v3.6.1

doc/main: Fix trailing whitespace.
For some reason this was not caught by CI.
2026-09-14 10:35:53 +00:00 · 2025-05-01 11:30:32 +02:00 · 2025-05-01 11:27:33 +02:00 · 2025-05-01 11:25:56 +02:00 · 2025-05-01 11:19:48 +02:00 · 2025-03-19 10:33:59 +01:00
60 changed files with 14663 additions and 299 deletions
@@ -4,7 +4,25 @@
 ## Unreleased
-## 3.5.0- 2024-04-11
+## 3.6.1 - 2025-05-01
 ### Fixed
 - Fixed missing `hub.system.info` method on some hubs.
 ## 3.6.0 - 2025-03-11
 ### Changed
 - Update API for firmware 3.6.0. See upstream changelog for details.
 ## 3.6.0b5 - 2025-02-26
 ### Changed
 - Update API for firmware 3.6.0b5. See upstream changelog for details.
 ## 3.5.0 - 2024-04-11
 ### Changed
 - Bump version to 3.5.0 without additional changes.
@@ -1,3 +1,11 @@
-.block-image {
+.svg-container {
-    margin-top: 10px;
+    display: inline-block;
    width: 100%;
    height: auto;
 }
 .svg-container svg {
    position: relative;
    height: auto;
    max-width: 100%;
 }
@@ -151,6 +151,9 @@ import sphinx_rtd_theme
 html_theme = "sphinx_rtd_theme"
 html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
 html_show_sourcelink = False
 html_copy_source = False
 html_context = {
    "disclaimer": _DISCLAIMER,
 }
@@ -261,6 +264,7 @@ exclude_patterns = [
    "messaging.rst",
    "nxtdevices.rst",
    "tools/datalog.rst",
    "*.rst.txt",
 ]
@@ -1,56 +1,37 @@
-import xml.etree.ElementTree as ET
+from docutils.parsers.rst import Directive
-
+from docutils import nodes
 from docutils.parsers.rst import directives
 from docutils.parsers.rst.directives.images import Image
 from docutils.nodes import image, paragraph
 from pathlib import Path
 SPHINX_IMAGE_PATH = "blockimg"
 SVG_SCALE = 0.9
-
+def get_svg_content(file_path):
-def get_svg_size(file_path):
+    with open(file_path, "r", encoding="utf-8") as file:
-    tree = ET.parse(file_path)
+        return file.read()
    root = tree.getroot()
    width = root.attrib.get("width")
    height = root.attrib.get("height")
    return float(width), float(height)
 # Global variable to store the app object
 app = None
-class BlockImageDirective(Image):
+class BlockImageDirective(Directive):
-    option_spec = Image.option_spec.copy()
+    has_content = False
-    option_spec["stack"] = directives.flag
+    required_arguments = 1
    optional_arguments = 0
    def run(self):
        # Adjust the image path
        file_name = self.arguments[0] + ".svg"
-        self.arguments[0] = "/" + SPHINX_IMAGE_PATH + "/" + file_name
+        file_path = Path(app.srcdir) / SPHINX_IMAGE_PATH / file_name
        path = Path(app.srcdir) / SPHINX_IMAGE_PATH / file_name
-        # Set it to the scaled SVG size unless width explicitly set.
+        # Read the SVG content
-        if self.options.get("width") is None:
+        svg_content = get_svg_content(file_path)
            width, height = get_svg_size(path)
            self.options["width"] = str(round(width * SVG_SCALE)) + "px"
            self.options["height"] = str(round(height * SVG_SCALE)) + "px"
-        # Call the parent class's run method
+        # Create a raw HTML node with the SVG content
-        nodes = super().run()
+        raw_html = f'<div class="svg-container">{svg_content}</div>'
        raw_node = nodes.raw("", raw_html, format="html")
-        # Wrap each image node in a paragraph node
+        return [raw_node]
        for i, node in enumerate(nodes):
            if isinstance(node, image):
                if "stack" not in self.options:
                    node["classes"].append("block-image")
                nodes[i] = paragraph("", "", node)
        return nodes
 def setup(apparg):
@@ -0,0 +1,89 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- Created with Inkscape (http://www.inkscape.org/) -->
 <svg
   version="1.1"
   id="svg2"
   width="525"
   height="525"
   viewBox="0 0 525 525"
   sodipodi:docname="icon_ev3hub.svg"
   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
   inkscape:export-filename="../diagrams/icon_ev3hub.png"
   inkscape:export-xdpi="96"
   inkscape:export-ydpi="96"
   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
   xmlns:xlink="http://www.w3.org/1999/xlink"
   xmlns="http://www.w3.org/2000/svg"
   xmlns:svg="http://www.w3.org/2000/svg"
   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
   xmlns:cc="http://creativecommons.org/ns#"
   xmlns:dc="http://purl.org/dc/elements/1.1/">
  <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" />
      </cc:Work>
    </rdf:RDF>
  </metadata>
  <defs
     id="defs6">
    <clipPath
       clipPathUnits="userSpaceOnUse"
       id="clipPath860">
      <rect
         style="fill:#6ab0de;fill-opacity:1;stroke:#6ab0de;stroke-width:4;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
         id="rect862"
         width="589.10107"
         height="96.333336"
         x="235.33333"
         y="-236.00002" />
    </clipPath>
    <clipPath
       clipPathUnits="userSpaceOnUse"
       id="clipPath1040">
      <rect
         style="fill:#1e1e1e;fill-opacity:1;stroke:none;stroke-width:4;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
         id="rect1042"
         width="128.5101"
         height="19.934668"
         x="827.15656"
         y="74.666672" />
    </clipPath>
  </defs>
  <sodipodi:namedview
     pagecolor="#fcfcfc"
     bordercolor="#666666"
     borderopacity="1"
     objecttolerance="10"
     gridtolerance="10"
     guidetolerance="10"
     inkscape:pageopacity="0"
     inkscape:pageshadow="2"
     inkscape:window-width="1920"
     inkscape:window-height="1163"
     id="namedview4"
     showgrid="false"
     inkscape:zoom="0.9950413"
     inkscape:cx="301.49502"
     inkscape:cy="344.70931"
     inkscape:window-x="1920"
     inkscape:window-y="0"
     inkscape:window-maximized="1"
     inkscape:current-layer="svg2"
     inkscape:snap-global="false"
     inkscape:pagecheckerboard="0" />
  <image
     width="525"
     height="468.02328"
     preserveAspectRatio="none"
     xlink:href="../cad/output/ev3device-ev3.png"
     id="image834"
     x="0"
     y="26.384924" />
 </svg>
@@ -0,0 +1,89 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <!-- Created with Inkscape (http://www.inkscape.org/) -->
 <svg
   version="1.1"
   id="svg2"
   width="525"
   height="525"
   viewBox="0 0 525 525"
   sodipodi:docname="icon_nxthub.svg"
   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
   inkscape:export-filename="../diagrams/icon_nxthub.png"
   inkscape:export-xdpi="96"
   inkscape:export-ydpi="96"
   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
   xmlns:xlink="http://www.w3.org/1999/xlink"
   xmlns="http://www.w3.org/2000/svg"
   xmlns:svg="http://www.w3.org/2000/svg"
   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
   xmlns:cc="http://creativecommons.org/ns#"
   xmlns:dc="http://purl.org/dc/elements/1.1/">
  <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" />
      </cc:Work>
    </rdf:RDF>
  </metadata>
  <defs
     id="defs6">
    <clipPath
       clipPathUnits="userSpaceOnUse"
       id="clipPath860">
      <rect
         style="fill:#6ab0de;fill-opacity:1;stroke:#6ab0de;stroke-width:4;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
         id="rect862"
         width="589.10107"
         height="96.333336"
         x="235.33333"
         y="-236.00002" />
    </clipPath>
    <clipPath
       clipPathUnits="userSpaceOnUse"
       id="clipPath1040">
      <rect
         style="fill:#1e1e1e;fill-opacity:1;stroke:none;stroke-width:4;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
         id="rect1042"
         width="128.5101"
         height="19.934668"
         x="827.15656"
         y="74.666672" />
    </clipPath>
  </defs>
  <sodipodi:namedview
     pagecolor="#fcfcfc"
     bordercolor="#666666"
     borderopacity="1"
     objecttolerance="10"
     gridtolerance="10"
     guidetolerance="10"
     inkscape:pageopacity="0"
     inkscape:pageshadow="2"
     inkscape:window-width="1920"
     inkscape:window-height="1163"
     id="namedview4"
     showgrid="false"
     inkscape:zoom="0.9950413"
     inkscape:cx="301.49502"
     inkscape:cy="344.70931"
     inkscape:window-x="1920"
     inkscape:window-y="0"
     inkscape:window-maximized="1"
     inkscape:current-layer="svg2"
     inkscape:snap-global="false"
     inkscape:pagecheckerboard="false" />
  <image
     width="525"
     height="447.39801"
     preserveAspectRatio="none"
     xlink:href="../cad/output/nxtdevice-nxt.png"
     id="image960"
     x="0"
     y="34.809708" />
 </svg>
@@ -8,7 +8,6 @@ City Hub
 .. blockimg:: pybricks_variables_set_city_hub_option0
 .. blockimg:: pybricks_variables_set_city_hub_option3
    :stack:
 .. autoclass:: pybricks.hubs.CityHub
    :no-members:
@@ -57,26 +56,26 @@ City Hub
    .. automethod:: pybricks.hubs::CityHub.buttons.pressed
    .. automethod:: pybricks.hubs::CityHub.system.info
    .. blockimg:: pybricks_blockHubStopButton_CityHub
    .. blockimg:: pybricks_blockHubStopButton_CityHub_none
        :stack:
    .. automethod:: pybricks.hubs::CityHub.system.set_stop_button
    .. automethod:: pybricks.hubs::CityHub.system.name
    .. automethod:: pybricks.hubs::CityHub.system.storage
        You can store up to 128 bytes of data on this hub. The data is cleared
        when you update the Pybricks firmware or if you restore the original
        firmware.
