MINDSTORMS Inventor Hub."""
+
     pass

src/pybricks/hubs.pyi

@@ -1,13 +1,24 @@
 # SPDX-License-Identifier: MIT
 # Copyright (c) 2020 The Pybricks Authors
 
-from ._common import Speaker, Battery, ColorLight, LightMatrix, Keypad
-from .media.ev3dev import Image
+from ._common import (
+    Battery,
+    ColorLight,
+    Charger,
+    IMU,
+    Keypad,
+    LightMatrix,
+    SimpleAccelerometer,
+    Speaker,
+    System,
+)
+from .ev3dev._speaker import Speaker as EV3Speaker
 from .geometry import Axis
+from .media.ev3dev import Image
 
 class EV3Brick:
     screen: Image
-    speaker: Speaker
+    speaker: EV3Speaker
     battery: Battery
     light: ColorLight
     buttons = Keypad
@@ -15,27 +26,30 @@ class EV3Brick:
 class MoveHub:
     battery: Battery
     light: ColorLight
-
+    system: System
+    imu: SimpleAccelerometer
 
 class CityHub:
     battery: Battery
     light: ColorLight
-
+    system: System
 
 class TechnicHub:
     def __init__(self, top_size: Axis, front_side: Axis): ...
     battery: Battery
     light: ColorLight
-
+    system: System
+    imu: IMU
 
 class PrimeHub:
-    def __init__(self, top_size: Axis, front_side: Axis): ...
+    def __init__(self, top_side: Axis = Axis.Z, front_side: Axis = Axis.X): ...
     battery: Battery
     light: ColorLight
     display: LightMatrix
     buttons: Keypad
     speaker: Speaker
-
+    system: System
+    imu: IMU
+    charger: Charger
 
 class InventorHub(PrimeHub): ...
- 

src/pybricks/media/ev3dev.py

@@ -117,8 +117,9 @@ class Image:
             y (int):
                 The y-axis value where the top of the image will start.
             source (Image or str):
-                The source :class:`Image`. If the argument is a string, then
-                the ``source`` image is loaded from file.
+                The source :class:`Image <pybricks.media.ev3dev.Image>`. If
+                the argument is a string, then the ``source`` image is loaded
+                from file.
             transparent (Color):
                 The color of ``image`` to treat as transparent or ``None`` for
                 no transparency.
@@ -130,15 +131,17 @@ class Image:
 
         Arguments:
             source (Image or str):
-                The source :class:`Image`. If the argument is a string, then
-                the ``source`` image is loaded from file.
+                The source :class:`Image <pybricks.media.ev3dev.Image>`. If
+                the argument is a string, then the ``source`` image is loaded
+                from file.
         """
 
     def draw_text(self, x, y, text, text_color=_Color.BLACK, background_color=None):
         """Draws text on |this image|.
 
-        The most recent font set using :meth:`set_font` will be used or
-        :data:`Font.DEFAULT` if no font has been set yet.
+        The most recent font set using :meth:`.set_font` will be used or
+        :data:`Font.DEFAULT <pybricks.media.ev3dev.Font.DEFAULT>` if no font
+        has been set yet.
 
         Arguments:
             x (int):
@@ -150,25 +153,27 @@ class Image:
             text_color (Color):
                 The color used for drawing the text.
             background_color (Color):
-                The color used to fill the rectangle behind the text or ``None``
-                for transparent background.
+                The color used to fill the rectangle behind the text or
+                ``None`` for transparent background.
         """
         pass
 
-    def print(self, *args, sep=' ', end='\n'):
+    def print(self, *args, sep=" ", end="\n"):
         """Prints a line of text on |this image|.
 
         This method works like the builtin ``print()`` function, but it writes
         on |this image| instead.
 
-        You can set the font using :meth:`set_font`. If no font has been set,
-        :data:`Font.DEFAULT` will be used. The text is always printed used
-        black text with a white background.
+        You can set the font using :meth:`.set_font`. If no font has been set,
+        :data:`Font.DEFAULT <pybricks.media.ev3dev.Font.DEFAULT>` will be
+        used. The text is always printed used black text with a white
+        background.
 
         Unlike the builtin ``print()``, the text does not wrap if it is too
-        wide to fit on |this image|. It just gets cut off. But if the text would
-        go off of the bottom of |this image|, the entire image is scrolled up and
-        the text is printed in the new blank area at the bottom of |this image|.
+        wide to fit on |this image|. It just gets cut off. But if the text
+        would go off of the bottom of |this image|, the entire image is
+        scrolled up and the text is printed in the new blank area at the
+        bottom of |this image|.
 
         Arguments:
             * (object):
@@ -184,10 +189,10 @@ class Image:
     def set_font(self, font):
         """Sets the font used for writing on |this image|.
 
-        The font is used for both :meth:`draw_text` and :meth:`print`.
+        The font is used for both :meth:`.draw_text` and :meth:`.print`.
 
         Arguments:
-            font (:class:`Font`):
+            font (Font):
                 The font to use.
         """
         pass
@@ -239,8 +244,9 @@ class Font:
     DEFAULT = None  # assigned later since we can't use Font() here
     """The default font."""
 
-    def __init__(self, family=None, size=12, bold=False, monospace=False,
-                 lang=None, script=None):
+    def __init__(
+        self, family=None, size=12, bold=False, monospace=False, lang=None, script=None
+    ):
         """The font object will be a font that is the "best" match based on the
         parameters given and available fonts installed.
 
@@ -265,7 +271,7 @@ class Font:
     @property
     def family(self):
         """Gets the family name of the font."""
-        return 'Lucida'
+        return "Lucida"
 
     @property
     def style(self):
@@ -273,7 +279,7 @@ class Font:
 
         Can be "Regular" or "Bold".
         """
-        return 'Regular'
+        return "Regular"
 
     @property
     def width(self):
@@ -312,159 +318,159 @@ class Font:
         return 0
 
 
-Font.DEFAULT = Font('Lucida', 12)
+Font.DEFAULT = Font("Lucida", 12)
 
 
 class SoundFile:
     """Paths to standard EV3 sounds."""
 
-    _BASE_PATH = '/usr/share/sounds/ev3dev/'
-    SHOUTING = _BASE_PATH + 'expressions/shouting.wav'
-    CHEERING = _BASE_PATH + 'expressions/cheering.wav'
-    CRYING = _BASE_PATH + 'expressions/crying.wav'
-    OUCH = _BASE_PATH + 'expressions/ouch.wav'
-    LAUGHING_2 = _BASE_PATH + 'expressions/laughing_2.wav'
-    SNEEZING = _BASE_PATH + 'expressions/sneezing.wav'
-    SMACK = _BASE_PATH + 'expressions/smack.wav'
-    BOING = _BASE_PATH + 'expressions/boing.wav'
-    BOO = _BASE_PATH + 'expressions/boo.wav'
-    UH_OH = _BASE_PATH + 'expressions/uh-oh.wav'
-    SNORING = _BASE_PATH + 'expressions/snoring.wav'
-    KUNG_FU = _BASE_PATH + 'expressions/kung_fu.wav'
-    FANFARE = _BASE_PATH + 'expressions/fanfare.wav'
-    CRUNCHING = _BASE_PATH + 'expressions/crunching.wav'
-    MAGIC_WAND = _BASE_PATH + 'expressions/magic_wand.wav'
-    LAUGHING_1 = _BASE_PATH + 'expressions/laughing_1.wav'
-    LEFT = _BASE_PATH + 'information/left.wav'
-    BACKWARDS = _BASE_PATH + 'information/backwards.wav'
-    RIGHT = _BASE_PATH + 'information/right.wav'
-    OBJECT = _BASE_PATH + 'information/object.wav'
-    COLOR = _BASE_PATH + 'information/color.wav'
-    FLASHING = _BASE_PATH + 'information/flashing.wav'
-    ERROR = _BASE_PATH + 'information/error.wav'
-    ERROR_ALARM = _BASE_PATH + 'information/error_alarm.wav'
-    DOWN = _BASE_PATH + 'information/down.wav'
-    FORWARD = _BASE_PATH + 'information/forward.wav'
-    ACTIVATE = _BASE_PATH + 'information/activate.wav'
-    SEARCHING = _BASE_PATH + 'information/searching.wav'
-    TOUCH = _BASE_PATH + 'information/touch.wav'
-    UP = _BASE_PATH + 'information/up.wav'
-    ANALYZE = _BASE_PATH + 'information/analyze.wav'
-    STOP = _BASE_PATH + 'information/stop.wav'
-    DETECTED = _BASE_PATH + 'information/detected.wav'
-    TURN = _BASE_PATH + 'information/turn.wav'
-    START = _BASE_PATH + 'information/start.wav'
-    MORNING = _BASE_PATH + 'communication/morning.wav'
-    EV3 = _BASE_PATH + 'communication/ev3.wav'
-    GO = _BASE_PATH + 'communication/go.wav'
-    GOOD_JOB = _BASE_PATH + 'communication/good_job.wav'
-    OKEY_DOKEY = _BASE_PATH + 'communication/okey-dokey.wav'
-    GOOD = _BASE_PATH + 'communication/good.wav'
-    NO = _BASE_PATH + 'communication/no.wav'
-    THANK_YOU = _BASE_PATH + 'communication/thank_you.wav'
-    YES = _BASE_PATH + 'communication/yes.wav'
-    GAME_OVER = _BASE_PATH + 'communication/game_over.wav'
-    OKAY = _BASE_PATH + 'communication/okay.wav'
-    SORRY = _BASE_PATH + 'communication/sorry.wav'
-    BRAVO = _BASE_PATH + 'communication/bravo.wav'
-    GOODBYE = _BASE_PATH + 'communication/goodbye.wav'
-    HI = _BASE_PATH + 'communication/hi.wav'
-    HELLO = _BASE_PATH + 'communication/hello.wav'
-    MINDSTORMS = _BASE_PATH + 'communication/mindstorms.wav'
-    LEGO = _BASE_PATH + 'communication/lego.wav'
-    FANTASTIC = _BASE_PATH + 'communication/fantastic.wav'
-    SPEED_IDLE = _BASE_PATH + 'movements/speed_idle.wav'
-    SPEED_DOWN = _BASE_PATH + 'movements/speed_down.wav'
-    SPEED_UP = _BASE_PATH + 'movements/speed_up.wav'
-    BROWN = _BASE_PATH + 'colors/brown.wav'
-    GREEN = _BASE_PATH + 'colors/green.wav'
-    BLACK = _BASE_PATH + 'colors/black.wav'
-    WHITE = _BASE_PATH + 'colors/white.wav'
-    RED = _BASE_PATH + 'colors/red.wav'
-    BLUE = _BASE_PATH + 'colors/blue.wav'
-    YELLOW = _BASE_PATH + 'colors/yellow.wav'
-    TICK_TACK = _BASE_PATH + 'mechanical/tick_tack.wav'
-    HORN_1 = _BASE_PATH + 'mechanical/horn_1.wav'
-    BACKING_ALERT = _BASE_PATH + 'mechanical/backing_alert.wav'
-    MOTOR_IDLE = _BASE_PATH + 'mechanical/motor_idle.wav'
-    AIR_RELEASE = _BASE_PATH + 'mechanical/air_release.wav'
-    AIRBRAKE = _BASE_PATH + 'mechanical/airbrake.wav'
-    RATCHET = _BASE_PATH + 'mechanical/ratchet.wav'
-    MOTOR_STOP = _BASE_PATH + 'mechanical/motor_stop.wav'
-    HORN_2 = _BASE_PATH + 'mechanical/horn_2.wav'
-    LASER = _BASE_PATH + 'mechanical/laser.wav'
-    SONAR = _BASE_PATH + 'mechanical/sonar.wav'
-    MOTOR_START = _BASE_PATH + 'mechanical/motor_start.wav'
-    INSECT_BUZZ_2 = _BASE_PATH + 'animals/insect_buzz_2.wav'
-    ELEPHANT_CALL = _BASE_PATH + 'animals/elephant_call.wav'
-    SNAKE_HISS = _BASE_PATH + 'animals/snake_hiss.wav'
-    DOG_BARK_2 = _BASE_PATH + 'animals/dog_bark_2.wav'
-    DOG_WHINE = _BASE_PATH + 'animals/dog_whine.wav'
-    INSECT_BUZZ_1 = _BASE_PATH + 'animals/insect_buzz_1.wav'
-    DOG_SNIFF = _BASE_PATH + 'animals/dog_sniff.wav'
-    T_REX_ROAR = _BASE_PATH + 'animals/t-rex_roar.wav'
-    INSECT_CHIRP = _BASE_PATH + 'animals/insect_chirp.wav'
-    DOG_GROWL = _BASE_PATH + 'animals/dog_growl.wav'
-    SNAKE_RATTLE = _BASE_PATH + 'animals/snake_rattle.wav'
-    DOG_BARK_1 = _BASE_PATH + 'animals/dog_bark_1.wav'
-    CAT_PURR = _BASE_PATH + 'animals/cat_purr.wav'
-    EIGHT = _BASE_PATH + 'numbers/eight.wav'
-    SEVEN = _BASE_PATH + 'numbers/seven.wav'
-    SIX = _BASE_PATH + 'numbers/six.wav'
-    FOUR = _BASE_PATH + 'numbers/four.wav'
-    TEN = _BASE_PATH + 'numbers/ten.wav'
-    ONE = _BASE_PATH + 'numbers/one.wav'
-    TWO = _BASE_PATH + 'numbers/two.wav'
-    THREE = _BASE_PATH + 'numbers/three.wav'
-    ZERO = _BASE_PATH + 'numbers/zero.wav'
-    FIVE = _BASE_PATH + 'numbers/five.wav'
-    NINE = _BASE_PATH + 'numbers/nine.wav'
-    READY = _BASE_PATH + 'system/ready.wav'
-    CONFIRM = _BASE_PATH + 'system/confirm.wav'
-    GENERAL_ALERT = _BASE_PATH + 'system/general_alert.wav'
-    CLICK = _BASE_PATH + 'system/click.wav'
-    OVERPOWER = _BASE_PATH + 'system/overpower.wav'