    .. automethod:: pybricks.hubs::CityHub.system.reset_storage
    .. blockimg:: pybricks_blockHubShutdown_CityHub
    .. automethod:: pybricks.hubs::CityHub.system.shutdown
    .. automethod:: pybricks.hubs::CityHub.system.reset_reason
 Status light examples
 ---------------------
@@ -9,7 +9,6 @@ Essential Hub
 .. blockimg:: pybricks_variables_set_essential_hub_option0
 .. blockimg:: pybricks_variables_set_essential_hub_option4
    :stack:
 .. autoclass:: pybricks.hubs.EssentialHub
    :no-members:
@@ -37,12 +36,18 @@ Essential Hub
    .. blockimg:: pybricks_blockHubStopButton_EssentialHub
    .. blockimg:: pybricks_blockHubStopButton_EssentialHub_none
        :stack:
    .. automethod:: pybricks.hubs::EssentialHub.system.set_stop_button
    .. rubric:: Using the IMU
    .. versionchanged:: 3.6
        The methods below now return calibrated data by default. Depending on
        the method used, this combines data from the accelerometer, gyroscope,
        with your calibration values. Use ``calibrated=False`` where applicable
        to get the raw data you got before.
    .. blockimg:: pybricks_blockImuStatus_EssentialHub_ready
    .. automethod:: pybricks.hubs::EssentialHub.imu.ready
@@ -58,7 +63,6 @@ Essential Hub
    .. blockimg:: pybricks_blockTilt_EssentialHub_imu.tilt.pitch
    .. blockimg:: pybricks_blockTilt_EssentialHub_imu.tilt.roll
        :stack:
    .. automethod:: pybricks.hubs::EssentialHub.imu.tilt
@@ -84,6 +88,12 @@ Essential Hub
    .. automethod:: pybricks.hubs::EssentialHub.imu.orientation
    .. blockimg:: pybricks_blockImuConfigure_EssentialHub_imu.settings_heading_correction
    .. blockimg:: pybricks_blockImuConfigure_EssentialHub_imu.settings_angular_velocity_threshold
    .. blockimg:: pybricks_blockImuConfigure_EssentialHub_imu.settings_acceleration_threshold
    .. automethod:: pybricks.hubs::EssentialHub.imu.settings
    .. rubric:: Using connectionless Bluetooth messaging
@@ -120,18 +130,19 @@ Essential Hub
    .. rubric:: System control
-    .. automethod:: pybricks.hubs::EssentialHub.system.name
+    .. automethod:: pybricks.hubs::EssentialHub.system.info
    .. automethod:: pybricks.hubs::EssentialHub.system.storage
-        You can store up to 512 bytes of data on this hub.
+        You can store up to 512 bytes of data on this hub. The data is cleared
        when you update the Pybricks firmware.
    .. automethod:: pybricks.hubs::EssentialHub.system.reset_storage
    .. blockimg:: pybricks_blockHubShutdown_EssentialHub
    .. automethod:: pybricks.hubs::EssentialHub.system.shutdown
    .. automethod:: pybricks.hubs::EssentialHub.system.reset_reason
 Status light examples
 ---------------------
@@ -11,7 +11,6 @@ Move Hub
 .. blockimg:: pybricks_variables_set_move_hub_option0
 .. blockimg:: pybricks_variables_set_move_hub_option4
    :stack:
 .. autoclass:: pybricks.hubs.MoveHub
    :no-members:
@@ -39,7 +38,6 @@ Move Hub
    .. blockimg:: pybricks_blockTilt_MoveHub_imu.tilt.pitch
    .. blockimg:: pybricks_blockTilt_MoveHub_imu.tilt.roll
        :stack:
    .. automethod:: pybricks.hubs::MoveHub.imu.tilt
@@ -81,27 +79,26 @@ Move Hub
    .. automethod:: pybricks.hubs::MoveHub.buttons.pressed
    .. automethod:: pybricks.hubs::MoveHub.system.info
    .. blockimg:: pybricks_blockHubStopButton_MoveHub
    .. blockimg:: pybricks_blockHubStopButton_MoveHub_none
        :stack:
    .. automethod:: pybricks.hubs::MoveHub.system.set_stop_button
    .. automethod:: pybricks.hubs::MoveHub.system.name
    .. automethod:: pybricks.hubs::MoveHub.system.storage
        You can store up to 128 bytes of data on this hub. The data is cleared
        when you update the Pybricks firmware or if you restore the original
        firmware.
    .. automethod:: pybricks.hubs::MoveHub.system.reset_storage
    .. blockimg:: pybricks_blockHubShutdown_MoveHub
    .. automethod:: pybricks.hubs::MoveHub.system.shutdown
    .. automethod:: pybricks.hubs::MoveHub.system.reset_reason
 Status light examples
 ---------------------
@@ -9,7 +9,6 @@ Prime Hub / Inventor Hub
 .. blockimg:: pybricks_variables_set_inventor_hub_option0
 .. blockimg:: pybricks_variables_set_inventor_hub_option4
    :stack:
 .. class:: InventorHub
@@ -21,7 +20,6 @@ Prime Hub / Inventor Hub
 .. blockimg:: pybricks_variables_set_prime_hub_option0
 .. blockimg:: pybricks_variables_set_prime_hub_option4
    :stack:
 .. autoclass:: pybricks.hubs.PrimeHub
    :no-members:
@@ -84,12 +82,18 @@ Prime Hub / Inventor Hub
    .. blockimg:: pybricks_blockHubStopButton_PrimeHub
    .. blockimg:: pybricks_blockHubStopButton_PrimeHub_none
        :stack:
    .. automethod:: pybricks.hubs::PrimeHub.system.set_stop_button
    .. rubric:: Using the IMU
    .. versionchanged:: 3.6
        The methods below now return calibrated data by default. Depending on
        the method used, this combines data from the accelerometer, gyroscope,
        with your calibration values. Use ``calibrated=False`` where applicable
        to get the raw data you got before.
    .. blockimg:: pybricks_blockImuStatus_PrimeHub_ready
    .. automethod:: pybricks.hubs::PrimeHub.imu.ready
@@ -105,7 +109,6 @@ Prime Hub / Inventor Hub
    .. blockimg:: pybricks_blockTilt_PrimeHub_imu.tilt.pitch
    .. blockimg:: pybricks_blockTilt_PrimeHub_imu.tilt.roll
        :stack:
    .. automethod:: pybricks.hubs::PrimeHub.imu.tilt
@@ -131,6 +134,12 @@ Prime Hub / Inventor Hub
    .. automethod:: pybricks.hubs::PrimeHub.imu.orientation
    .. blockimg:: pybricks_blockImuConfigure_PrimeHub_imu.settings_heading_correction
    .. blockimg:: pybricks_blockImuConfigure_PrimeHub_imu.settings_angular_velocity_threshold
    .. blockimg:: pybricks_blockImuConfigure_PrimeHub_imu.settings_acceleration_threshold
    .. automethod:: pybricks.hubs::PrimeHub.imu.settings
    .. rubric:: Using the speaker
@@ -175,19 +184,22 @@ Prime Hub / Inventor Hub
    .. rubric:: System control
-    .. automethod:: pybricks.hubs::PrimeHub.system.name
+    .. automethod:: pybricks.hubs::PrimeHub.system.info
    .. automethod:: pybricks.hubs::PrimeHub.system.storage
-        You can store up to 512 bytes of data on this hub.
+        You can store up to 512 bytes of data on this hub. The data is cleared
        when you update the Pybricks firmware.
    .. automethod:: pybricks.hubs::PrimeHub.system.reset_storage
    .. blockimg:: pybricks_blockHubShutdown_PrimeHub
    .. automethod:: pybricks.hubs::PrimeHub.system.shutdown
-    .. automethod:: pybricks.hubs::PrimeHub.system.reset_reason
+.. note::
-.. note:: The examples below use the ``PrimeHub`` class. The examples work fine
+        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``.
@@ -9,7 +9,6 @@ Technic Hub
 .. blockimg:: pybricks_variables_set_technic_hub_option0
 .. blockimg:: pybricks_variables_set_technic_hub_option4
    :stack:
 .. autoclass:: pybricks.hubs.TechnicHub
    :no-members:
@@ -30,6 +29,13 @@ Technic Hub
    .. rubric:: Using the IMU
    .. versionchanged:: 3.6
        The methods below now return calibrated data by default. Depending on
        the method used, this combines data from the accelerometer, gyroscope,
        with your calibration values. Use ``calibrated=False`` where applicable
        to get the raw data you got before.
    .. blockimg:: pybricks_blockImuStatus_TechnicHub_ready
    .. automethod:: pybricks.hubs::TechnicHub.imu.ready
@@ -45,7 +51,6 @@ Technic Hub
    .. blockimg:: pybricks_blockTilt_TechnicHub_imu.tilt.pitch
    .. blockimg:: pybricks_blockTilt_TechnicHub_imu.tilt.roll
        :stack:
    .. automethod:: pybricks.hubs::TechnicHub.imu.tilt
@@ -71,6 +76,12 @@ Technic Hub
    .. automethod:: pybricks.hubs::TechnicHub.imu.orientation
    .. blockimg:: pybricks_blockImuConfigure_TechnicHub_imu.settings_heading_correction
    .. blockimg:: pybricks_blockImuConfigure_TechnicHub_imu.settings_angular_velocity_threshold
    .. blockimg:: pybricks_blockImuConfigure_TechnicHub_imu.settings_acceleration_threshold
    .. automethod:: pybricks.hubs::TechnicHub.imu.settings
    .. rubric:: Using connectionless Bluetooth messaging
@@ -103,27 +114,26 @@ Technic Hub
    .. automethod:: pybricks.hubs::TechnicHub.buttons.pressed
    .. automethod:: pybricks.hubs::TechnicHub.system.info
    .. blockimg:: pybricks_blockHubStopButton_TechnicHub
    .. blockimg:: pybricks_blockHubStopButton_TechnicHub_none
        :stack:
    .. automethod:: pybricks.hubs::TechnicHub.system.set_stop_button
    .. automethod:: pybricks.hubs::TechnicHub.system.name
    .. automethod:: pybricks.hubs::TechnicHub.system.storage
        You can store up to 128 bytes of data on this hub. The data is cleared
        when you update the Pybricks firmware or if you restore the original
        firmware.