+    _BASE_PATH = "/usr/share/sounds/ev3dev/"
+    SHOUTING = _BASE_PATH + "expressions/shouting.wav"
+    CHEERING = _BASE_PATH + "expressions/cheering.wav"
+    CRYING = _BASE_PATH + "expressions/crying.wav"
+    OUCH = _BASE_PATH + "expressions/ouch.wav"
+    LAUGHING_2 = _BASE_PATH + "expressions/laughing_2.wav"
+    SNEEZING = _BASE_PATH + "expressions/sneezing.wav"
+    SMACK = _BASE_PATH + "expressions/smack.wav"
+    BOING = _BASE_PATH + "expressions/boing.wav"
+    BOO = _BASE_PATH + "expressions/boo.wav"
+    UH_OH = _BASE_PATH + "expressions/uh-oh.wav"
+    SNORING = _BASE_PATH + "expressions/snoring.wav"
+    KUNG_FU = _BASE_PATH + "expressions/kung_fu.wav"
+    FANFARE = _BASE_PATH + "expressions/fanfare.wav"
+    CRUNCHING = _BASE_PATH + "expressions/crunching.wav"
+    MAGIC_WAND = _BASE_PATH + "expressions/magic_wand.wav"
+    LAUGHING_1 = _BASE_PATH + "expressions/laughing_1.wav"
+    LEFT = _BASE_PATH + "information/left.wav"
+    BACKWARDS = _BASE_PATH + "information/backwards.wav"
+    RIGHT = _BASE_PATH + "information/right.wav"
+    OBJECT = _BASE_PATH + "information/object.wav"
+    COLOR = _BASE_PATH + "information/color.wav"
+    FLASHING = _BASE_PATH + "information/flashing.wav"
+    ERROR = _BASE_PATH + "information/error.wav"
+    ERROR_ALARM = _BASE_PATH + "information/error_alarm.wav"
+    DOWN = _BASE_PATH + "information/down.wav"
+    FORWARD = _BASE_PATH + "information/forward.wav"
+    ACTIVATE = _BASE_PATH + "information/activate.wav"
+    SEARCHING = _BASE_PATH + "information/searching.wav"
+    TOUCH = _BASE_PATH + "information/touch.wav"
+    UP = _BASE_PATH + "information/up.wav"
+    ANALYZE = _BASE_PATH + "information/analyze.wav"
+    STOP = _BASE_PATH + "information/stop.wav"
+    DETECTED = _BASE_PATH + "information/detected.wav"
+    TURN = _BASE_PATH + "information/turn.wav"
+    START = _BASE_PATH + "information/start.wav"
+    MORNING = _BASE_PATH + "communication/morning.wav"
+    EV3 = _BASE_PATH + "communication/ev3.wav"
+    GO = _BASE_PATH + "communication/go.wav"
+    GOOD_JOB = _BASE_PATH + "communication/good_job.wav"
+    OKEY_DOKEY = _BASE_PATH + "communication/okey-dokey.wav"
+    GOOD = _BASE_PATH + "communication/good.wav"
+    NO = _BASE_PATH + "communication/no.wav"
+    THANK_YOU = _BASE_PATH + "communication/thank_you.wav"
+    YES = _BASE_PATH + "communication/yes.wav"
+    GAME_OVER = _BASE_PATH + "communication/game_over.wav"
+    OKAY = _BASE_PATH + "communication/okay.wav"
+    SORRY = _BASE_PATH + "communication/sorry.wav"
+    BRAVO = _BASE_PATH + "communication/bravo.wav"
+    GOODBYE = _BASE_PATH + "communication/goodbye.wav"
+    HI = _BASE_PATH + "communication/hi.wav"
+    HELLO = _BASE_PATH + "communication/hello.wav"
+    MINDSTORMS = _BASE_PATH + "communication/mindstorms.wav"
+    LEGO = _BASE_PATH + "communication/lego.wav"
+    FANTASTIC = _BASE_PATH + "communication/fantastic.wav"
+    SPEED_IDLE = _BASE_PATH + "movements/speed_idle.wav"
+    SPEED_DOWN = _BASE_PATH + "movements/speed_down.wav"
+    SPEED_UP = _BASE_PATH + "movements/speed_up.wav"
+    BROWN = _BASE_PATH + "colors/brown.wav"
+    GREEN = _BASE_PATH + "colors/green.wav"
+    BLACK = _BASE_PATH + "colors/black.wav"
+    WHITE = _BASE_PATH + "colors/white.wav"
+    RED = _BASE_PATH + "colors/red.wav"
+    BLUE = _BASE_PATH + "colors/blue.wav"
+    YELLOW = _BASE_PATH + "colors/yellow.wav"
+    TICK_TACK = _BASE_PATH + "mechanical/tick_tack.wav"
+    HORN_1 = _BASE_PATH + "mechanical/horn_1.wav"
+    BACKING_ALERT = _BASE_PATH + "mechanical/backing_alert.wav"
+    MOTOR_IDLE = _BASE_PATH + "mechanical/motor_idle.wav"
+    AIR_RELEASE = _BASE_PATH + "mechanical/air_release.wav"
+    AIRBRAKE = _BASE_PATH + "mechanical/airbrake.wav"
+    RATCHET = _BASE_PATH + "mechanical/ratchet.wav"
+    MOTOR_STOP = _BASE_PATH + "mechanical/motor_stop.wav"
+    HORN_2 = _BASE_PATH + "mechanical/horn_2.wav"
+    LASER = _BASE_PATH + "mechanical/laser.wav"
+    SONAR = _BASE_PATH + "mechanical/sonar.wav"
+    MOTOR_START = _BASE_PATH + "mechanical/motor_start.wav"
+    INSECT_BUZZ_2 = _BASE_PATH + "animals/insect_buzz_2.wav"
+    ELEPHANT_CALL = _BASE_PATH + "animals/elephant_call.wav"
+    SNAKE_HISS = _BASE_PATH + "animals/snake_hiss.wav"
+    DOG_BARK_2 = _BASE_PATH + "animals/dog_bark_2.wav"
+    DOG_WHINE = _BASE_PATH + "animals/dog_whine.wav"
+    INSECT_BUZZ_1 = _BASE_PATH + "animals/insect_buzz_1.wav"
+    DOG_SNIFF = _BASE_PATH + "animals/dog_sniff.wav"
+    T_REX_ROAR = _BASE_PATH + "animals/t-rex_roar.wav"
+    INSECT_CHIRP = _BASE_PATH + "animals/insect_chirp.wav"
+    DOG_GROWL = _BASE_PATH + "animals/dog_growl.wav"
+    SNAKE_RATTLE = _BASE_PATH + "animals/snake_rattle.wav"
+    DOG_BARK_1 = _BASE_PATH + "animals/dog_bark_1.wav"
+    CAT_PURR = _BASE_PATH + "animals/cat_purr.wav"
+    EIGHT = _BASE_PATH + "numbers/eight.wav"
+    SEVEN = _BASE_PATH + "numbers/seven.wav"
+    SIX = _BASE_PATH + "numbers/six.wav"
+    FOUR = _BASE_PATH + "numbers/four.wav"
+    TEN = _BASE_PATH + "numbers/ten.wav"
+    ONE = _BASE_PATH + "numbers/one.wav"
+    TWO = _BASE_PATH + "numbers/two.wav"
+    THREE = _BASE_PATH + "numbers/three.wav"
+    ZERO = _BASE_PATH + "numbers/zero.wav"
+    FIVE = _BASE_PATH + "numbers/five.wav"
+    NINE = _BASE_PATH + "numbers/nine.wav"
+    READY = _BASE_PATH + "system/ready.wav"
+    CONFIRM = _BASE_PATH + "system/confirm.wav"
+    GENERAL_ALERT = _BASE_PATH + "system/general_alert.wav"
+    CLICK = _BASE_PATH + "system/click.wav"
+    OVERPOWER = _BASE_PATH + "system/overpower.wav"
 
 
 class ImageFile:
     """Paths to standard EV3 images."""
 
-    _BASE_PATH = '/usr/share/images/ev3dev/mono/'
-    RIGHT = _BASE_PATH + 'information/right.png'
-    FORWARD = _BASE_PATH + 'information/forward.png'
-    ACCEPT = _BASE_PATH + 'information/accept.png'
-    QUESTION_MARK = _BASE_PATH + 'information/question_mark.png'
-    STOP_1 = _BASE_PATH + 'information/stop_1.png'
-    LEFT = _BASE_PATH + 'information/left.png'
-    DECLINE = _BASE_PATH + 'information/decline.png'
-    THUMBS_DOWN = _BASE_PATH + 'information/thumbs_down.png'
-    BACKWARD = _BASE_PATH + 'information/backward.png'
-    NO_GO = _BASE_PATH + 'information/no_go.png'
-    WARNING = _BASE_PATH + 'information/warning.png'
-    STOP_2 = _BASE_PATH + 'information/stop_2.png'
-    THUMBS_UP = _BASE_PATH + 'information/thumbs_up.png'
-    EV3 = _BASE_PATH + 'lego/ev3.png'
-    EV3_ICON = _BASE_PATH + 'lego/ev3_icon.png'
-    TARGET = _BASE_PATH + 'objects/target.png'
-    BOTTOM_RIGHT = _BASE_PATH + 'eyes/bottom_right.png'
-    BOTTOM_LEFT = _BASE_PATH + 'eyes/bottom_left.png'
-    EVIL = _BASE_PATH + 'eyes/evil.png'
-    CRAZY_2 = _BASE_PATH + 'eyes/crazy_2.png'
-    KNOCKED_OUT = _BASE_PATH + 'eyes/knocked_out.png'
-    PINCHED_RIGHT = _BASE_PATH + 'eyes/pinched_right.png'
-    WINKING = _BASE_PATH + 'eyes/winking.png'
-    DIZZY = _BASE_PATH + 'eyes/dizzy.png'
-    DOWN = _BASE_PATH + 'eyes/down.png'
-    TIRED_MIDDLE = _BASE_PATH + 'eyes/tired_middle.png'
-    MIDDLE_RIGHT = _BASE_PATH + 'eyes/middle_right.png'
-    SLEEPING = _BASE_PATH + 'eyes/sleeping.png'
-    MIDDLE_LEFT = _BASE_PATH + 'eyes/middle_left.png'
-    TIRED_RIGHT = _BASE_PATH + 'eyes/tired_right.png'
-    PINCHED_LEFT = _BASE_PATH + 'eyes/pinched_left.png'
-    PINCHED_MIDDLE = _BASE_PATH + 'eyes/pinched_middle.png'
-    CRAZY_1 = _BASE_PATH + 'eyes/crazy_1.png'
-    NEUTRAL = _BASE_PATH + 'eyes/neutral.png'
-    AWAKE = _BASE_PATH + 'eyes/awake.png'
-    UP = _BASE_PATH + 'eyes/up.png'
-    TIRED_LEFT = _BASE_PATH + 'eyes/tired_left.png'
-    ANGRY = _BASE_PATH + 'eyes/angry.png'
+    _BASE_PATH = "/usr/share/images/ev3dev/mono/"
+    RIGHT = _BASE_PATH + "information/right.png"
+    FORWARD = _BASE_PATH + "information/forward.png"
+    ACCEPT = _BASE_PATH + "information/accept.png"
+    QUESTION_MARK = _BASE_PATH + "information/question_mark.png"
+    STOP_1 = _BASE_PATH + "information/stop_1.png"
+    LEFT = _BASE_PATH + "information/left.png"
+    DECLINE = _BASE_PATH + "information/decline.png"
+    THUMBS_DOWN = _BASE_PATH + "information/thumbs_down.png"
+    BACKWARD = _BASE_PATH + "information/backward.png"
+    NO_GO = _BASE_PATH + "information/no_go.png"
+    WARNING = _BASE_PATH + "information/warning.png"
+    STOP_2 = _BASE_PATH + "information/stop_2.png"
+    THUMBS_UP = _BASE_PATH + "information/thumbs_up.png"
+    EV3 = _BASE_PATH + "lego/ev3.png"
+    EV3_ICON = _BASE_PATH + "lego/ev3_icon.png"
+    TARGET = _BASE_PATH + "objects/target.png"
+    BOTTOM_RIGHT = _BASE_PATH + "eyes/bottom_right.png"
+    BOTTOM_LEFT = _BASE_PATH + "eyes/bottom_left.png"
+    EVIL = _BASE_PATH + "eyes/evil.png"
+    CRAZY_2 = _BASE_PATH + "eyes/crazy_2.png"
+    KNOCKED_OUT = _BASE_PATH + "eyes/knocked_out.png"
+    PINCHED_RIGHT = _BASE_PATH + "eyes/pinched_right.png"
+    WINKING = _BASE_PATH + "eyes/winking.png"
+    DIZZY = _BASE_PATH + "eyes/dizzy.png"
+    DOWN = _BASE_PATH + "eyes/down.png"
+    TIRED_MIDDLE = _BASE_PATH + "eyes/tired_middle.png"
+    MIDDLE_RIGHT = _BASE_PATH + "eyes/middle_right.png"
+    SLEEPING = _BASE_PATH + "eyes/sleeping.png"
+    MIDDLE_LEFT = _BASE_PATH + "eyes/middle_left.png"
+    TIRED_RIGHT = _BASE_PATH + "eyes/tired_right.png"
+    PINCHED_LEFT = _BASE_PATH + "eyes/pinched_left.png"
+    PINCHED_MIDDLE = _BASE_PATH + "eyes/pinched_middle.png"
+    CRAZY_1 = _BASE_PATH + "eyes/crazy_1.png"
+    NEUTRAL = _BASE_PATH + "eyes/neutral.png"
+    AWAKE = _BASE_PATH + "eyes/awake.png"
+    UP = _BASE_PATH + "eyes/up.png"
+    TIRED_LEFT = _BASE_PATH + "eyes/tired_left.png"
+    ANGRY = _BASE_PATH + "eyes/angry.png"