    .. automethod:: pybricks.hubs::TechnicHub.system.reset_storage
    .. blockimg:: pybricks_blockHubShutdown_TechnicHub
    .. automethod:: pybricks.hubs::TechnicHub.system.shutdown
    .. automethod:: pybricks.hubs::TechnicHub.system.reset_reason
 Status light examples
 ---------------------
@@ -1,3 +1,5 @@
 .. pybricks-requirements:: pybricks-iodevices
 LEGO Wireless Protocol v3 device
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
@@ -30,21 +30,18 @@ Xbox Controller
  .. blockimg:: pybricks_blockJoystickValue_lj_x
  .. blockimg:: pybricks_blockJoystickValue_lj_y
      :stack:
  .. automethod:: pybricks.iodevices::XboxController.joystick_left
  .. blockimg:: pybricks_blockJoystickValue_rj_x
  .. blockimg:: pybricks_blockJoystickValue_rj_y
      :stack:
  .. automethod:: pybricks.iodevices::XboxController.joystick_right
  .. blockimg:: pybricks_blockJoystickValue_lt
  .. blockimg:: pybricks_blockJoystickValue_rt
      :stack:
  .. automethod:: pybricks.iodevices::XboxController.triggers
@@ -59,10 +56,8 @@ Xbox Controller
  .. blockimg:: pybricks_blockGamepadRumble_default
  .. blockimg:: pybricks_blockGamepadRumble_default_with_list
      :stack:
  .. blockimg:: pybricks_blockGamepadRumble_with_options
      :stack:
  .. automethod:: pybricks.iodevices::XboxController.rumble
@@ -79,52 +79,36 @@ Sequences
 .. pybricks-requirements::
 .. blockimg:: pybricks_blockListCreate_list_empty
    :stack:
 .. blockimg:: pybricks_blockListCreate_list_3
    :stack:
 .. blockimg:: pybricks_blockListUnpack
    :stack:
 .. blockimg:: pybricks_blockListGet_list_get_first
    :stack:
 .. blockimg:: pybricks_blockListGet_list_get_index
    :stack:
 .. blockimg:: pybricks_blockListGet_list_get_last
    :stack:
 .. blockimg:: pybricks_blockListGet_list_get_random
    :stack:
 .. blockimg:: pybricks_blockListSet_list_insert_first
    :stack:
 .. blockimg:: pybricks_blockListSet_list_insert_index
    :stack:
 .. blockimg:: pybricks_blockListSet_list_insert_last
    :stack:
 .. blockimg:: pybricks_blockListSet_list_remove_first
    :stack:
 .. blockimg:: pybricks_blockListSet_list_remove_index
    :stack:
 .. blockimg:: pybricks_blockListSet_list_remove_last
    :stack:
 .. blockimg:: pybricks_blockListSet_list_set_first
    :stack:
 .. blockimg:: pybricks_blockListSet_list_set_index
    :stack:
 .. blockimg:: pybricks_blockListSet_list_set_last
    :stack:
 .. autoclass:: ubuiltins.list
@@ -262,11 +246,11 @@ See also :mod:`umath` for floating point math operations.
 Runtime functions
 -------------------------
-.. pybricks-requirements::
+.. pybricks-requirements:: stm32-extra
 .. autofunction:: ubuiltins.eval
-.. pybricks-requirements::
+.. pybricks-requirements:: stm32-extra
 .. autofunction:: ubuiltins.exec
@@ -42,7 +42,6 @@ Color Sensor
    .. blockimg:: pybricks_blockLightOn_colorsensor_on
    .. blockimg:: pybricks_blockLightOn_colorsensor_on_list
        :stack:
    .. automethod:: pybricks.pupdevices::ColorSensor.lights.on
@@ -105,10 +105,8 @@ Motors with rotation sensors
    .. blockimg:: pybricks_blockMotorConfigure_motor_max_speed
    .. blockimg:: pybricks_blockMotorConfigure_motor_acceleration
        :stack:
    .. blockimg:: pybricks_blockMotorConfigure_motor_max_torque
        :stack:
    .. automethod:: pybricks.pupdevices.Motor.control.limits
@@ -9,7 +9,6 @@ Remote Control
 .. blockimg:: pybricks_variables_set_remote_connect_any
 .. blockimg:: pybricks_variables_set_remote_connect_name
    :stack:
 .. autoclass:: pybricks.pupdevices.Remote
  :no-members:
@@ -14,7 +14,6 @@ Tilt Sensor
    .. blockimg:: pybricks_blockTilt_TiltSensor_imu.tilt.pitch
    .. blockimg:: pybricks_blockTilt_TiltSensor_imu.tilt.roll
        :stack:
    .. automethod:: tilt
@@ -25,7 +25,6 @@ Ultrasonic Sensor
    .. blockimg:: pybricks_blockLightOn_ultrasonicsensor_on
    .. blockimg:: pybricks_blockLightOn_ultrasonicsensor_on_list
        :stack:
    .. automethod:: pybricks.pupdevices::UltrasonicSensor.lights.on
@@ -27,9 +27,24 @@
    .. automethod:: pybricks.robotics.DriveBase.turn
-    .. blockimg:: pybricks_blockDriveBaseDrive_drivebase_drive_curve
+    .. versionchanged:: 3.6
-    .. automethod:: pybricks.robotics.DriveBase.curve
+        The ``curve()`` Python method will be replaced by the :meth:`.arc`
        method. It can still make curves, but it uses different definitions
        for drive and turn direction. Existing code with ``curve()`` continues
        to work the same, but you should use :meth:`.arc` for new code.
        If you use block code, you can pick a new block from the palette to
        update your code. The old block will still work, but it displays a
        warning icon to remind you to upgrade. The updated `curve` option uses
        the direction definitions given below. The new `veer` option lets
        you drive along a circle by a given distance, which is useful for
        veering slightly in one direction.
    .. blockimg:: pybricks_blockDriveBaseDrive2_drivebase_drive_arc_angle
    .. blockimg:: pybricks_blockDriveBaseDrive2_drivebase_drive_arc_distance
    .. automethod:: pybricks.robotics.DriveBase.arc
    .. blockimg:: pybricks_blockDriveBaseConfigure_drivebase_straight_speed
@@ -81,6 +96,12 @@
    .. automethod:: pybricks.robotics.DriveBase.state
    .. versionchanged:: 3.6
        Now stops the drive base. You can now use nonzero values.
    .. blockimg:: pybricks_blockDriveBaseResetWithValues
    .. automethod:: pybricks.robotics.DriveBase.reset
    .. automethod:: pybricks.robotics.DriveBase.stalled
@@ -114,7 +135,7 @@
    ``then=Stop.COAST`` in your last
    :meth:`straight <pybricks.robotics.DriveBase.straight>`,
    :meth:`turn <pybricks.robotics.DriveBase.turn>`, or
-    :meth:`curve <pybricks.robotics.DriveBase.curve>` command.
+    :meth:`curve <pybricks.robotics.DriveBase.arc>` command.
    .. _measuring:
@@ -40,13 +40,10 @@ Input tools
 .. blockimg:: pybricks_blockReadInput_read_input_first_byte
 .. blockimg:: pybricks_blockReadInput_read_input_first_char
    :stack:
 .. blockimg:: pybricks_blockReadInput_read_input_last_byte
    :stack:
 .. blockimg:: pybricks_blockReadInput_read_input_last_char
    :stack:
 .. autofunction:: pybricks.tools.read_input_byte
@@ -12,7 +12,7 @@ wait(1500)
 example_motor.stop()
 wait(1500)
-# Run at 70% duty cycle ("power") and then stop by coasting.
+# Run at 50% duty cycle ("power") and then stop by coasting.
 print("Demo of dc")
 example_motor.dc(50)
 wait(1500)
@@ -4,6 +4,11 @@
 ## Unreleased
 ## 1.17.0 - 2025-02-26
 ### Changed
 - Updated `pybricks` package to v3.5.0b5.
 ## 1.16.0 - 2024-04-05
 ### Changed
@@ -1,10 +1,9 @@
-# This file is automatically @generated by Poetry and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
 [[package]]
 name = "black"
 version = "22.12.0"
 description = "The uncompromising code formatter."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
@@ -37,14 +36,13 @@ uvloop = ["uvloop (>=0.15.2)"]
 [[package]]
 name = "click"
-version = "8.1.7"
+version = "8.1.8"
 description = "Composable command line interface toolkit"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"},
+    {file = "click-8.1.8-py3-none-any.whl", hash = "sha256:63c132bbbed01578a06712a2d1f497bb62d9c1c0d329b7903a866228027263b2"},
-    {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"},
+    {file = "click-8.1.8.tar.gz", hash = "sha256:ed53c9d8990d83c2a27deae68e4ee337473f6330c040a31d4225c9574d16096a"},
 ]
 [package.dependencies]
@@ -54,7 +52,6 @@ colorama = {version = "*", markers = "platform_system == \"Windows\""}
 name = "colorama"
 version = "0.4.6"
 description = "Cross-platform colored terminal text."