src/pybricks/messaging.py

@@ -35,7 +35,7 @@ class Mailbox:
         Returns:
             The current value or ``None`` if the mailbox is empty.
         """
-        return ''
+        return ""
 
     def send(self, value, brick=None):
         """Sends a value to this mailbox on connected devices.

src/pybricks/nxtdevices.py

@@ -1,31 +1,37 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2020 The Pybricks Authors
+# Copyright (c) 2018-2022 The Pybricks Authors
 
 """Use LEGO® MINDSTORMS® NXT motors and sensors with the EV3 brick."""
 
 
-from .iodevices import AnalogSensor as _AnalogSensor
-from ._common import ColorLight as _ColorLight
+from .parameters import Port, Color
+
+from .iodevices import AnalogSensor
+from ._common import ColorLight
+
+
+from typing import Callable, Optional, Tuple
 
 
 class TouchSensor:
     """LEGO® MINDSTORMS® NXT Touch Sensor."""
 
-    def __init__(self, port):
-        """
+    def __init__(self, port: Port):
+        """TouchSensor(port)
 
         Arguments:
             port (Port): Port to which the sensor is connected.
         """
         pass
 
-    def pressed(self):
-        """Checks if the sensor is pressed.
+    def pressed(self) -> bool:
+        """pressed() -> bool
+
+        Checks if the sensor is pressed.
 
         Returns:
-            bool: ``True`` if the sensor is pressed, ``False`` if it is
+            ``True`` if the sensor is pressed, ``False`` if it is
             not pressed.
-
         """
         pass
 
@@ -33,86 +39,88 @@ class TouchSensor:
 class LightSensor:
     """LEGO® MINDSTORMS® NXT Color Sensor."""
 
-    def __init__(self, port):
-        """
+    def __init__(self, port: Port):
+        """LightSensor(port)
 
         Arguments:
             port (Port): Port to which the sensor is connected.
-
         """
         pass
 
-    def ambient(self):
-        """Measures the ambient light intensity.
+    def ambient(self) -> int:
+        """ambient() -> int: %
+
+        Measures the ambient light intensity.
 
         Returns:
-            :ref:`percentage`: Ambient light intensity, ranging from 0 (dark)
-            to 100 (bright).
+            Ambient light intensity, ranging from 0% (dark) to 100% (bright).
         """
         pass
 
-    def reflection(self):
-        """Measures the reflection of a surface using a red light.
+    def reflection(self) -> int:
+        """reflection() -> int: %
+
+        Measures the reflection of a surface using a red light.
 
         Returns:
-            :ref:`percentage`: Reflection, ranging from 0 (no reflection) to
-            100 (high reflection).
-
+            Reflection, ranging from 0% (no reflection) to 100% (high
+            reflection).
         """
         pass
 
 
-class ColorSensor:
+class ColorSensor(LightSensor):
     """LEGO® MINDSTORMS® NXT Color Sensor."""
 
-    light = _ColorLight()
+    light = ColorLight()
 
-    def __init__(self, port):
-        """
+    def __init__(self, port: Port):
+        """ColorSensor(port)
 
         Arguments:
             port (Port): Port to which the sensor is connected.
-
         """
         pass
 
-    def color(self):
-        """Measures the color of a surface.
+    def color(self) -> Color:
+        """color() -> Color
 
-        :returns:
+        Measures the color of a surface.
+
+        Returns:
             ``Color.BLACK``, ``Color.BLUE``, ``Color.GREEN``, ``Color.YELLOW``,
             ``Color.RED``, ``Color.WHITE`` or ``Color.NONE``.
-        :rtype: :class:`Color <.parameters.Color>`
-
         """
         pass
 
-    def ambient(self):
-        """Measures the ambient light intensity.
+    def ambient(self) -> int:
+        """ambient() -> int: %
+
+        Measures the ambient light intensity.
 