 category = "dev"
 optional = false
 python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
 files = [
@@ -66,7 +63,6 @@ files = [
 name = "docstring-parser"
 version = "0.14.1"
 description = "Parse Python docstrings in reST, Google and Numpydoc format"
 category = "main"
 optional = false
 python-versions = ">=3.6,<4.0"
 files = [
@@ -76,14 +72,13 @@ files = [
 [[package]]
 name = "exceptiongroup"
-version = "1.2.0"
+version = "1.2.2"
 description = "Backport of PEP 654 (exception groups)"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "exceptiongroup-1.2.0-py3-none-any.whl", hash = "sha256:4bfd3996ac73b41e9b9628b04e079f193850720ea5945fc96a08633c66912f14"},
+    {file = "exceptiongroup-1.2.2-py3-none-any.whl", hash = "sha256:3111b9d131c238bec2f8f516e123e14ba243563fb135d3fe885990585aa7795b"},
-    {file = "exceptiongroup-1.2.0.tar.gz", hash = "sha256:91f5c769735f051a4290d52edd0858999b57e5876e9f85937691bd4c9fa3ed68"},
+    {file = "exceptiongroup-1.2.2.tar.gz", hash = "sha256:47c2edf7c6738fafb49fd34290706d1a1a2f4d1c6df275526b62cbb4aa5393cc"},
 ]
 [package.extras]
@@ -93,7 +88,6 @@ test = ["pytest (>=6)"]
 name = "flake8"
 version = "4.0.1"
 description = "the modular source code checker: pep8 pyflakes and co"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
 files = [
@@ -110,7 +104,6 @@ pyflakes = ">=2.4.0,<2.5.0"
 name = "iniconfig"
 version = "2.0.0"
 description = "brain-dead simple config-ini parsing"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
@@ -122,7 +115,6 @@ files = [
 name = "jedi"
 version = "0.18.1"
 description = "An autocompletion tool for Python that can be used for text editors."
 category = "main"
 optional = false
 python-versions = ">=3.6"
 files = [
@@ -141,7 +133,6 @@ testing = ["Django (<3.1)", "colorama", "docopt", "pytest (<7.0.0)"]
 name = "mccabe"
 version = "0.6.1"
 description = "McCabe checker, plugin for flake8"
 category = "dev"
 optional = false
 python-versions = "*"
 files = [
@@ -153,7 +144,6 @@ files = [
 name = "mypy-extensions"
 version = "1.0.0"
 description = "Type system extensions for programs checked with the mypy type checker."
 category = "dev"
 optional = false
 python-versions = ">=3.5"
 files = [
@@ -163,21 +153,19 @@ files = [
 [[package]]
 name = "packaging"
-version = "24.0"
+version = "24.2"
 description = "Core utilities for Python packages"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "packaging-24.0-py3-none-any.whl", hash = "sha256:2ddfb553fdf02fb784c234c7ba6ccc288296ceabec964ad2eae3777778130bc5"},
+    {file = "packaging-24.2-py3-none-any.whl", hash = "sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759"},
-    {file = "packaging-24.0.tar.gz", hash = "sha256:eb82c5e3e56209074766e6885bb04b8c38a0c015d0a30036ebe7ece34c9989e9"},
+    {file = "packaging-24.2.tar.gz", hash = "sha256:c228a6dc5e932d346bc5739379109d49e8853dd8223571c7c5b55260edc0b97f"},
 ]
 [[package]]
 name = "parso"
 version = "0.8.4"
 description = "A Python Parser"
 category = "main"
 optional = false
 python-versions = ">=3.6"
 files = [
@@ -193,7 +181,6 @@ testing = ["docopt", "pytest"]
 name = "pathspec"
 version = "0.12.1"
 description = "Utility library for gitignore style pattern matching of file paths."
 category = "dev"
 optional = false
 python-versions = ">=3.8"
 files = [
@@ -203,30 +190,29 @@ files = [
 [[package]]
 name = "platformdirs"
-version = "4.2.0"
+version = "4.3.6"
-description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 category = "dev"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "platformdirs-4.2.0-py3-none-any.whl", hash = "sha256:0614df2a2f37e1a662acbd8e2b25b92ccf8632929bc6d43467e17fe89c75e068"},
+    {file = "platformdirs-4.3.6-py3-none-any.whl", hash = "sha256:73e575e1408ab8103900836b97580d5307456908a03e92031bab39e4554cc3fb"},
-    {file = "platformdirs-4.2.0.tar.gz", hash = "sha256:ef0cc731df711022c174543cb70a9b5bd22e5a9337c8624ef2c2ceb8ddad8768"},
+    {file = "platformdirs-4.3.6.tar.gz", hash = "sha256:357fb2acbc885b0419afd3ce3ed34564c13c9b95c89360cd9563f73aa5e2b907"},
 ]
 [package.extras]
-docs = ["furo (>=2023.9.10)", "proselint (>=0.13)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"]
+docs = ["furo (>=2024.8.6)", "proselint (>=0.14)", "sphinx (>=8.0.2)", "sphinx-autodoc-typehints (>=2.4)"]
-test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=8.3.2)", "pytest-cov (>=5)", "pytest-mock (>=3.14)"]
 type = ["mypy (>=1.11.2)"]
 [[package]]
 name = "pluggy"
-version = "1.4.0"
+version = "1.5.0"
 description = "plugin and hook calling mechanisms for python"
 category = "dev"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "pluggy-1.4.0-py3-none-any.whl", hash = "sha256:7db9f7b503d67d1c5b95f59773ebb58a8c1c288129a88665838012cfb07b8981"},
+    {file = "pluggy-1.5.0-py3-none-any.whl", hash = "sha256:44e1ad92c8ca002de6377e165f3e0f1be63266ab4d554740532335b9d75ea669"},
-    {file = "pluggy-1.4.0.tar.gz", hash = "sha256:8c85c2876142a764e5b7548e7d9a0e0ddb46f5185161049a79b7e974454223be"},
+    {file = "pluggy-1.5.0.tar.gz", hash = "sha256:2cffa88e94fdc978c4c574f15f9e59b7f4201d439195c3715ca9e2486f1d0cf1"},
 ]
 [package.extras]
@@ -235,9 +221,8 @@ testing = ["pytest", "pytest-benchmark"]
 [[package]]
 name = "pybricks"
-version = "3.5.0b2"
+version = "3.6.0b5"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 category = "main"
 optional = false
 python-versions = "^3.8"
 files = []
@@ -251,7 +236,6 @@ url = ".."
 name = "pycodestyle"
 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.*, !=3.4.*"
 files = [
@@ -263,7 +247,6 @@ files = [
 name = "pyflakes"
 version = "2.4.0"
 description = "passive checker of Python programs"
 category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 files = [
@@ -275,7 +258,6 @@ files = [
 name = "pytest"
 version = "7.4.4"
 description = "pytest: simple powerful testing with Python"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
@@ -296,21 +278,49 @@ testing = ["argcomplete", "attrs (>=19.2.0)", "hypothesis (>=3.56)", "mock", "no
 [[package]]
 name = "tomli"
-version = "2.0.1"
+version = "2.2.1"
 description = "A lil' TOML parser"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
+    {file = "tomli-2.2.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:678e4fa69e4575eb77d103de3df8a895e1591b48e740211bd1067378c69e8249"},
-    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
+    {file = "tomli-2.2.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:023aa114dd824ade0100497eb2318602af309e5a55595f76b626d6d9f3b7b0a6"},
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    {file = "tomli-2.2.1-py3-none-any.whl", hash = "sha256:cb55c73c5f4408779d0cf3eef9f762b9c9f147a77de7b258bef0a5628adc85cc"},
    {file = "tomli-2.2.1.tar.gz", hash = "sha256:cd45e1dc79c835ce60f7404ec8119f2eb06d38b1deba146f07ced3bbc44505ff"},
 ]
 [[package]]
 name = "typing-extensions"
 version = "4.2.0"
 description = "Backported and Experimental Type Hints for Python 3.7+"
 category = "main"
 optional = false
 python-versions = ">=3.7"
 files = [
@@ -321,4 +331,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = ">= 3.10, < 3.12"
-content-hash = "a634c0231937213565b3dff33539075fd544a4261bf8f84e99b294f34ec7edd4"
+content-hash = "0a796ac6867c41e8cf0ce289beca1cebb4066b622c2c538c11589413dcb579af"
@@ -1,13 +1,13 @@
 [tool.poetry]
 name = "pybricks_jedi"
-version = "1.16.0"
+version = "1.17.0"
 description = "Code completion for Pybricks."
 authors = ["The Pybricks Authors <team@pybricks.com>"]
 license = "MIT"
 [tool.poetry.dependencies]
 python = ">= 3.10, < 3.12"
-pybricks = "3.5.0b2"
+pybricks = "3.6.0b5"
 jedi = "0.18.1"
 typing-extensions = "4.2.0"
 docstring-parser = "0.14.1"
@@ -76,8 +76,8 @@ def test_hub_dot_system_dot():
    code = _create_snippet(line)
    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
    assert [c["insertText"] for c in completions] == [
-        "name",
+        "info",
-        "reset_reason",
+        "reset_storage",
        "set_stop_button",
        "shutdown",
        "storage",
@@ -108,8 +108,8 @@ def test_hub_dot_system_dot():
    code = _create_snippet(line)
    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
    assert [c["insertText"] for c in completions] == [
-        "name",
+        "info",
-        "reset_reason",
+        "reset_storage",
        "set_stop_button",
        "shutdown",
        "storage",
@@ -88,8 +88,8 @@ def test_hub_dot_system_dot():
    code = _create_snippet(line)
    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
    assert [c["insertText"] for c in completions] == [
-        "name",
+        "info",
-        "reset_reason",
+        "reset_storage",
        "set_stop_button",
        "shutdown",
        "storage",
@@ -137,8 +137,8 @@ def test_hub_dot_system_dot():
    code = _create_snippet(line)
    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
    assert [c["insertText"] for c in completions] == [
-        "name",
+        "info",
-        "reset_reason",
+        "reset_storage",
        "set_stop_button",
        "shutdown",
        "storage",
@@ -96,8 +96,8 @@ def test_hub_dot_system_dot():
    code = _create_snippet(line)
    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
    assert [c["insertText"] for c in completions] == [
-        "name",
+        "info",
-        "reset_reason",
+        "reset_storage",
        "set_stop_button",
        "shutdown",
        "storage",
@@ -86,12 +86,12 @@ CONSTRUCTOR_PARAMS = [
    pytest.param(
        "pybricks.hubs",
        "MoveHub",
-        [["broadcast_channel: int=0", "observe_channels: Sequence[int]=[]"]],
+        [["broadcast_channel: int=None", "observe_channels: Sequence[int]=[]"]],
    ),
    pytest.param(
        "pybricks.hubs",
        "CityHub",
-        [["broadcast_channel: int=0", "observe_channels: Sequence[int]=[]"]],
+        [["broadcast_channel: int=None", "observe_channels: Sequence[int]=[]"]],
    ),
    pytest.param(
        "pybricks.hubs",
@@ -100,7 +100,7 @@ CONSTRUCTOR_PARAMS = [
            [
                "top_side: Axis=Axis.Z",
                "front_side: Axis=Axis.X",
-                "broadcast_channel: int=0",
+                "broadcast_channel: int=None",
                "observe_channels: Sequence[int]=[]",
            ]
        ],
@@ -112,7 +112,7 @@ CONSTRUCTOR_PARAMS = [
            [
                "top_side: Axis=Axis.Z",
                "front_side: Axis=Axis.X",
-                "broadcast_channel: int=0",
+                "broadcast_channel: int=None",
                "observe_channels: Sequence[int]=[]",
            ]
        ],
@@ -124,7 +124,7 @@ CONSTRUCTOR_PARAMS = [
            [
                "top_side: Axis=Axis.Z",
                "front_side: Axis=Axis.X",
-                "broadcast_channel: int=0",
+                "broadcast_channel: int=None",
                "observe_channels: Sequence[int]=[]",
            ]
        ],
@@ -264,7 +264,6 @@ METHOD_PARAMS = [
        "system.set_stop_button",
        [(["button: Optional[Union[Button, Iterable[Button]]]"], "None")],
    ),
    pytest.param("pybricks.hubs", "MoveHub", "system.name", [([], "str")]),
    pytest.param("pybricks.hubs", "MoveHub", "system.shutdown", [([], "None")]),
    pytest.param(
        "pybricks.hubs",
@@ -275,7 +274,6 @@ METHOD_PARAMS = [
            (["offset: int", "*", "write: bytes"], "None"),
        ],
    ),
    pytest.param("pybricks.hubs", "MoveHub", "system.reset_reason", [([], "int")]),
    pytest.param("pybricks.hubs", "CityHub", "light.on", [(["color: Color"], "None")]),
    pytest.param("pybricks.hubs", "CityHub", "light.off", [([], "None")]),
    pytest.param(
@@ -299,7 +297,6 @@ METHOD_PARAMS = [
        "system.set_stop_button",
        [(["button: Optional[Union[Button, Iterable[Button]]]"], "None")],
    ),
    pytest.param("pybricks.hubs", "CityHub", "system.name", [([], "str")]),
    pytest.param("pybricks.hubs", "CityHub", "system.shutdown", [([], "None")]),
    pytest.param(
        "pybricks.hubs",
@@ -310,7 +307,6 @@ METHOD_PARAMS = [
            (["offset: int", "*", "write: bytes"], "None"),
        ],
    ),
    pytest.param("pybricks.hubs", "CityHub", "system.reset_reason", [([], "int")]),
    pytest.param(
        "pybricks.hubs", "TechnicHub", "light.on", [(["color: Color"], "None")]
    ),
@@ -327,19 +323,35 @@ METHOD_PARAMS = [
        "light.animate",
        [(["colors: Collection[Color]", "interval: Number"], "None")],
    ),
-    pytest.param("pybricks.hubs", "TechnicHub", "imu.up", [([], "Side")]),
+    pytest.param(
-    pytest.param("pybricks.hubs", "TechnicHub", "imu.tilt", [([], "Tuple[int, int]")]),
+        "pybricks.hubs",
        "TechnicHub",
        "imu.up",
        [(["calibrated: bool=True"], "Side")],
    ),
    pytest.param(
        "pybricks.hubs",
        "TechnicHub",
        "imu.tilt",
        [(["calibrated: bool=True"], "Tuple[int, int]")],
    ),
    pytest.param(
        "pybricks.hubs",
        "TechnicHub",
        "imu.acceleration",
-        [(["axis: Axis"], "float"), ([], "Matrix")],
+        [
            (["axis: Axis=None", "calibrated: bool=True"], "float"),
            (["calibrated: bool=True"], "Matrix"),
        ],
    ),
    pytest.param(
        "pybricks.hubs",
        "TechnicHub",
        "imu.angular_velocity",
-        [(["axis: Axis"], "float"), ([], "Matrix")],
+        [
            (["axis: Axis=None", "calibrated: bool=True"], "float"),
            (["calibrated: bool=True"], "Matrix"),
        ],
    ),
    pytest.param("pybricks.hubs", "TechnicHub", "imu.heading", [([], "float")]),
    pytest.param("pybricks.hubs", "TechnicHub", "imu.orientation", [([], "Matrix")]),
@@ -353,7 +365,7 @@ METHOD_PARAMS = [
        "pybricks.hubs",
        "TechnicHub",
        "imu.rotation",
-        [(["axis: Axis"], "float")],
+        [(["axis: Axis", "calibrated: bool=True"], "float")],
    ),
    pytest.param("pybricks.hubs", "TechnicHub", "battery.voltage", [([], "int")]),
    pytest.param("pybricks.hubs", "TechnicHub", "battery.current", [([], "int")]),
@@ -366,7 +378,6 @@ METHOD_PARAMS = [
        "system.set_stop_button",
        [(["button: Optional[Union[Button, Iterable[Button]]]"], "None")],
    ),
    pytest.param("pybricks.hubs", "TechnicHub", "system.name", [([], "str")]),
    pytest.param("pybricks.hubs", "TechnicHub", "system.shutdown", [([], "None")]),
    pytest.param(
        "pybricks.hubs",
@@ -377,7 +388,6 @@ METHOD_PARAMS = [
            (["offset: int", "*", "write: bytes"], "None"),
        ],
    ),
    pytest.param("pybricks.hubs", "TechnicHub", "system.reset_reason", [([], "int")]),
    pytest.param("pybricks.hubs", "PrimeHub", "light.on", [(["color: Color"], "None")]),
    pytest.param("pybricks.hubs", "PrimeHub", "light.off", [([], "None")]),
    pytest.param(
@@ -424,19 +434,32 @@ METHOD_PARAMS = [
        [(["text: str", "on: Number=500", "off: Number=50"], "None")],
    ),
    pytest.param("pybricks.hubs", "PrimeHub", "buttons.pressed", [([], "Set[Button]")]),
-    pytest.param("pybricks.hubs", "PrimeHub", "imu.up", [([], "Side")]),
+    pytest.param(
-    pytest.param("pybricks.hubs", "PrimeHub", "imu.tilt", [([], "Tuple[int, int]")]),
+        "pybricks.hubs", "PrimeHub", "imu.up", [(["calibrated: bool=True"], "Side")]
    ),
    pytest.param(
        "pybricks.hubs",
        "PrimeHub",
        "imu.tilt",
        [(["calibrated: bool=True"], "Tuple[int, int]")],
    ),
    pytest.param(
        "pybricks.hubs",
        "PrimeHub",
        "imu.acceleration",
-        [(["axis: Axis"], "float"), ([], "Matrix")],
+        [
            (["axis: Axis=None", "calibrated: bool=True"], "float"),
            (["calibrated: bool=True"], "Matrix"),
        ],
    ),
    pytest.param(
        "pybricks.hubs",
        "PrimeHub",
        "imu.angular_velocity",
-        [(["axis: Axis"], "float"), ([], "Matrix")],
+        [
            (["axis: Axis=None", "calibrated: bool=True"], "float"),
            (["calibrated: bool=True"], "Matrix"),
        ],
    ),
    pytest.param("pybricks.hubs", "PrimeHub", "imu.heading", [([], "float")]),
    pytest.param("pybricks.hubs", "PrimeHub", "imu.orientation", [([], "Matrix")]),
@@ -450,7 +473,7 @@ METHOD_PARAMS = [
        "pybricks.hubs",
        "PrimeHub",
        "imu.rotation",
-        [(["axis: Axis"], "float")],
+        [(["axis: Axis", "calibrated: bool=True"], "float")],
    ),
    pytest.param(
        "pybricks.hubs",
@@ -481,7 +504,6 @@ METHOD_PARAMS = [
        "system.set_stop_button",
        [(["button: Optional[Union[Button, Iterable[Button]]]"], "None")],
    ),
    pytest.param("pybricks.hubs", "PrimeHub", "system.name", [([], "str")]),
    pytest.param("pybricks.hubs", "PrimeHub", "system.shutdown", [([], "None")]),
    pytest.param(
        "pybricks.hubs",
@@ -492,7 +514,6 @@ METHOD_PARAMS = [
            (["offset: int", "*", "write: bytes"], "None"),
        ],
    ),
    pytest.param("pybricks.hubs", "PrimeHub", "system.reset_reason", [([], "int")]),
    pytest.param(
        "pybricks.hubs", "EssentialHub", "light.on", [(["color: Color"], "None")]
    ),
@@ -512,21 +533,32 @@ METHOD_PARAMS = [
    pytest.param(
        "pybricks.hubs", "EssentialHub", "buttons.pressed", [([], "Set[Button]")]
    ),
    pytest.param("pybricks.hubs", "EssentialHub", "imu.up", [([], "Side")]),
    pytest.param(
-        "pybricks.hubs", "EssentialHub", "imu.tilt", [([], "Tuple[int, int]")]
+        "pybricks.hubs", "EssentialHub", "imu.up", [(["calibrated: bool=True"], "Side")]
    ),
    pytest.param(
        "pybricks.hubs",
        "EssentialHub",
        "imu.tilt",
        [(["calibrated: bool=True"], "Tuple[int, int]")],
    ),
    pytest.param(
        "pybricks.hubs",
        "EssentialHub",
        "imu.acceleration",
-        [(["axis: Axis"], "float"), ([], "Matrix")],
+        [
            (["axis: Axis=None", "calibrated: bool=True"], "float"),
            (["calibrated: bool=True"], "Matrix"),
        ],
    ),
    pytest.param(
        "pybricks.hubs",
        "EssentialHub",
        "imu.angular_velocity",
-        [(["axis: Axis"], "float"), ([], "Matrix")],
+        [
            (["axis: Axis=None", "calibrated: bool=True"], "float"),
            (["calibrated: bool=True"], "Matrix"),
        ],
    ),
    pytest.param("pybricks.hubs", "EssentialHub", "imu.heading", [([], "float")]),
    pytest.param("pybricks.hubs", "EssentialHub", "imu.orientation", [([], "Matrix")]),
@@ -540,7 +572,7 @@ METHOD_PARAMS = [
        "pybricks.hubs",
        "EssentialHub",
        "imu.rotation",
-        [(["axis: Axis"], "float")],
+        [(["axis: Axis", "calibrated: bool=True"], "float")],
    ),
    pytest.param("pybricks.hubs", "EssentialHub", "battery.voltage", [([], "int")]),
    pytest.param("pybricks.hubs", "EssentialHub", "battery.current", [([], "int")]),
@@ -553,7 +585,6 @@ METHOD_PARAMS = [
        "system.set_stop_button",
        [(["button: Optional[Union[Button, Iterable[Button]]]"], "None")],
    ),
    pytest.param("pybricks.hubs", "EssentialHub", "system.name", [([], "str")]),
    pytest.param("pybricks.hubs", "EssentialHub", "system.shutdown", [([], "None")]),
    pytest.param(
        "pybricks.hubs",
@@ -564,7 +595,6 @@ METHOD_PARAMS = [
            (["offset: int", "*", "write: bytes"], "None"),
        ],
    ),
    pytest.param("pybricks.hubs", "EssentialHub", "system.reset_reason", [([], "int")]),
    # TODO: iodevices module here
    pytest.param("pybricks.pupdevices", "DCMotor", "dc", [(["duty: Number"], "None")]),
    pytest.param("pybricks.pupdevices", "DCMotor", "stop", [([], "None")]),
@@ -994,7 +1024,12 @@ METHOD_PARAMS = [
    pytest.param(
        "pybricks.robotics", "DriveBase", "state", [([], "Tuple[int, int, int, int]")]
    ),
-    pytest.param("pybricks.robotics", "DriveBase", "reset", [([], "None")]),
+    pytest.param(
        "pybricks.robotics",
        "DriveBase",
        "reset",
        [(["distance: Number=0", "angle: Number=0"], "None")],
    ),
    pytest.param("pybricks.robotics", "DriveBase", "done", [([], "bool")]),
    pytest.param("pybricks.robotics", "DriveBase", "stalled", [([], "bool")]),
 ]
@@ -2,6 +2,11 @@
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 ## 2.20.0 - 2024-02-26
 ### Changed
 - Updated docs to v3.6.0b5.