         Returns:
-            :ref:`percentage`: Ambient light intensity, ranging from 0 (dark)
-            to 100 (bright).
+            Ambient light intensity, ranging from 0% (dark) to 100% (bright).
         """
         pass
 
-    def reflection(self):
-        """Measures the reflection of a surface.
+    def reflection(self) -> int:
+        """reflection() -> int: %
+
+        Measures the reflection of a surface using a red light.
 
         Returns:
-            :ref:`percentage`: Reflection, ranging from 0 (no reflection) to
-            100 (high reflection).
-
+            Reflection, ranging from 0% (no reflection) to 100% (high
+            reflection).
         """
         pass
 
-    def rgb(self):
+    def rgb(self) -> Tuple[int, int, int]:
         """Measures the reflection of a surface using a red, green, and then a
         blue light.
 
-        :returns: Tuple of reflections for red, green, and blue light, each
-                  ranging from 0.0 (no reflection) to 100.0 (high reflection).
-        :rtype: (:ref:`percentage`, :ref:`percentage`, :ref:`percentage`)
+        Returns:
+            Tuple of reflections for red, green, and blue light, each
+            ranging from 0.0% (no reflection) to 100.0% (high reflection).
         """
         pass
 
@@ -120,22 +128,22 @@ class ColorSensor:
 class UltrasonicSensor:
     """LEGO® MINDSTORMS® NXT Ultrasonic Sensor."""
 
-    def __init__(self, port):
-        """
+    def __init__(self, port: Port):
+        """UltrasonicSensor(port)
 
         Arguments:
             port (Port): Port to which the sensor is connected.
-
         """
         pass
 
-    def distance(self):
-        """Measures the distance between the sensor and an object using
+    def distance(self) -> int:
+        """distance() -> int: mm
+
+        Measures the distance between the sensor and an object using
         ultrasonic sound waves.
 
         Returns:
-            :ref:`distance`: Distance.
-
+            Measured distance.
         """
         pass
 
@@ -143,17 +151,18 @@ class UltrasonicSensor:
 class SoundSensor:
     """LEGO® MINDSTORMS® NXT Sound Sensor."""
 
-    def __init__(self, port):
-        """
+    def __init__(self, port: Port):
+        """SoundSensor(port)
 
         Arguments:
             port (Port): Port to which the sensor is connected.
-
         """
         pass
 
-    def intensity(self, audible_only=True):
-        """Measures the ambient sound intensity (loudness).
+    def intensity(self, audible_only: bool = True) -> int:
+        """intensity(audible_only=True) -> int: %
+
+        Measures the ambient sound intensity (loudness).
 
         Arguments:
             audible_only (bool): Detect only audible sounds. This tries to
@@ -161,8 +170,7 @@ class SoundSensor:
                 human ear.
 
         Returns:
-            :ref:`percentage`: Sound intensity.
-
+            Sound intensity.
         """
         pass
 
@@ -170,21 +178,21 @@ class SoundSensor:
 class TemperatureSensor:
     """LEGO® MINDSTORMS® NXT Temperature Sensor."""
 
-    def __init__(self, port):
-        """
+    def __init__(self, port: Port):
+        """TemperatureSensor(port)
 
         Arguments:
             port (Port): Port to which the sensor is connected.
-
         """
         pass
 
-    def temperature(self):
-        """Measures the temperature.
+    def temperature(self) -> int:
+        """temperature() -> float: °C
+
+        Measures the temperature.
 
         Returns:
-            :ref:`temperature`: Measured temperature.
-
+            Measured temperature.
         """
         pass
 
@@ -192,26 +200,28 @@ class TemperatureSensor:
 class EnergyMeter:
     """LEGO® MINDSTORMS® Education NXT Energy Meter."""
 
-    def __init__(self, port):
-        """
+    def __init__(self, port: Port):
+        """EnergyMeter(port)
 
         Arguments:
             port (Port): Port to which the sensor is connected.
-
         """
         pass
 
-    def storage(self):
-        """Gets the total available energy stored in the battery.
+    def storage(self) -> int:
+        """storage() -> int: J
+
+        Gets the total available energy stored in the battery.
 
         Returns:
-            :ref:`energy`: Remaining stored energy.
-
+            Remaining stored energy.
         """
         pass
 
-    def input(self):
-        """Measures the electrical signals at the input (bottom) side
+    def input(self) -> Tuple[int, int, int]:
+        """input() -> Tuple[int, int, int]
+
+        Measures the electrical signals at the input (bottom) side
         of the energy meter. It measures the voltage applied to it and the
         current passing through it. The product of these two values is power.
         This power value is the rate at which the stored energy increases. This
@@ -219,14 +229,15 @@ class EnergyMeter:
         or an externally driven motor.
 
         Returns:
-            (:ref:`voltage`, :ref:`current`, :ref:`power`): Voltage, current,
-            and power measured at the input port.
-
+            Voltage (mV), current (mA), and power (mW) measured at the input
+            port.
         """
         pass
 
-    def output(self):
-        """Measures the electrical signals at the output (top) side
+    def output(self) -> Tuple[int, int, int]:
+        """output() -> Tuple[int, int, int]
+
+        Measures the electrical signals at the output (top) side
         of the energy meter. It measures the voltage applied to the external
         load and the current passing to it. The product of these two values
         is power. This power value is the rate at which the stored energy
@@ -234,22 +245,21 @@ class EnergyMeter:
         motor.
 
         Returns:
-            (:ref:`voltage`, :ref:`current`, :ref:`power`): Voltage, current,
-            and power measured at the output port.
-
+            Voltage (mV), current (mA), and power (mW) measured at the output
+            port.
         """
         pass
 
 
-class VernierAdapter(_AnalogSensor):
+class VernierAdapter(AnalogSensor):
     """LEGO® MINDSTORMS® Education NXT/EV3 Adapter for Vernier Sensors."""
 
-    def __init__(self, port, conversion=None):
-        """
+    def __init__(self, port: Port, conversion: Optional[Callable[[int], float]] = None):
+        """VernierAdapter(port, conversion=None)
 
         Arguments:
             port (Port): Port to which the sensor is connected.
-            conversion (callable): Function of the format ``conversion``.
+            conversion (callable): Function of the format :meth:`.conversion`.
                 This function is used to convert the raw analog voltage to the
                 sensor-specific output value. Each Vernier Sensor has its
                 own conversion function. The example given below demonstrates
@@ -257,33 +267,39 @@ class VernierAdapter(_AnalogSensor):
         """
         pass
 
-    def voltage(self):
-        """Measures the raw analog sensor voltage.
+    def voltage(self) -> int:
+        """voltage() -> int: mV
+
+        Measures the raw analog sensor voltage.
 