 ## 2.19.0 - 2024-04-11
 ### Changed
@@ -1,6 +1,6 @@
 {
  "name": "@pybricks/ide-docs",
-  "version": "2.19.0",
+  "version": "2.20.0",
  "description": "Special build of Pybricks API docs for embedding in an IDE.",
  "repository": {
    "type": "git",
@@ -2,6 +2,11 @@
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 ## 1.4.0 - 2022-12-19
 ### Added
 - Added existing NXT and EV3 hub images to published package.
 ## 1.3.0 - 2022-12-19
 ### Added
@@ -9,11 +9,11 @@ BUILD_DIR = (pathlib.Path(__file__).parent / "build").resolve()
 IMAGE_DIR = (
    pathlib.Path(__file__).parent.parent.parent / "doc" / "main" / "diagrams"
 ).resolve()
-HUBS = ["move", "city", "technic", "prime", "essential", "inventor"]
+HUBS = ["move", "city", "technic", "prime", "essential", "inventor", "ev3", "nxt"]
 package_json = {
    "name": "@pybricks/images",
-    "version": "1.3.0",
+    "version": "1.4.0",
    "description": "Distribution of Pybricks images.",
    "license": "MIT",
    "repository": {
@@ -4,6 +4,11 @@
 ## Unreleased
 ## 1.17.0 - 2025-02-26
 ### Changed
 - Updated `pybricks_jedi` Python package to v1.17.0.
 ## 1.16.0 - 2024-04-05
 ### Changed
@@ -12,7 +12,7 @@ BUILD_DIR = (pathlib.Path(__file__).parent / "build").resolve()
 package_json = {
    "name": "@pybricks/jedi",
-    "version": "1.16.0",
+    "version": "1.17.0",
    "description": "Binary distribution of pybricks-jedi Python package and dependencies for use with Pyodide.",
    "repository": {
        "type": "git",
@@ -38,7 +38,7 @@ subprocess.check_call(
        "pip",
        "download",
        "--only-binary=any",
-        "pybricks-jedi==1.16.0",
+        "pybricks-jedi==1.17.0",
    ],
    cwd=BUILD_DIR,
 )
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.5.0"
+version = "3.6.1"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 authors = ["The Pybricks Authors <team@pybricks.com>"]
 maintainers = ["Laurens Valk <laurens@pybricks.com>", "David Lechner <david@pybricks.com>" ]
@@ -69,32 +69,6 @@ class System:
        Stops your program and shuts the hub down."""
    def reset_reason(self) -> int:
        """reset_reason() -> int
        Finds out how and why the hub (re)booted. This can be useful to
        diagnose some problems.
        Returns:
            * ``0`` if the hub was previously powered off
              normally.
            * ``1`` if the hub rebooted automatically, like
              after a firmware update.
            * ``2`` if the hub previously
              crashed due to a watchdog timeout, which indicates a firmware
              issue.
        """
    def name(self) -> str:
        """name() -> str
        Gets the hub name. This is the name you see when connecting
        via Bluetooth.
        Returns:
            The hub name.
        """
    @overload
    def storage(self, offset: int, *, read: int) -> bytes: ...
@@ -131,6 +105,40 @@ class System:
                If you try to read or write data outside of the allowed range.
        """
    def reset_storage(self) -> None:
        """reset_storage()
        Resets all user settings to default values and erases user programs.
        """
    def info(self) -> dict:
        """info() -> dict
        Gets information about the hub as a dictionary with the following keys:
         - ``"name"``: The hub name. This is the name you see when connecting
           via Bluetooth.
         - ``"reset_reason"``: Why the hub (re)booted. It is ``0`` if the hub
           was previously powered off normally. It is ``1`` if the hub rebooted
           automatically, like after a firmware update. It is ``2`` if the hub
           previously crashed due to a watchdog timeout, which indicates a
           firmware issue.
         - ``"host_connected_ble"``: ``True`` if the hub is connected to a
           computer, tablet, or phone via Bluetooth, and ``False`` otherwise.
         - ``"program_start_type"``: It is ``1`` if the program started
           automatically when the hub was powered on. It is ``2`` if the program
           was started with the hub buttons. It is ``3`` if the program was
           started from your connected computer.
        Returns:
            A dictionary with system info.
        .. versionchanged:: 3.6
            The name and reset reason where previously available as separate
            methods. Now they are included in the info dictionary. The methods
            are still available for backwards compatibility.
        """
 class DCMotor:
    """Generic class to control simple motors without rotation sensors, such
@@ -471,6 +479,11 @@ class Motor(DCMotor):
        Sets the accumulated rotation angle of the motor to a desired value.
        If this motor is also being used by a drive base, its distance and
        angle values will also be affected. You might want to
        use its :meth:`reset <pybricks.robotics.DriveBase.reset>`
        method instead.
        Arguments:
            angle (Number, deg): Value to which the angle should be reset.
        """
@@ -1013,34 +1026,67 @@ class SimpleAccelerometer:
        """
-class Accelerometer(SimpleAccelerometer):
+class IMU:
-    """Get measurements from an accelerometer."""
+
    def up(self, calibrated: bool = True) -> Side:
        """up(calibrated=True) -> Side
        Checks which side of the hub currently faces upward.
        Arguments:
            calibrated (bool): Choose ``True`` to use calibrated gyroscope and
                accelerometer data to determine which way is up. Choose
                ``False`` to use raw acceleration values.
        Returns:
            ``Side.TOP``, ``Side.BOTTOM``, ``Side.LEFT``, ``Side.RIGHT``,
            ``Side.FRONT`` or ``Side.BACK``.
        """
    def tilt(self, calibrated: bool = True) -> Tuple[int, int]:
        """tilt(calibrated=True) -> Tuple[int, int]
        Gets the pitch and roll angles. This is relative to the
        :ref:`user-specified neutral orientation <robotframe>`.
        The order of rotation is pitch-then-roll. This is equivalent to a
        positive rotation along the robot y-axis and then a positive rotation
        along the x-axis.
        Arguments:
            calibrated (bool): Choose ``True`` to use calibrated gyroscope and
                accelerometer data to determine the tilt. Choose ``False``
                to use raw acceleration values.
        Returns:
            Tuple of pitch and roll angles in degrees.
        """
    @overload
-    def acceleration(self, axis: Axis) -> float: ...
+    def acceleration(self, axis: Axis = None, calibrated: bool = True) -> float: ...
    @overload
-    def acceleration(self) -> Matrix: ...
+    def acceleration(self, calibrated: bool = True) -> Matrix: ...
    def acceleration(self, *args):
        """
-        acceleration(axis) -> float: mm/s²
+        acceleration(axis, calibrated=True) -> float: mm/s²
-        acceleration() -> vector: mm/s²
+        acceleration(calibrated=True) -> vector: mm/s²
        Gets the acceleration of the device along a given axis in the
        :ref:`robot reference frame <robotframe>`.
        Arguments:
            axis (Axis): Axis along which the acceleration should be
-                         measured.
+                measured, or ``None`` to get a vector along all axes.
            calibrated (bool): Choose ``True`` to use calibrated acceleration
                values. Choose ``False`` to use raw acceleration values.
        Returns:
            Acceleration along the specified axis. If you specify no axis,
            this returns a vector of accelerations along all axes.
        """
 class IMU(Accelerometer):
    def ready(self) -> bool:
        """ready() -> bool
@@ -1068,38 +1114,91 @@ class IMU(Accelerometer):
    @overload
    def settings(
        self,
        *,
        angular_velocity_threshold: float = None,
        acceleration_threshold: float = None,
        heading_correction: float = None,
        angular_velocity_bias: Tuple[float, float, float] = None,
        angular_velocity_scale: Tuple[float, float, float] = None,
        acceleration_correction: Tuple[float, float, float, float, float, float] = None,
    ) -> None: ...
    @overload
-    def settings(self) -> Tuple[float, float]: ...
+    def settings(
        self,
    ) -> Tuple[
        float,
        float,
        float,
        Tuple[float, float, float],
        Tuple[float, float, float],
        Tuple[float, float, float, float, float, float],
    ]: ...
    def settings(self, *args):
        """
-        settings(angular_velocity_threshold, acceleration_threshold)
+        settings(*, angular_velocity_threshold, acceleration_threshold, heading_correction, angular_velocity_bias, angular_velocity_scale, acceleration_correction)
-        settings() -> Tuple[float, float]
+        settings() -> Tuple
        Configures the IMU settings. If no arguments are given,
-        this returns the current values.
+        this returns the current values. Use keyword arguments for each value
        to ensure correct behavior because settings may be added or changed in
        future releases.
        These IMU settings are saved on the hub. They will keep their values
        until you change them again. The values will be reset to default values
        if you update the hub to a different firmware version or call the
        ``hub.system.reset_storage`` method.
        The ``angular_velocity_threshold`` and ``acceleration_threshold``
        define when the hub is considered stationary. If all
        measurements stay below these thresholds for one second, the IMU
-        will recalibrate itself.
+        will recalibrate itself. In a noisy room with high ambient vibrations (such as a
-
+        competition hall), you can increase the thresholds
        In a noisy room with high ambient vibrations (such as a
        competition hall), it is recommended to increase the thresholds
        slightly to give your robot the chance to calibrate.
        To verify that your settings are working as expected, test that
        the ``stationary()`` method gives ``False`` if your robot is moving,
-        and ``True`` if it is sitting still for at least a second.
+        and ``True`` if it is sitting still.
        The gyroscope measures how fast the hub rotates to estimate the total
        angle. Due to variations in the production process, each
        hub consistently reports a different value for a full rotation. For
        example, your hub might consistently report `357` degrees for every
        `360` degree turn. You can measure this value
        with ``hub.imu.rotation(-Axis.Z, calibrated=False)`` and enter it as
        the ``heading_correction`` setting. Then, the ``hub.imu.heading()``
        method will take it into account going forward, correctly scaling it
        to 360 degrees for a full rotation.
        Arguments:
            angular_velocity_threshold (Number, deg/s): The threshold for
-                angular velocity. The default value is 1.5 deg/s.
+                variations in the angular velocity below which the hub is
-            acceleration_threshold (Number, mm/s²): The threshold for angular
+                considered stationary enough to calibrate.
-                velocity. The default value is 250 mm/s².
+                After a reset the value is 2 deg/s.
            acceleration_threshold (Number, mm/s²): The threshold for
                variations in acceleration below which the hub is considered
                stationary enough to calibrate. After a reset the value
                is 2500 mm/s².
            heading_correction (Number, deg): Number of degrees
                reported by for one full rotation of your robot.
                After a reset the value is 360 degrees. This is applied on top
                of any scaling that is done by the ``angular_velocity_scale``
                setting.
            angular_velocity_bias (tuple, deg/s): Initial bias for angular
                velocity measurements along x, y, and z immediately after boot.
                After a reset the value is (0, 0, 0) deg/s.
            angular_velocity_scale (tuple, deg): Scale adjustment for x, y, and
                z rotation to account for manufacturing differences. After a
                reset the value is (360, 360, 360) deg/s. The correct values
                can be obtained using `hub.imu.rotation(Axis.X, calibrated=False)`
                and repeating it for each axis.
            acceleration_correction (tuple, mm/s²): Scale adjustment for x, y,
                and z gravity magnitude in both directions to account for
                manufacturing differences. After a reset the
                value is (9806.65, -9806.65, 9806.65, -9806.65, 9806.65, -9806.65) mm/s².
                The correct values can be
                obtained using `hub.imu.acceleration(Axis.X, calibrated=False)`
                and repeating it for all axes in both directions.
        """
    def heading(self) -> float:
@@ -1117,11 +1216,11 @@ class IMU(Accelerometer):
                  the robot is on a flat surface.*
                  This means that the value is
-                  no longer correct if you lift it from the table. To solve
+                  no longer correct if you lift it from the table or turn on
-                  this, you can call ``reset_heading`` to reset the heading to
+                  a ramp. Try ``hub.imu.heading('3D')`` for a heading value
-                  a known value *after* you put it back down. For example, you
+                  that compensates for this. This will become the default in a
-                  could align your robot with the side of the competition table
+                  future release. If you try it, please let us know on our
-                  and reset the heading 90 degrees as the new starting point.
+                  forums!
        Returns:
            Heading angle relative to starting orientation.
@@ -1133,35 +1232,50 @@ class IMU(Accelerometer):
        Resets the accumulated heading angle of the robot.
        This cannot be called while a drive base is using the gyro to drive or
        hold position.
        Use :meth:`DriveBase.reset() <pybricks.robotics.DriveBase.reset>`
        instead, which will stop the robot and then set the new heading value.
        .. versionchanged:: 3.6 Resetting the angle while driving is not allowed. Stop first.
        Arguments:
            angle (Number, deg): Value to which the heading should be reset.
        Raises:
            OSError:
                There is a drive base that is currently using the gyro.
        """
    @overload
-    def angular_velocity(self, axis: Axis) -> float: ...
+    def angular_velocity(self, axis: Axis = None, calibrated: bool = True) -> float: ...
    @overload
-    def angular_velocity(self) -> Matrix: ...
+    def angular_velocity(self, calibrated: bool = True) -> Matrix: ...
    def angular_velocity(self, *args):
        """
-        angular_velocity(axis) -> float: deg/s
+        angular_velocity(axis, calibrated=True) -> float: deg/s
-        angular_velocity() -> vector: deg/s
+        angular_velocity(calibrated=True) -> vector: deg/s
        Gets the angular velocity of the device along a given axis in
        the :ref:`robot reference frame <robotframe>`.
        Arguments:
            axis (Axis): Axis along which the angular velocity should be
-                         measured.
+                measured, or ``None`` to get a vector along all axes.
            calibrated (bool): Choose ``True`` to compensate for the estimated
                bias and configured scale of the gyroscope. Choose ``False``
                to get raw angular velocity values.
        Returns:
            Angular velocity along the specified axis. If you specify no axis,
            this returns a vector of accelerations along all axes.
        """
-    def rotation(self, axis: Axis) -> float:
+    def rotation(self, axis: Axis, calibrated: bool = True) -> float:
        """
-        rotation(axis) -> float: deg
+        rotation(axis, calibrated=True) -> float: deg
        Gets the rotation of the device along a given axis in
        the :ref:`robot reference frame <robotframe>`.
@@ -1170,10 +1284,11 @@ class IMU(Accelerometer):
        axis. For general three-dimensional motion, use the
        ``orientation()`` method instead.
        The value starts counting from ``0`` when you initialize this class.
        Arguments:
            axis (Axis): Axis along which the rotation should be measured.
            calibrated (bool): Choose ``True`` to compensate for configured
                scale of the gyroscope. Choose ``False`` to get unscaled values.
        Returns:
            The rotation angle.
        """
@@ -1188,10 +1303,8 @@ class IMU(Accelerometer):
        It returns a rotation matrix whose columns represent the ``X``, ``Y``,
        and ``Z`` axis of the robot.
        .. note:: This method is not yet implemented.
        Returns:
-            The rotation matrix.
+            The 3x3 rotation matrix.
        """
@@ -1335,14 +1448,14 @@ class BLE:
    .. versionadded:: 3.3
    """
-    def broadcast(self, data: Union[bool, int, float, str, bytes]) -> None:
+    def broadcast(self, data: Union[bool, int, float, str, bytes]) -> MaybeAwaitable:
        """broadcast(data)
        Starts broadcasting the given data on
        the ``broadcast_channel`` you selected when initializing the hub.
        Data may be of type ``int``, ``float``, ``str``, ``bytes``,
-        ``True``, or ``False``, or a list thereof.
+        ``True``, or ``False``. It can also be a list or tuple of these.
        Choose ``None`` to stop broadcasting. This helps improve performance
        when you don't need the broadcast feature, especially when observing
@@ -44,9 +44,9 @@ class MoveHub:
    ble = _common.BLE()
    def __init__(
-        self, broadcast_channel: int = 0, observe_channels: Sequence[int] = []
+        self, broadcast_channel: int = None, observe_channels: Sequence[int] = []
    ):
-        """MoveHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[])
+        """MoveHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=None, observe_channels=[])
        Arguments:
            top_side (Axis): The axis that passes through the *top side* of
@@ -54,8 +54,8 @@ class MoveHub:
            front_side (Axis): The axis that passes through the *front side* of
                the hub.
            broadcast_channel:
-                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                Channel number (0 to 255) used to broadcast data.
-                will use. Default is channel 0.
+                Choose ``None`` when not using broadcasting.
            observe_channels:
                A list of channels to listen to when ``hub.ble.observe()`` is
                called. Listening to more channels requires more memory.
@@ -78,14 +78,14 @@ class CityHub:
    ble = _common.BLE()
    def __init__(
-        self, broadcast_channel: int = 0, observe_channels: Sequence[int] = []
+        self, broadcast_channel: int = None, observe_channels: Sequence[int] = []
    ):
-        """CityHub(broadcast_channel=0, observe_channels=[])
+        """CityHub(broadcast_channel=None, observe_channels=[])
        Arguments:
            broadcast_channel:
-                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                Channel number (0 to 255) used to broadcast data.
-                will use. Default is channel 0.
+                Choose ``None`` when not using broadcasting.
            observe_channels:
                A list of channels to listen to when ``hub.ble.observe()`` is
                called. Listening to more channels requires more memory.
@@ -112,10 +112,10 @@ class TechnicHub:
        self,
        top_side: Axis = Axis.Z,
        front_side: Axis = Axis.X,
-        broadcast_channel: int = 0,
+        broadcast_channel: int = None,
        observe_channels: Sequence[int] = [],
    ):
-        """TechnicHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[])
+        """TechnicHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=None, observe_channels=[])
        Initializes the hub. Optionally, specify how the hub is
        :ref:`placed in your design <robotframe>` by saying in which
@@ -128,8 +128,8 @@ class TechnicHub:
            front_side (Axis): The axis that passes through the *front side* of
                the hub.
            broadcast_channel:
-                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                Channel number (0 to 255) used to broadcast data.
-                will use. Default is channel 0.
+                Choose ``None`` when not using broadcasting.
            observe_channels:
                A list of channels to listen to when ``hub.ble.observe()`` is
                called. Listening to more channels requires more memory.
@@ -157,10 +157,10 @@ class EssentialHub:
        self,
        top_side: Axis = Axis.Z,
        front_side: Axis = Axis.X,
-        broadcast_channel: int = 0,
+        broadcast_channel: int = None,
        observe_channels: Sequence[int] = [],
    ):
-        """EssentialHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[])
+        """EssentialHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=None, observe_channels=[])
        Initializes the hub. Optionally, specify how the hub is
        :ref:`placed in your design <robotframe>` by saying in which
@@ -173,8 +173,8 @@ class EssentialHub:
            front_side (Axis): The axis that passes through the *front side* of
                the hub.
            broadcast_channel:
-                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                Channel number (0 to 255) used to broadcast data.
-                will use. Default is channel 0.
+                Choose ``None`` when not using broadcasting.
            observe_channels:
                A list of channels to listen to when ``hub.ble.observe()`` is
                called. Listening to more channels requires more memory.
@@ -212,10 +212,10 @@ class PrimeHub:
        self,
        top_side: Axis = Axis.Z,
        front_side: Axis = Axis.X,
-        broadcast_channel: int = 0,
+        broadcast_channel: int = None,
        observe_channels: Sequence[int] = [],
    ):
-        """PrimeHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[])
+        """PrimeHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=None, observe_channels=[])
        Initializes the hub. Optionally, specify how the hub is
        :ref:`placed in your design <robotframe>` by saying in which
@@ -228,8 +228,8 @@ class PrimeHub:
            front_side (Axis): The axis that passes through the *front side* of
                the hub.
            broadcast_channel:
-                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                Channel number (0 to 255) used to broadcast data.
-                will use. Default is channel 0.
+                Choose ``None`` when not using broadcasting.
            observe_channels:
                A list of channels to listen to when ``hub.ble.observe()`` is
                called. Listening to more channels requires more memory.
@@ -112,6 +112,10 @@ class Color:
        The brightness value.
        """
    def __iter__(self):
        """Allows unpacking of the Color instance into h, s, and v."""
        return iter((self.h, self.s, self.v))
    def __repr__(self):
        return "Color(h={}, s={}, v={})".format(self.h, self.s, self.v)
@@ -86,11 +86,15 @@ class Motor(_common.Motor):
        Sets the accumulated rotation angle of the motor to a desired value.
-        If you don't specify an angle, the absolute angle
+        If this motor is also being used by a drive base, its distance and
-        will be used if your motor supports it.
+        angle values will also be affected. You might want to
        use its :meth:`reset <pybricks.robotics.DriveBase.reset>`
        method instead.
        Arguments:
            angle (Number, deg): Value to which the angle should be reset.
                                 Choose ``None`` to reset it to the absolute
                                 value of the motor.
        """
@@ -119,10 +119,19 @@ class DriveBase:
            Tuple of distance, drive speed, angle, and turn rate of the robot.
        """
-    def reset(self) -> None:
+    def reset(self, distance: Number = 0, angle: Number = 0) -> None:
-        """reset()
+        """reset(distance=0, angle=0)
-        Resets the estimated driven distance and angle to 0."""
+        Resets the estimated driven distance and heading angle.
        This also calls :meth:`.stop` to stop ongoing movements.
        If your robot is controlled with :meth:`.use_gyro` set to ``True``,
        calling this method will `also` set the gyro to the given angle.
        Arguments:
            distance (Number, mm): Speed of the robot.
            angle (Number, deg): Heading angle of the robot.
        """
    @overload
    def settings(
@@ -191,6 +200,40 @@ class DriveBase:
                         with the rest of the program.
        """
    def arc(
        self,
        radius: Number,
        angle: Number = None,
        distance: Number = None,
        then: Stop = Stop.HOLD,
        wait: bool = True,
    ) -> MaybeAwaitable:
        """arc(radius, angle=None, distance=None, then=Stop.HOLD, wait=True)
        Drives an arc (a partial circle) with a given radius. You can specify
        how far to drive using either an angle or a distance.
        With a positive radius, the robot drives along a circle to its right.
        With a negative radius, the robot drives along a circle to its left.
        You can specify how far to travel along that circle as an angle
        (degrees) or distance (mm). A positive value means driving forward
        along the circle. Negative means driving in reverse.
        Arguments:
            radius (Number, mm): Radius of the circle.
            angle (Number, deg): Angle to drive along the circle.
            distance (Number, mm): Distance to drive along the circle,
                                   measured at the center of the robot.
            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.
        Raises:
            ValueError:
                You must specify ``angle`` or ``distance``, but not both. The
                radius cannot be zero. Use :meth:`.turn` for in-place turns.
        """
    def curve(
        self, radius: Number, angle: Number, then: Stop = Stop.HOLD, wait: bool = True
    ) -> MaybeAwaitable:
@@ -224,7 +267,7 @@ class DriveBase:
        with the maximum actuation signal.
        Returns:
-            ``True`` if the drivebase is stalled, ``False`` if not.
+            ``True`` if the drive base is stalled, ``False`` if not.
        """
    def use_gyro(self, use_gyro: bool) -> None:
@@ -234,6 +277,9 @@ class DriveBase:
        straight. Choose ``False`` to rely only on the motor's built-in
        rotation sensors.
        This method will automatically call :meth:`.stop` to stop ongoing
        movements.
        Arguments:
            use_gyro (bool): ``True`` to enable, ``False`` to disable.
        """
Author	SHA1	Message	Date
Laurens Valk	356f6ffdba	v3.6.1	2025-05-01 11:30:32 +02:00
Laurens Valk	4967b96ddd	doc/main: Fix trailing whitespace. For some reason this was not caught by CI.	2025-05-01 11:27:33 +02:00
Laurens Valk	116368e4c7	pybricks.hubs: List missing system.info method.	2025-05-01 11:25:56 +02:00
Laurens Valk	5b56249d8c	doc/common/extensions: Drop unused imports.	2025-05-01 11:19:48 +02:00
Laurens Valk	04fb7e3e19	@pybricks/images/v1.4.0	2025-03-19 10:33:59 +01:00
Laurens Valk	5814a73bb1	v3.6.0	2025-03-11 13:08:17 +01:00
Laurens Valk	ed3059b47b	pybricks.common.IMU: Clarify notes on calibrated values.	2025-03-11 13:01:10 +01:00
Laurens Valk	2a98264144	@pybricks/jedi/v1.17.0	2025-02-26 12:54:14 +01:00
Laurens Valk	6083b17d9a	pybricks_jedi/v1.17.0	2025-02-26 12:49:04 +01:00
Laurens Valk	1c598f35be	@pybricks/ide-docs/v2.20.0	2025-02-26 12:33:03 +01:00
Laurens Valk	52c522df2d	v3.6.0b5	2025-02-26 12:29:10 +01:00
Laurens Valk	2380be2814	extensions/blockimg: Embed svg. This cuts the total build from 527 to 156 files, which is considerably fewer requests when loading this inside Pybricks Code. See https://github.com/pybricks/support/issues/1559	2025-02-26 10:58:03 +01:00
Laurens Valk	89a34e9f51	conf: Don't export txt sources. The sources are hosted on GitHub, so there is not additional information here. Also, the actual docstrings are included in the .py files. See https://github.com/pybricks/support/issues/1559	2025-02-26 10:17:08 +01:00
Laurens Valk	9597f227f4	pybricks.common.IMU: Add settings blocks.	2025-02-25 13:47:07 +01:00
Laurens Valk	1e09cb2232	builtins: Document missing eval and exec on Move Hub. Fixes https://github.com/pybricks/support/issues/1931	2025-02-25 11:32:01 +01:00
Laurens Valk	6739b517a5	examples: Fix duty cycle comment. Fixes https://github.com/pybricks/support/issues/2029	2025-02-25 11:26:16 +01:00
Laurens Valk	c5cfcd0ac8	tests: Update for IMU changes.	2025-02-25 11:16:27 +01:00
Laurens Valk	827eda031b	pybricks.common.System: Document new system info.	2025-02-25 11:16:27 +01:00
Laurens Valk	c77b440270	pybricks.parameters: Allow iterating colors. https://github.com/pybricks/support/issues/1661	2025-02-25 11:16:27 +01:00
Laurens Valk	789e70a42b	pybricks.common.BLE: Broadcast fixes. Fix missing awaitable. Fix default broadcast channel following firmware update.	2025-02-25 11:16:27 +01:00
Laurens Valk	53d6d14de6	pybricks.common.IMU: Document calibration kwarg option.	2025-02-25 11:16:27 +01:00
Laurens Valk	ce9d7420fb	pybricks.common.IMU: Document new settings. Also dcument hub.system.reset_storage.	2025-02-25 11:16:27 +01:00
Laurens Valk	044903b193	pybricks.common.Motor: Clarify drive base reset side effect. Fixes https://github.com/pybricks/support/issues/1449	2025-02-25 11:16:27 +01:00
Laurens Valk	25bfd0e80e	pybricks.robotics.DriveBase: Document curve and reset updates.	2025-02-25 11:16:27 +01:00
David Lechner	b28f768bec	pybricks.lwp3device: Show compatibility. It has come up a few times recently that this wasn't clear.	2025-01-25 11:02:54 -06:00