         Returns:
-            :ref:`voltage`: Analog voltage.
+            Analog voltage.
         """
         pass
 
-    def conversion(self, voltage):
-        """Converts the raw voltage (mV) to a sensor value.
+    def conversion(self, voltage: int) -> float:
+        """conversion(voltage) -> float
 
-        If you did not provide a ``conversion`` function earlier, no conversion
-        will be applied.
+        Converts the raw voltage (mV) to a sensor value.
+
+        If you did not provide a :meth:`.conversion` function earlier, no
+        conversion will be applied.
 
         Arguments:
-            voltage (:ref:`voltage`): Analog sensor voltage
+            voltage (Number, mV): Analog sensor voltage
 
-        :returns: Converted sensor value.
-        :rtype: float
+        Returns:
+            Converted sensor value.
         """
         pass
 
-    def value(self):
-        """Measures the sensor :meth:`.voltage` and then
+    def value(self) -> float:
+        """value() -> float
+
+        Measures the sensor :meth:`.voltage` and then
         applies your :meth:`.conversion` to give you the sensor value.
 
-        :returns: Converted sensor value.
-        :rtype: float
+        Returns:
+            Converted sensor value.
         """
         pass

src/pybricks/nxtdevices.pyi

@@ -1,51 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
-
-from typing import Callable, Optional, Tuple
-
-from ._common import ColorLight
-from .iodevices import AnalogSensor
-from .parameters import Color, Port
-
-class TouchSensor:
-    def __init__(self, port: Port): ...
-    def pressed(self) -> bool: ...
-
-class LightSensor:
-    def __init__(self, port: Port): ...
-    def ambient(self) -> int: ...
-    def reflection(self) -> int: ...
-
-class ColorSensor:
-    light: ColorLight
-    def __init__(self, port: Port): ...
-    def color(self) -> Optional[Color]: ...
-    def ambient(self) -> int: ...
-    def reflection(self) -> int: ...
-    def rgb(self) -> Tuple[int, int, int]: ...
-
-class UltrasonicSensor:
-    def __init__(self, port: Port): ...
-    def distance(self) -> int: ...
-
-class SoundSensor:
-    def __init__(self, port: Port): ...
-    def intensity(self, audible_only: bool = True) -> int: ...
-
-class TemperatureSensor:
-    def __init__(self, port: Port): ...
-    def temperature(self) -> int: ...
-
-class EnergyMeter:
-    def __init__(self, port: Port): ...
-    def storage(self) -> int: ...
-    def input(self) -> Tuple[int, int, int]: ...
-    def output(self) -> Tuple[int, int, int]: ...
-
-class VernierAdapter(AnalogSensor):
-    def __init__(
-        self, port: Port, conversion: Optional[Callable[[int], float]] = None
-    ): ...
-    def voltage(self) -> int: ...
-    def conversion(self, voltage: int) -> float: ...
-    def value(self) -> float: ...

src/pybricks/parameters.py

@@ -8,20 +8,20 @@ from enum import Enum as _Enum
 
 class _PybricksEnumMeta(type(_Enum)):
     def __dir__(cls):
-        yield '__class__'
-        yield '__name__'
+        yield "__class__"
+        yield "__name__"
         for member in cls:
             yield member.name
 
 
 class _PybricksEnum(_Enum, metaclass=_PybricksEnumMeta):
     def __dir__(self):
-        yield '__class__'
+        yield "__class__"
         for member in type(self):
             yield member.name
 
     def __str__(self):
-        return '{}.{}'.format(type(self).__name__, self.name)
+        return "{}.{}".format(type(self).__name__, self.name)
 
     def __repr__(self):
         return str(self)
@@ -39,8 +39,12 @@ class Color:
         return "Color(h={}, s={}, v={})".format(self.h, self.s, self.v)
 
     def __eq__(self, other):
-        return (isinstance(other, Color) and
-                self.h == other.h and self.s == other.s and self.v == other.v)
+        return (
+            isinstance(other, Color)
+            and self.h == other.h
+            and self.s == other.s
+            and self.v == other.v
+        )
 
     def __mul__(self, scale):
         v = max(0, min(self.v * scale, 100))
@@ -50,10 +54,10 @@ class Color:
         return self.__mul__(scale)
 
     def __truediv__(self, scale):
-        return self.__mul__(1/scale)
+        return self.__mul__(1 / scale)
 
     def __floordiv__(self, scale):
-        return self.__mul__(1/scale)
+        return self.__mul__(1 / scale)
 
 
 Color.NONE = Color(0, 0, 0)
@@ -75,18 +79,18 @@ class Port(_PybricksEnum):
     """Port on the programmable brick or hub."""
 
     # Generic motor/sensor ports
-    A = ord('A')
-    B = ord('B')
-    C = ord('C')
-    D = ord('D')
-    E = ord('E')
-    F = ord('F')
+    A = ord("A")
+    B = ord("B")
+    C = ord("C")
+    D = ord("D")
+    E = ord("E")
+    F = ord("F")
 
     # NXT/EV3 sensor ports
-    S1 = ord('1')
-    S2 = ord('2')
-    S3 = ord('3')
-    S4 = ord('4')
+    S1 = ord("1")
+    S2 = ord("2")
+    S3 = ord("3")
+    S4 = ord("4")
 
 
 class Stop(_PybricksEnum):

src/pybricks/parameters.pyi

@@ -1,6 +1,8 @@
 # SPDX-License-Identifier: MIT
 # Copyright (c) 2020 The Pybricks Authors
 
+from geometry import Matrix
+
 class Color:
     BLACK: Color
     BLUE: Color
@@ -15,6 +17,8 @@ class Color:
     VIOLET: Color
     WHITE: Color
     YELLOW: Color
+    def __init__(self, h: int, s: int = 100, v: int = 100): ...
+    def __eq__(self, other: "Color") -> bool: ...
     def __mul__(self, scale: float) -> Color: ...
     def __rmul__(self, scale: float) -> Color: ...
     def __truediv__(self, scale: float) -> Color: ...
@@ -25,6 +29,8 @@ class Port:
     B: Port
     C: Port
     D: Port
+    E: Port
+    F: Port
     S1: Port
     S2: Port
     S3: Port
@@ -63,3 +69,41 @@ class Side:
     LEFT: Side
     BACK: Side
     BOTTOM: Side
+
+class Icon:
+    UP: Matrix
+    DOWN: Matrix
+    LEFT: Matrix
+    RIGHT: Matrix
+    ARROW_RIGHT_UP: Matrix
+    ARROW_RIGHT_DOWN: Matrix
+    ARROW_LEFT_UP: Matrix
+    ARROW_LEFT_DOWN: Matrix
+    ARROW_UP: Matrix
+    ARROW_DOWN: Matrix
+    ARROW_LEFT: Matrix
+    ARROW_RIGHT: Matrix
+    HAPPY: Matrix
+    SAD: Matrix
+    EYE_LEFT: Matrix
+    EYE_RIGHT: Matrix
+    EYE_LEFT_BLINK: Matrix
+    EYE_RIGHT_BLINK: Matrix
+    EYE_RIGHT_BROW: Matrix
+    EYE_LEFT_BROW: Matrix
+    EYE_LEFT_BROW_UP: Matrix
+    EYE_RIGHT_BROW_UP: Matrix
+    HEART: Matrix
+    PAUSE: Matrix
+    EMPTY: Matrix
+    FULL: Matrix
+    SQUARE: Matrix
+    TRIANGLE_RIGHT: Matrix
+    TRIANGLE_LEFT: Matrix
+    TRIANGLE_UP: Matrix
+    TRIANGLE_DOWN: Matrix
+    CIRCLE: Matrix
+    CLOCKWISE: Matrix
+    COUNTERCLOCKWISE: Matrix
+    TRUE: Matrix
+    FALSE: Matrix

src/pybricks/pupdevices.py

@@ -1,26 +1,38 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2020 The Pybricks Authors
+# Copyright (c) 2018-2022 The Pybricks Authors
 
 """LEGO® Powered Up motor, sensors, and lights."""
 
-from ._common import (Keypad as _Keypad, DCMotor,
-                      ColorLight as _ColorLight, Motor as _Motor,
-                      LightArray as _LightArray, Light as _Light)
+from typing import Optional
+
+from ._common import (
+    Keypad as _Keypad,
+    DCMotor as _DCMotor,
+    ColorLight as _ColorLight,
+    Motor as _Motor,
+    LightArray as _LightArray,
+)
 
 from .parameters import Direction as _Direction, Button as _Button
 
 
+class DCMotor(_DCMotor):
+    pass
+
+
 class Motor(_Motor):
     """Generic class to control motors with built-in rotation sensors."""
 
-    def reset_angle(self, angle=None):
-        """Sets the accumulated rotation angle of the motor to a desired value.
+    def reset_angle(self, angle: Optional[int]) -> None:
+        """reset_angle(angle=None)
+
+        Sets the accumulated rotation angle of the motor to a desired value.
 
         If you don't specify an angle, the absolute angle
         will be used if your motor supports it.
 
         Arguments:
-            angle (:ref:`angle`): Value to which the angle should be reset.
+            angle (Number, deg): Value to which the angle should be reset.
         """
         pass
 
@@ -29,15 +41,17 @@ class Remote:
     """LEGO® Powered Up Bluetooth Remote Control."""
 
     light = _ColorLight()
-    buttons = _Keypad((
-        _Button.LEFT_MINUS,
-        _Button.RIGHT_MINUS,
-        _Button.LEFT,
-        _Button.CENTER,
-        _Button.RIGHT,
-        _Button.LEFT_PLUS,
-        _Button.RIGHT_PLUS
-    ))
+    buttons = _Keypad(
+        (
+            _Button.LEFT_MINUS,
+            _Button.RIGHT_MINUS,
+            _Button.LEFT,
+            _Button.CENTER,
+            _Button.RIGHT,
+            _Button.LEFT_PLUS,
+            _Button.RIGHT_PLUS,
+        )
+    )
 
     def __init__(self, name=None, timeout=10000):
         """When you instantiate this class, the hub will search for a remote
@@ -178,11 +192,7 @@ class PFMotor(DCMotor):
     """Control Power Functions motors with the infrared functionality of the
     :class:`ColorDistanceSensor <pybricks.pupdevices.ColorDistanceSensor>`."""
 
-    def __init__(self,
-                 sensor,
-                 channel,
-                 color,
-                 positive_direction=_Direction.CLOCKWISE):
+    def __init__(self, sensor, channel, color, positive_direction=_Direction.CLOCKWISE):
         """
 
         Arguments:
@@ -449,7 +459,7 @@ class InfraredSensor:
         pass
 
 
-class Light(_Light):
+class Light:
     """LEGO® Powered Up Light."""
 
     def __init__(self, port):
@@ -460,3 +470,19 @@ class Light(_Light):
 
         """
         pass
+
+    def on(self, brightness: int = 100) -> None:
+        """on(brightness=100)
+
+        Turns on the light at the specified brightness.
+
+        Arguments:
+            brightness (Number, %):
+                Brightness of the light.
+        """
+
+    def off(self) -> None:
+        """off()
+
+        Turns off the light."""
+        pass

src/pybricks/pupdevices.pyi

@@ -1,14 +1,19 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
+# Copyright (c) 2020-2022 The Pybricks Authors
 
 from typing import Collection, List, Optional, Tuple, Union
 
-from ._common import Keypad, DCMotor, ColorLight, LightArray, Motor as BaseMotor, Light as BaseLight
+from ._common import (
+    Keypad,
+    DCMotor as _DCMotor,
+    ColorLight,
+    LightArray,
+    Motor as _Motor,
+    Light as BaseLight,
+)
 
 from .parameters import Color, Direction, Port
 
-class Motor(BaseMotor): ...
-
 class Remote:
     light: ColorLight
     buttons: Keypad
@@ -63,7 +68,7 @@ class ForceSensor:
 class ColorLightMatrix:
     def __init__(self, port: Port) -> None: ...
     def on(self, color: Union[Color, List[Color]]) -> None: ...
-    def off(self)-> None: ...
+    def off(self) -> None: ...
 
 class InfraredSensor:
     def __init__(self, port: Port): ...

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,
-                 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

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: ...

src/pybricks/tools.py

@@ -51,8 +51,9 @@ class StopWatch:
 class DataLog:
     """Create a file and log data."""
 
-    def __init__(self, *headers, name='log', timestamp=True, extension='csv',
-                 append=False):
+    def __init__(
+        self, *headers, name="log", timestamp=True, extension="csv", append=False
+    ):
         """
 
         Arguments: