v3.2.0b1-r2

jedi: add new pybricks_jedi package
This package will be used in Pybricks Code to provide some intellesense operations.
2026-09-13 01:56:55 +00:00 · 2022-06-24 15:14:42 -05:00 · 2022-06-24 14:52:45 -05:00 · 2022-06-10 11:31:08 +02:00 · 2022-06-10 11:20:32 +02:00 · 2022-06-10 11:10:20 +02:00
50 changed files with 3307 additions and 1849 deletions
@@ -0,0 +1,33 @@
+name: pybricks_jedi
+
+on: [push, pull_request]
+
+jobs:
+  test:
+    if: github.ref_type != 'tag'
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+      with:
+        python-version: "3.10"
+    - run: pipx install poetry
+    - run: poetry install
+      working-directory: ./jedi
+    - run: poetry run pytest -vv
+      working-directory: ./jedi
+
+  publish:
+    if: github.ref_type == 'tag' && startsWith(github.ref_name, 'pybricks_jedi/')
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+      with:
+        python-version: "3.10"
+    - run: pipx install poetry
+    - run: poetry install
+    - run: poetry build
+    - run: poetry publish
+      env:
+        POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_PYBRICKS_JEDI_TOKEN }}
@@ -26,8 +26,9 @@ build/
 build-*/
 _build/

-# Test failure outputs
+# Tests
 ######################
+.pytest_cache/
 tests/*.exp
 tests/*.out

@@ -1,5 +1,5 @@
 {
-    "python.pythonPath": "${workspaceFolder}/.venv",
+    "python.autoComplete.extraPaths": ["jedi/src"],
    "python.formatting.provider": "black",
    "python.linting.pylintEnabled": false,
    "python.linting.flake8Enabled": true,
@@ -10,6 +10,11 @@
        "editor.defaultFormatter": "ms-python.python"
    },
    "python.languageServer": "Pylance",
+    "python.testing.pytestArgs": [
+        "jedi/tests"
+    ],
+    "python.testing.unittestEnabled": false,
+    "python.testing.pytestEnabled": true,
    "files.associations": {"*.inc": "restructuredtext"},
    "restructuredtext.confPath": "${workspaceFolder}/doc/main",
    "spellright.language": [
@@ -41,4 +46,7 @@
        "restructuredtext",
    ],
    "rewrap.wrappingColumn": 78,
+    "python.analysis.extraPaths": [
+        "jedi/src"
+    ],
 }
@@ -2,6 +2,17 @@

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

+## 3.2.0b1-r2 - 2022-06-24
+
+### Changed
+- Moved remaining type hints from `.pyi` files to the python stub modules, and
+  fixed numerous errors in the type hints throughout.
+
+## 3.2.0b1-r1 - 2022-06-09
+
+## Added
+- Added `__init__.py` to `pybricks` package.
+
 ## 3.2.0b1 - 2022-06-02

 ### Added
@@ -8,13 +8,10 @@ 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) $(TAG) $(BETATAG) $(O)
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(TAG) $(O)

 .PHONY: help Makefile

@@ -25,4 +22,4 @@ 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) $(BETATAG) $(O)
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) -t $(TAG) $(O)
@@ -27,6 +27,9 @@ from docutils import nodes
 from docutils.parsers.rst.directives import flag
 from docutils.parsers.rst import Directive
 from sphinx.application import Sphinx
+from sphinx.addnodes import pending_xref
+from sphinx.environment import BuildEnvironment
+from sphinx.util.nodes import make_refnode
 import toml

 TOP_DIR = os.path.abspath(os.path.join("..", ".."))
@@ -307,7 +310,16 @@ class AvailabilityDirective(Directive):
        ]


-def on_missing_reference(app, env, node, contnode):
+def on_missing_reference(
+    app: Sphinx, env: BuildEnvironment, node: pending_xref, contnode: nodes.Element
+) -> nodes.Element:
+    # The Number type alias is on the Signals and Units page instead of on the
+    # pybricks.parameters page so normal resolution doesn't work
+    if node["reftype"] == "class" and node["reftarget"] == "Number":
+        return make_refnode(
+            app.builder, node["refdoc"], "signaltypes", "numbers", contnode
+        )
+
    # References with special characters can't exist, so we have to supress
    # warnings when Sphinx tries to cross reference units like deg/s. For
    # consistency, we also treat units without special characters this way.
@@ -324,6 +336,10 @@ def on_missing_reference(app, env, node, contnode):
        "ms",
        "mNm",
        "Hz",
+        "°C",
+        "J",
+        "Ω",
+        "N",
    ]:

        # If they match on raw source, we are dealing with argument types.
@@ -25,9 +25,8 @@ latex_logo = "../common/images/pybricks-logo-large.png"
 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
+# HACK: this allows Number type alias to be imported by Sphinx
+os.environ["SPHINX_BUILD"] = "True"

 # Addtional configuration of the IDE docs
 if "ide" in tags.tags:  # noqa F821
@@ -6,256 +6,250 @@ Prime Hub / Inventor Hub
 .. figure:: ../../main/images/primeinventorhub.png
    :height: 15 em

-.. only:: not beta

-    .. note:: Pybricks support for these hubs is currently in development.
-              Please check back later!
+.. 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.

-.. only:: beta
+.. class:: InventorHub

-    .. 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.
+    This class is the same as the ``PrimeHub`` class, shown below. Both classes
+    work on both hubs.

-    .. class:: InventorHub
+    These hubs are completely identical. They use the same Pybricks firmware.

-        This class is the same as the ``PrimeHub`` class, shown below. Both classes
-        work on both hubs.
+.. autoclass:: pybricks.hubs.PrimeHub
+    :no-members:

-        These hubs are completely identical. They use the same Pybricks firmware.
+    .. rubric:: Using the hub status light

-    .. autoclass:: pybricks.hubs.PrimeHub
-        :no-members:
+    .. figure:: ../../main/images/primehub_light_label.png
+        :width: 22 em

-        .. rubric:: Using the hub status light
+    .. automethod:: pybricks.hubs::PrimeHub.light.on

-        .. figure:: ../../main/images/primehub_light_label.png
-            :width: 22 em
+    .. automethod:: pybricks.hubs::PrimeHub.light.off

-        .. automethod:: pybricks.hubs::PrimeHub.light.on
+    .. automethod:: pybricks.hubs::PrimeHub.light.blink

-        .. automethod:: pybricks.hubs::PrimeHub.light.off
+    .. automethod:: pybricks.hubs::PrimeHub.light.animate

-        .. automethod:: pybricks.hubs::PrimeHub.light.blink
+    .. rubric:: Using the light matrix display

-        .. automethod:: pybricks.hubs::PrimeHub.light.animate
+    .. figure:: ../../main/images/primehub_display_label.png
+        :width: 22 em

-        .. rubric:: Using the light matrix display
+    .. automethod:: pybricks.hubs::PrimeHub.display.orientation

-        .. figure:: ../../main/images/primehub_display_label.png
-            :width: 22 em
+    .. automethod:: pybricks.hubs::PrimeHub.display.off

-        .. automethod:: pybricks.hubs::PrimeHub.display.orientation
+    .. automethod:: pybricks.hubs::PrimeHub.display.pixel

-        .. automethod:: pybricks.hubs::PrimeHub.display.off
+    .. automethod:: pybricks.hubs::PrimeHub.display.image

-        .. automethod:: pybricks.hubs::PrimeHub.display.pixel
+    .. automethod:: pybricks.hubs::PrimeHub.display.animate

-        .. automethod:: pybricks.hubs::PrimeHub.display.image
+    .. automethod:: pybricks.hubs::PrimeHub.display.number

-        .. automethod:: pybricks.hubs::PrimeHub.display.animate
+    .. automethod:: pybricks.hubs::PrimeHub.display.char

-        .. automethod:: pybricks.hubs::PrimeHub.display.number
+    .. automethod:: pybricks.hubs::PrimeHub.display.text

-        .. automethod:: pybricks.hubs::PrimeHub.display.char
+    .. rubric:: Using the buttons

-        .. automethod:: pybricks.hubs::PrimeHub.display.text
+    .. figure:: ../../main/images/primehub_buttons_label.png
+        :width: 22 em

-        .. rubric:: Using the buttons
+    .. automethod:: pybricks.hubs::PrimeHub.buttons.pressed

-        .. figure:: ../../main/images/primehub_buttons_label.png
-            :width: 22 em
+    .. rubric:: Using the IMU

-        .. automethod:: pybricks.hubs::PrimeHub.buttons.pressed
+    .. automethod:: pybricks.hubs::PrimeHub.imu.up

-        .. rubric:: Using the IMU
+    .. automethod:: pybricks.hubs::PrimeHub.imu.tilt

-        .. automethod:: pybricks.hubs::PrimeHub.imu.up
+    .. automethod:: pybricks.hubs::PrimeHub.imu.acceleration

-        .. automethod:: pybricks.hubs::PrimeHub.imu.tilt
+    .. automethod:: pybricks.hubs::PrimeHub.imu.angular_velocity

-        .. automethod:: pybricks.hubs::PrimeHub.imu.acceleration
+    .. automethod:: pybricks.hubs::PrimeHub.imu.heading

-        .. automethod:: pybricks.hubs::PrimeHub.imu.angular_velocity
+    .. automethod:: pybricks.hubs::PrimeHub.imu.reset_heading

-        .. automethod:: pybricks.hubs::PrimeHub.imu.heading
+    .. rubric:: Using the speaker

-        .. automethod:: pybricks.hubs::PrimeHub.imu.reset_heading
+    .. automethod:: pybricks.hubs::PrimeHub.speaker.volume

-        .. rubric:: Using the speaker
+    .. automethod:: pybricks.hubs::PrimeHub.speaker.beep

-        .. automethod:: pybricks.hubs::PrimeHub.speaker.volume
+    .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes

-        .. automethod:: pybricks.hubs::PrimeHub.speaker.beep
+    .. rubric:: Using the battery

-        .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes
+    .. automethod:: pybricks.hubs::PrimeHub.battery.voltage

-        .. rubric:: Using the battery
+    .. automethod:: pybricks.hubs::PrimeHub.battery.current

-        .. automethod:: pybricks.hubs::PrimeHub.battery.voltage
+    .. rubric:: Getting the charger status

-        .. automethod:: pybricks.hubs::PrimeHub.battery.current
+    .. automethod:: pybricks.hubs::PrimeHub.charger.connected

-        .. rubric:: Getting the charger status
+    .. automethod:: pybricks.hubs::PrimeHub.charger.current

-        .. automethod:: pybricks.hubs::PrimeHub.charger.connected
+    .. automethod:: pybricks.hubs::PrimeHub.charger.status

-        .. automethod:: pybricks.hubs::PrimeHub.charger.current
+    .. rubric:: System control

-        .. automethod:: pybricks.hubs::PrimeHub.charger.status
+    .. automethod:: pybricks.hubs::PrimeHub.system.set_stop_button

-        .. rubric:: System control
+    .. automethod:: pybricks.hubs::PrimeHub.system.name

-        .. automethod:: pybricks.hubs::PrimeHub.system.set_stop_button
+    .. automethod:: pybricks.hubs::PrimeHub.system.shutdown

-        .. automethod:: pybricks.hubs::PrimeHub.system.name
+    .. automethod:: pybricks.hubs::PrimeHub.system.reset_reason

-        .. automethod:: pybricks.hubs::PrimeHub.system.shutdown
+.. 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``.

-        .. automethod:: pybricks.hubs::PrimeHub.system.reset_reason
+Status light examples
+---------------------

-    .. 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``.
+Turning the light on and off
+****************************

-    Status light examples
-    ---------------------
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/light_off.py

-    Turning the light on and off
-    ****************************
+Changing brightness and using custom colors
+*******************************************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/light_off.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/light_hsv.py

-    Changing brightness and using custom colors
-    *******************************************
+Making the light blink
+**********************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/light_hsv.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/light_blink.py

-    Making the light blink
-    **********************
+Creating light animations
+*************************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/light_blink.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/light_animate.py

-    Creating light animations
-    *************************
+Matrix display examples
+-----------------------

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/light_animate.py
+Displaying images
+*****************

-    Matrix display examples
-    -----------------------
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_image.py

-    Displaying images
-    *****************
+Displaying numbers
+******************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/display_image.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_number.py

-    Displaying numbers
-    ******************
+Displaying text
+***************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/display_number.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_text.py

-    Displaying text
-    ***************
+Displaying individual pixels
+****************************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/display_text.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_pixel.py

-    Displaying individual pixels
-    ****************************
+Changing the display orientation
+********************************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/display_pixel.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_orientation.py

-    Changing the display orientation
-    ********************************
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_orientation_imu.py

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/display_orientation.py
+Making your own images
+**********************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/display_orientation_imu.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_matrix.py

-    Making your own images
-    **********************
+Combining images to make expressions
+************************************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/display_matrix.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_expression.py

-    Combining images to make expressions
-    ************************************
+Displaying animations
+*********************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/display_expression.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_animate.py

-    Displaying animations
-    *********************
+Button examples
+---------------

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/display_animate.py
+Detecting button presses
+************************

-    Button examples
-    ---------------
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/button_main.py

-    Detecting button presses
-    ************************
+IMU examples
+---------------

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/button_main.py
+Testing which way is up
+********************************

-    IMU examples
-    ---------------
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_up.py

-    Testing which way is up
-    ********************************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/imu_up.py
+Reading the tilt value
+********************************

+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_tilt.py

-    Reading the tilt value
-    ********************************
+Using a custom hub orientation
+**************************************************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/imu_tilt.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_tilt_blast.py

-    Using a custom hub orientation
-    **************************************************
+Reading acceleration and angular velocity vectors
+**************************************************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/imu_tilt_blast.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_read_vector.py

-    Reading acceleration and angular velocity vectors
-    **************************************************
+Reading acceleration and angular velocity on one axis
+*****************************************************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/imu_read_vector.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_read_scalar.py

-    Reading acceleration and angular velocity on one axis
-    *****************************************************
+System examples
+----------------------------------

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/imu_read_scalar.py
+Changing the stop button combination
+*****************************************

-    System examples
-    ----------------------------------
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/button_stop.py

-    Changing the stop button combination
-    *****************************************
+Turning the hub off
+*****************************************

-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/button_stop.py
-
-    Turning the hub off
-    *****************************************
-
-    .. literalinclude::
-        ../../../examples/pup/hub_primehub/system_shutdown.py
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/system_shutdown.py

 .. _installation instructions: https://pybricks.com/install/

@@ -9,12 +9,12 @@ EV3 DC Motor
 .. figure:: ../../main/images/rcxmotor.png
   :width: 40 %

-.. autoclass:: pybricks._common.DCMotor
+.. autoclass:: pybricks.iodevices.DCMotor
    :noindex:
    :no-members:

-    .. automethod:: pybricks._common.DCMotor.dc
+    .. automethod:: pybricks.iodevices.DCMotor.dc
        :noindex:

-    .. automethod:: pybricks._common.DCMotor.stop
+    .. automethod:: pybricks.iodevices.DCMotor.stop
        :noindex:
@@ -45,6 +45,12 @@ NXT Color Sensor

    .. automethod:: pybricks.nxtdevices.ColorSensor.rgb

+    .. rubric:: Advanced color sensing
+
+    .. automethod:: pybricks.nxtdevices.ColorSensor.hsv
+
+    .. automethod:: pybricks.nxtdevices.ColorSensor.detectable_colors
+
    .. rubric:: Built-in light

    This sensor has a built-in light. You can make it red, green, blue, or turn
@@ -7,22 +7,8 @@ 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.
+.. autodata:: pybricks.parameters.Number
+  :noindex:

 Time
 ~~~~~~
@@ -15,10 +15,6 @@ if "%TAG%" == "" (
 	set TAG=main
 )

-if "%BETA%" == "1" (
-	set BETATAG=-tbeta
-)
-
 if "%1" == "" goto help

 %SPHINXBUILD% >NUL 2>NUL
@@ -34,11 +30,11 @@ if errorlevel 9009 (
 	exit /b 1
 )

-%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% -t %TAG% %BETATAG%
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% -t %TAG%
 goto end

 :help
-%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% -t %TAG% %BETATAG%
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% -t %TAG%

 :end
 popd
@@ -0,0 +1,370 @@
+[[package]]
+name = "atomicwrites"
+version = "1.4.0"
+description = "Atomic file writes."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+
+[[package]]
+name = "attrs"
+version = "21.4.0"
+description = "Classes Without Boilerplate"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[package.extras]
+dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit", "cloudpickle"]
+docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
+tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
+tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "cloudpickle"]
+
+[[package]]
+name = "black"
+version = "22.3.0"
+description = "The uncompromising code formatter."
+category = "dev"
+optional = false
+python-versions = ">=3.6.2"
+
+[package.dependencies]
+click = ">=8.0.0"
+mypy-extensions = ">=0.4.3"
+pathspec = ">=0.9.0"
+platformdirs = ">=2"
+tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""}
+
+[package.extras]
+colorama = ["colorama (>=0.4.3)"]
+d = ["aiohttp (>=3.7.4)"]
+jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
+uvloop = ["uvloop (>=0.15.2)"]
+
+[[package]]
+name = "click"
+version = "8.1.3"
+description = "Composable command line interface toolkit"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.dependencies]
+colorama = {version = "*", markers = "platform_system == \"Windows\""}
+
+[[package]]
+name = "colorama"
+version = "0.4.5"
+description = "Cross-platform colored terminal text."
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+
+[[package]]
+name = "flake8"
+version = "4.0.1"
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+    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
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+]
@@ -0,0 +1,26 @@
+[tool.poetry]
+name = "pybricks_jedi"
+version = "1.0.0"
+description = "Code completion for Pybricks."
+authors = ["The Pybricks Authors"]
+license = "MIT"
+
+[tool.poetry.dependencies]
+python = ">= 3.10, < 3.11"
+pybricks = "^3.2.0b1-r2"
+jedi = "^0.18.1"
+typing-extensions = "^4.2.0"
+
+[tool.poetry.dev-dependencies]
+pytest = "^7.1.2"
+black = "^22.3.0"
+flake8 = "^4.0.1"
+pybricks = { path = "../", develop = true }
+
+[build-system]
+requires = ["poetry-core>=1.0.0"]
+build-backend = "poetry.core.masonry.api"
+
+[tool.pytest.ini_options]
+pythonpath = ["src"]
+testpaths = ["tests"]
@@ -0,0 +1,391 @@
+from enum import IntEnum
+import json
+from typing_extensions import TypedDict, NotRequired
+import jedi
+from jedi.api.classes import Completion, Signature, ParamName
+
+# Packages included in Pybricks firmware that ships with Pybricks Code.
+PYBRICKS_CODE_PACKAGES = {
+    "micropython",
+    "pybricks",
+    "pybricks.geometry",
+    "pybricks.hubs",
+    "pybricks.iodevices",
+    "pybricks.parameters",
+    "pybricks.pupdevices",
+    "pybricks.robotics",
+    "pybricks.tools",
+    "uerrno",
+    "uio",
+    "umath",
+    "urandom",
+    "uselect",
+    "usys",
+}
+
+# Subset of Python builtins included in Pybricks MicroPython.
+PYBRICKS_BUILTINS = {
+    "abs",
+    "all",
+    "any",
+    "ArithmeticError",
+    "AssertionError",
+    "AttributeError",
+    "BaseException",
+    "bin",
+    "bool",
+    "bytearray",
+    "bytes",
+    "callable",
+    "chr",
+    "classmethod",
+    "complex",
+    "dict",
+    "dir",
+    "divmod",
+    "enumerate",
+    "EOFError",
+    "eval",
+    "Exception",
+    "exec",
+    "float",
+    "GeneratorExit",
+    "getattr",
+    "globals",
+    "hasattr",
+    "hash",
+    "help",
+    "hex",
+    "id",
+    "ImportError",
+    "IndentationError",
+    "IndexError",
+    "input",
+    "int",
+    "isinstance",
+    "issubclass",
+    "iter",
+    "KeyboardInterrupt",
+    "KeyError",
+    "len",
+    "list",
+    "locals",
+    "LookupError",
+    "map",
+    "max",
+    "MemoryError",
+    "min",
+    "NameError",
+    "next",
+    "NotImplementedError",
+    "object",
+    "oct",
+    "ord",
+    "OSError",
+    "OverflowError",
+    "pow",
+    "print",
+    "range",
+    "repr",
+    "reversed",
+    "round",
+    "RuntimeError",
+    "set",
+    "setattr",
+    "slice",
+    "sorted",
+    "staticmethod",
+    "StopIteration",
+    "str",
+    "sum",
+    "super",
+    "SyntaxError",
+    "SystemExit",
+    "tuple",
+    "type",
+    "TypeError",
+    "ValueError",
+    "ZeroDivisionError",
+    "zip",
+}
+
+# Types from monaco editor
+
+
+class IRange(TypedDict):
+    startLineNumber: int
+    startColumn: int
+    endLineNumber: int
+    endColumn: int
+
+
+class ISingleEditOperation(TypedDict):
+    range: IRange
+    text: str  # TODO: can also be JavaScript null
+    forceMoveMarkers: NotRequired[bool]
+
+
+class Command(TypedDict):
+    id: str
+    title: str
+    tooltip: NotRequired[str]
+    arguments: NotRequired[list]
+
+
+class CompletionItemKind(IntEnum):
+    Method = 0
+    Function = 1
+    Constructor = 2
+    Field = 3
+    Variable = 4
+    Class = 5
+    Struct = 6
+    Interface = 7
+    Module = 8
+    Property = 9
+    Event = 10
+    Operator = 11
+    Unit = 12
+    Value = 13
+    Constant = 14
+    Enum = 15
+    EnumMember = 16
+    Keyword = 17
+    Text = 18
+    Color = 19
+    File = 20
+    Reference = 21
+    Customcolor = 22
+    Folder = 23
+    TypeParameter = 24
+    User = 25
+    Issue = 26
+    Snippet = 27
+
+
+class CompletionItemTag(IntEnum):
+    Deprecated = 1
+
+
+class CompletionItemInsertTextRule(IntEnum):
+    KeepWhitespace = 1
+    InsertAsSnippet = 4
+
+
+class CompletionItemLabel(TypedDict):
+    label: str
+    detail: NotRequired[str]
+    description: NotRequired[str]
+
+
+class CompletionItemRanges(TypedDict):
+    insert: IRange
+    replace: IRange
+
+
+class CompletionItem(TypedDict):
+    label: str | CompletionItemLabel
+    kind: CompletionItemKind
+    tags: NotRequired[list[CompletionItemTag]]
+    detail: NotRequired[str]
+    documentation: NotRequired[str]
+    sortText: NotRequired[str]
+    filterText: NotRequired[str]
+    preselect: NotRequired[bool]
+    insertText: str
+    insertTextRules: NotRequired[CompletionItemInsertTextRule]
+    range: IRange | CompletionItemRanges
+    commitCharacters: NotRequired[list[str]]
+    additionalTextEdits: NotRequired[list[ISingleEditOperation]]
+    command: NotRequired[Command]
+
+
+class ParameterInformation(TypedDict):
+    label: str | tuple[int, int]
+    documentation: NotRequired[str]
+
+
+class SignatureInformation(TypedDict):
+    label: str
+    documentation: NotRequired[str]
+    parameters: list[ParameterInformation]
+    activeParameter: NotRequired[int]
+
+
+class SignatureHelp(TypedDict):
+    signatures: list[SignatureInformation]
+    activeSignature: int
+    activeParameter: int
+
+
+def _is_pybricks(c: Completion) -> bool:
+    # filter all "private" names (leading underscore)
+    if (isinstance(c.name, str)) and c.name.startswith("_"):
+        return False
+
+    if isinstance(c.full_name, str):
+        # this catches things like `from __future__ import annotations`
+        if c.full_name.startswith("_") and c.module_name != "__main__":
+            return False
+
+        # filter out enum types
+        if c.full_name.startswith("enum."):
+            return False
+
+        # filter out typing types
+        if c.full_name.startswith("typing."):
+            return False
+
+    # filter out packages/modules that are not included in Pybricks firmware
+    if c.type == "module" or c.type == "namespace":
+        return c.full_name in PYBRICKS_CODE_PACKAGES
+
+    # filter subset of builtins
+    if c.module_name == "builtins" and c.type != "keyword":
+        return c.name in PYBRICKS_BUILTINS
+
+    # this is a type alias, not a real type
+    if c.full_name == "pybricks.parameters.Number":
+        return False
+
+    return True
+
+
+def _map_completion_kind(type: str) -> CompletionItemKind:
+    match type:
+        case "module":
+            return CompletionItemKind.Module
+        case "class":
+            return CompletionItemKind.Class
+        case "instance":
+            return CompletionItemKind.Variable
+        case "function":
+            return CompletionItemKind.Function
+        case "param":
+            return CompletionItemKind.Variable
+        case "path":
+            return CompletionItemKind.File
+        case "keyword":
+            return CompletionItemKind.Keyword
+        case "property":
+            return CompletionItemKind.Property
+        case "statement":
+            return CompletionItemKind.Variable
+        case _:
+            return CompletionItemKind.User
+
+
+def _map_completion_item(
+    completion: Completion, line: int, column: int
+) -> CompletionItem:
+    """
+    Maps a Jedi completion to a Monaco editor CompletionItem.
+
+    Note: All members of the CompletionItem must be directly mappable without
+    PyProxy in Pyodide.
+    """
+    return CompletionItem(
+        insertText=completion.name_with_symbols,
+        kind=_map_completion_kind(completion.type),
+        label=completion.name_with_symbols,
+        range=IRange(
+            startLineNumber=line,
+            startColumn=column - completion.get_completion_prefix_length(),
+            endLineNumber=line,
+            endColumn=column,
+        ),
+        documentation=completion.docstring(),
+    )
+
+
+def _map_parameter(param: ParamName) -> ParameterInformation:
+    # NB: it is not possible to get docstring for individual parameters from jedi
+    return ParameterInformation(label=param.to_string())
+
+
+def _map_signature(signature: Signature) -> SignatureInformation:
+    optional = {} if signature.index is None else dict(activeParameter=signature.index)
+
+    return SignatureInformation(
+        label=signature.to_string(),
+        documentation=signature.docstring(),
+        parameters=[_map_parameter(p) for p in signature.params],
+        **optional,
+    )
+
+
+def _map_signatures(signatures: list[Signature]) -> SignatureHelp:
+    return SignatureHelp(
+        signatures=[_map_signature(s) for s in signatures],
+        activeSignature=0,
+        activeParameter=0,
+    )
+
+
+def initialize():
+    """
+    Initialize jedi with Pybricks-specific config.
+    """
+
+    jedi.preload_module(
+        "typing",
+        "enum",
+        "micropython",
+        "pybricks._common",
+        "pybricks.ev3dev",
+        "pybricks.ev3dev.speaker",
+        "pybricks.geometry",
+        "pybricks.hubs",
+        "pybricks.iodevices",
+        "pybricks.parameters",
+        "pybricks.pupdevices",
+        "pybricks.robotics",
+        "pybricks.tools",
+        "pybricks",
+        "ubuiltins",
+        "uerrno",
+        "uio",
+        "ujson",
+        "umath",
+        "urandom",
+        "uselect",
+        "ustruct",
+        "usys",
+    )
+
+    # also preload "everything" in builtins
+    jedi.Script("").complete()
+
+
+def complete(code: str, line: int, column: int) -> str:
+    """
+    Calls jedi.Script().complete() and filters the results for Pybricks.
+
+    Args:
+        code: The Python code to parse.
+        line: The 1-based line number of the cursor position.
+        column: The 1-based column number of the cursor position.
+
+    Returns:
+        A json string containing a filtered list of completion items.
+    """
+    completions = jedi.Script(code).complete(line, column - 1, fuzzy=True)
+    return json.dumps(
+        [_map_completion_item(c, line, column) for c in completions if _is_pybricks(c)]
+    )
+
+
+def get_signatures(code: str, line: int, column: int) -> str:
+    """
+    Calls jedi.Script().get_signatures().
+
+    Args:
+        code: The Python code to parse.
+        line: The 1-based line number of the cursor position.
+        column: The 1-based column number of the cursor position.
+
+    Returns:
+        A json string containing the signature help.
+    """
+    signatures = jedi.Script(code).get_signatures(line, column - 1)
+    return json.dumps(_map_signatures(signatures))
@@ -0,0 +1,30 @@
+import pybricks_jedi
+
+
+def pytest_configure(config):
+    """
+    Allows plugins and conftest files to perform initial configuration.
+    This hook is called for every plugin and initial conftest
+    file after command line options have been parsed.
+    """
+
+
+def pytest_sessionstart(session):
+    """
+    Called after the Session object has been created and
+    before performing collection and entering the run test loop.
+    """
+    pybricks_jedi.initialize()
+
+
+def pytest_sessionfinish(session, exitstatus):
+    """
+    Called after whole test run finished, right before
+    returning the exit status to the system.
+    """
+
+
+def pytest_unconfigure(config):
+    """
+    called before test process is exited.
+    """
@@ -0,0 +1,126 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2022 The Pybricks Authors
+
+"""
+Tests for correct code completion of builtins.
+"""
+
+
+import json
+from pybricks_jedi import CompletionItem, complete
+
+
+def test_empty_code():
+    code = ""
+    completions: list[CompletionItem] = json.loads(complete(code, 1, 1))
+    # since nothing has been imported, this is just all builtins and keywords
+    assert [c["insertText"] for c in completions] == [
+        "abs",
+        "all",
+        "any",
+        "ArithmeticError",
+        "assert",
+        "AssertionError",
+        "async",
+        "AttributeError",
+        "await",
+        "BaseException",
+        "bin",
+        "bool",
+        "break",
+        "bytearray",
+        "bytes",
+        "callable",
+        "chr",
+        "class",
+        "classmethod",
+        "complex",
+        "continue",
+        "def",
+        "del",
+        "dict",
+        "dir",
+        "divmod",
+        "enumerate",
+        "EOFError",
+        "eval",
+        "Exception",
+        "exec",
+        "False",
+        "float",
+        "for",
+        "from",
+        "GeneratorExit",
+        "getattr",
+        "global",
+        "globals",
+        "hasattr",
+        "hash",
+        "help",
+        "hex",
+        "id",
+        "if",
+        "import",
+        "ImportError",
+        "IndentationError",
+        "IndexError",
+        "input",
+        "int",
+        "isinstance",
+        "issubclass",
+        "iter",
+        "KeyboardInterrupt",
+        "KeyError",
+        "lambda",
+        "len",
+        "list",
+        "locals",
+        "LookupError",
+        "map",
+        "max",
+        "MemoryError",
+        "min",
+        "NameError",
+        "next",
+        "None",
+        "nonlocal",
+        "not",
+        "NotImplementedError",
+        "object",
+        "oct",
+        "ord",
+        "OSError",
+        "OverflowError",
+        "pass",
+        "pow",
+        "print",
+        "raise",
+        "range",
+        "repr",
+        "return",
+        "reversed",
+        "round",
+        "RuntimeError",
+        "set",
+        "setattr",
+        "slice",
+        "sorted",
+        "staticmethod",
+        "StopIteration",
+        "str",
+        "sum",
+        "super",
+        "SyntaxError",
+        "SystemExit",
+        "True",
+        "try",
+        "tuple",
+        "type",
+        "TypeError",
+        "ValueError",
+        "while",
+        "with",
+        "yield",
+        "ZeroDivisionError",
+        "zip",
+    ]
@@ -0,0 +1,82 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2022 The Pybricks Authors
+
+"""
+Tests for correct code completion of the CityHub class.
+"""
+
+
+import json
+from pybricks_jedi import CompletionItem, complete
+
+IMPORT = "from pybricks.hubs import CityHub"
+CREATE_INSTANCE = "hub = CityHub()"
+
+
+def _create_snippet(line: str) -> str:
+    """
+    Creates a code snippet::
+
+        from pybricks.hubs import CityHub
+        hub = CityHub()
+        {line}
+
+    Args:
+        line: The value substituted for ``{line}``
+    """
+    return "\n".join((IMPORT, CREATE_INSTANCE, line))
+
+
+def test_hub_dot():
+    line = "hub."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "battery",
+        "button",
+        "light",
+        "system",
+    ]
+
+
+def test_hub_dot_battery_dot():
+    line = "hub.battery."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "current",
+        "voltage",
+    ]
+
+
+def test_hub_dot_button_dot():
+    line = "hub.button."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "pressed",
+    ]
+
+
+def test_hub_dot_light_dot():
+    line = "hub.light."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "animate",
+        "blink",
+        "off",
+        "on",
+    ]
+
+
+def test_hub_dot_system_dot():
+    line = "hub.system."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "name",
+        "reset_reason",
+        "set_stop_button",
+        "shutdown",
+    ]
@@ -0,0 +1,254 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2022 The Pybricks Authors
+
+"""
+Tests for correct code completion of import statements.
+"""
+
+import json
+from pybricks_jedi import CompletionItem, complete
+
+
+def test_from():
+    code = "from "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    # only modules included in Pybricks firmware should be listed
+    assert [c["insertText"] for c in completions] == [
+        "micropython",
+        "pybricks",
+        "uerrno",
+        "uio",
+        "umath",
+        "urandom",
+        "uselect",
+        "usys",
+    ]
+
+
+def test_from_pybricks_import():
+    code = "from pybricks import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "geometry",
+        "hubs",
+        "iodevices",
+        "parameters",
+        "pupdevices",
+        "robotics",
+        "tools",
+        "version",
+    ]
+
+
+def test_from_pybricks_dot():
+    code = "from pybricks."
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "geometry",
+        "hubs",
+        "iodevices",
+        "parameters",
+        "pupdevices",
+        "robotics",
+        "tools",
+    ]
+
+
+def test_from_pybricks_geometry_import():
+    code = "from pybricks.geometry import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "Axis",
+        "Matrix",
+        "vector",
+    ]
+
+
+def test_from_pybricks_hubs_import():
+    code = "from pybricks.hubs import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "CityHub",
+        "EV3Brick",
+        "InventorHub",
+        "MoveHub",
+        "PrimeHub",
+        "TechnicHub",
+    ]
+
+
+def test_from_pybricks_iodevices_import():
+    code = "from pybricks.iodevices import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "AnalogSensor",
+        "DCMotor",
+        "Ev3devSensor",
+        "I2CDevice",
+        "LUMPDevice",
+        "LWP3Device",
+        "PUPDevice",
+        "UARTDevice",
+    ]
+
+
+def test_from_pybricks_parameters_import():
+    code = "from pybricks.parameters import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "Button",
+        "Color",
+        "Direction",
+        "Icon",
+        "Port",
+        "Side",
+        "Stop",
+    ]
+
+
+def test_from_pybricks_pupdevices_import():
+    code = "from pybricks.pupdevices import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "ColorDistanceSensor",
+        "ColorLightMatrix",
+        "ColorSensor",
+        "DCMotor",
+        "ForceSensor",
+        "InfraredSensor",
+        "Light",
+        "Motor",
+        "PFMotor",
+        "Remote",
+        "TiltSensor",
+        "UltrasonicSensor",
+    ]
+
+
+def test_from_pybricks_robotics_import():
+    code = "from pybricks.robotics import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "DriveBase",
+    ]
+
+
+def test_from_pybricks_tools_import():
+    code = "from pybricks.tools import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "DataLog",
+        "StopWatch",
+        "wait",
+    ]
+
+
+def test_from_micropython_import():
+    code = "from micropython import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "const",
+        "kbd_intr",
+        "mem_info",
+        "opt_level",
+        "qstr_info",
+        "stack_use",
+    ]
+
+
+def test_from_uerrno_import():
+    code = "from uerrno import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "EAGAIN",
+        "EBUSY",
+        "ECANCELED",
+        "EINVAL",
+        "EIO",
+        "ENODEV",
+        "EOPNOTSUPP",
+        "EPERM",
+        "errorcode",
+        "ETIMEDOUT",
+    ]
+
+
+def test_from_uio_import():
+    code = "from uio import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "BytesIO",
+        "FileIO",
+        "StringIO",
+    ]
+
+
+def test_from_umath_import():
+    code = "from umath import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "acos",
+        "asin",
+        "atan",
+        "atan2",
+        "ceil",
+        "copysign",
+        "cos",
+        "degrees",
+        "e",
+        "exp",
+        "fabs",
+        "floor",
+        "fmod",
+        "frexp",
+        "isfinite",
+        "isinfinite",
+        "isnan",
+        "ldexp",
+        "log",
+        "modf",
+        "pi",
+        "pow",
+        "radians",
+        "sin",
+        "sqrt",
+        "tan",
+        "trunc",
+    ]
+
+
+def test_from_urandom_import():
+    code = "from urandom import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "choice",
+        "getrandbits",
+        "randint",
+        "random",
+        "randrange",
+        "seed",
+        "uniform",
+    ]
+
+
+def test_from_uselect_import():
+    code = "from uselect import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "poll",
+        "Poll",
+        "POLLERR",
+        "POLLHUP",
+        "POLLIN",
+        "POLLOUT",
+    ]
+
+
+def test_from_usys_import():
+    code = "from usys import "
+    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "stderr",
+        "stdin",
+        "stdout",
+    ]
@@ -0,0 +1,327 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2022 The Pybricks Authors
+
+"""
+Tests for correct code completion of the InventorHub class.
+"""
+
+
+import json
+from pybricks_jedi import SignatureHelp, complete, get_signatures, CompletionItem
+
+IMPORT = "from pybricks.hubs import InventorHub"
+CREATE_INSTANCE = "hub = InventorHub()"
+
+
+def _create_snippet(line: str) -> str:
+    """
+    Creates a code snippet::
+
+        from pybricks.hubs import InventorHub
+        hub = InventorHub()
+        {line}
+
+    Args:
+        line: The value substituted for ``{line}``
+    """
+    return "\n".join((IMPORT, CREATE_INSTANCE, line))
+
+
+def test_hub_dot():
+    line = "hub."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "battery",
+        "buttons",
+        "charger",
+        "display",
+        "imu",
+        "light",
+        "speaker",
+        "system",
+    ]
+
+
+def test_hub_dot_battery_dot():
+    line = "hub.battery."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "current",
+        "voltage",
+    ]
+
+
+def test_hub_dot_battery_dot_current():
+    line = "hub.battery.current("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == ["current() -> int"]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [None]
+
+
+def test_hub_dot_battery_dot_voltage():
+    line = "hub.battery.voltage("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == ["voltage() -> int"]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [None]
+
+
+def test_hub_dot_buttons_dot():
+    line = "hub.buttons."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "pressed",
+    ]
+
+
+def test_hub_dot_battery_dot_pressed():
+    line = "hub.buttons.pressed("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "pressed() -> Tuple[Button]"
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [None]
+
+
+def test_hub_dot_charger_dot():
+    line = "hub.charger."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "connected",
+        "current",
+        "status",
+    ]
+
+
+def test_hub_dot_charger_dot_connected():
+    line = "hub.charger.connected("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == ["connected() -> bool"]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [None]
+
+
+def test_hub_dot_charger_dot_current():
+    line = "hub.charger.current("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == ["current() -> int"]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [None]
+
+
+def test_hub_dot_display_dot():
+    line = "hub.display."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "animate",
+        "char",
+        "image",
+        "number",
+        "off",
+        "orientation",
+        "pixel",
+        "text",
+    ]
+
+
+def test_hub_dot_imu_dot():
+    line = "hub.imu."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "acceleration",
+        "angular_velocity",
+        "heading",
+        "reset_heading",
+        "tilt",
+        "up",
+    ]
+
+
+def test_hub_dot_light_dot():
+    line = "hub.light."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "animate",
+        "blink",
+        "off",
+        "on",
+    ]
+
+
+def test_hub_dot_light_dot_animate():
+    line = "hub.light.animate("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "animate(colors: Collection[Color], interval: Number) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [0]
+    assert [
+        [p["label"] for p in s["parameters"]] for s in signatures["signatures"]
+    ] == [["colors: Collection[Color]", "interval: Number"]]
+
+
+def test_hub_dot_light_dot_animate2():
+    line = "hub.light.animate([],"
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "animate(colors: Collection[Color], interval: Number) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [1]
+    assert [
+        [p["label"] for p in s["parameters"]] for s in signatures["signatures"]
+    ] == [["colors: Collection[Color]", "interval: Number"]]
+
+
+def test_hub_dot_light_dot_blink():
+    line = "hub.light.blink("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "blink(color: Color, durations: Collection[int]) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [0]
+
+
+def test_hub_dot_light_dot_blink2():
+    line = "hub.light.blink(Color.RED,"
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "blink(color: Color, durations: Collection[int]) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [1]
+
+
+def test_hub_dot_light_dot_on():
+    line = "hub.light.on("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "on(color: Color) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [0]
+
+
+def test_hub_dot_speaker_dot():
+    line = "hub.speaker."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "beep",
+        "play_notes",
+        "volume",
+    ]
+
+
+def test_hub_dot_speaker_dot_beep():
+    line = "hub.speaker.beep("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "beep(frequency: Number=500, duration: Number=100) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [0]
+
+
+def test_hub_dot_speaker_dot_beep2():
+    line = "hub.speaker.beep(100,"
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "beep(frequency: Number=500, duration: Number=100) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [1]
+
+
+def test_hub_dot_speaker_dot_play_notes():
+    line = "hub.speaker.play_notes("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "play_notes(notes: Iterable[str], tempo: Number=120) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [0]
+
+
+def test_hub_dot_speaker_dot_play_notes2():
+    line = "hub.speaker.play_notes([],"
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "play_notes(notes: Iterable[str], tempo: Number=120) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [1]
+
+
+def test_hub_dot_speaker_dot_volume():
+    line = "hub.speaker.volume("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "volume() -> int",
+        "volume(volume: Number) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [None, 0]
+
+
+def test_hub_dot_system_dot():
+    line = "hub.system."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "name",
+        "reset_reason",
+        "set_stop_button",
+        "shutdown",
+    ]
+
+
+def test_hub_dot_system_dot_name():
+    line = "hub.system.name("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "name() -> str",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [None]
+
+
+def test_hub_dot_system_dot_reset_reason():
+    line = "hub.system.reset_reason("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "reset_reason() -> int",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [None]
+
+
+def test_hub_dot_system_dot_set_stop_button():
+    line = "hub.system.set_stop_button("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "set_stop_button(button: Optional[Union[Button, Iterable[Button]]]) -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [0]
+
+
+def test_hub_dot_system_dot_shutdown():
+    line = "hub.system.shutdown("
+    code = _create_snippet(line)
+    signatures: SignatureHelp = json.loads(get_signatures(code, 3, len(line) + 1))
+    assert [s["label"] for s in signatures["signatures"]] == [
+        "shutdown() -> None",
+    ]
+    assert [s.get("activeParameter") for s in signatures["signatures"]] == [None]
@@ -0,0 +1,93 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2022 The Pybricks Authors
+
+"""
+Tests for correct code completion of the MoveHub class.
+"""
+
+
+import json
+from pybricks_jedi import CompletionItem, complete
+
+IMPORT = "from pybricks.hubs import MoveHub"
+CREATE_INSTANCE = "hub = MoveHub()"
+
+
+def _create_snippet(line: str) -> str:
+    """
+    Creates a code snippet::
+
+        from pybricks.hubs import MoveHub
+        hub = MoveHub()
+        {line}
+
+    Args:
+        line: The value substituted for ``{line}``
+    """
+    return "\n".join((IMPORT, CREATE_INSTANCE, line))
+
+
+def test_hub_dot():
+    line = "hub."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "battery",
+        "button",
+        "imu",
+        "light",
+        "system",
+    ]
+
+
+def test_hub_dot_battery_dot():
+    line = "hub.battery."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "current",
+        "voltage",
+    ]
+
+
+def test_hub_dot_button_dot():
+    line = "hub.button."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "pressed",
+    ]
+
+
+def test_hub_dot_imu_dot():
+    line = "hub.imu."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "acceleration",
+        "up",
+    ]
+
+
+def test_hub_dot_light_dot():
+    line = "hub.light."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "animate",
+        "blink",
+        "off",
+        "on",
+    ]
+
+
+def test_hub_dot_system_dot():
+    line = "hub.system."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "name",
+        "reset_reason",
+        "set_stop_button",
+        "shutdown",
+    ]
@@ -0,0 +1,138 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2022 The Pybricks Authors
+
+"""
+Tests for correct code completion of the PrimeHub class.
+"""
+
+
+import json
+from pybricks_jedi import CompletionItem, complete
+
+IMPORT = "from pybricks.hubs import PrimeHub"
+CREATE_INSTANCE = "hub = PrimeHub()"
+
+
+def _create_snippet(line: str) -> str:
+    """
+    Creates a code snippet::
+
+        from pybricks.hubs import PrimeHub
+        hub = PrimeHub()
+        {line}
+
+    Args:
+        line: The value substituted for ``{line}``
+    """
+    return "\n".join((IMPORT, CREATE_INSTANCE, line))
+
+
+def test_hub_dot():
+    line = "hub."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "battery",
+        "buttons",
+        "charger",
+        "display",
+        "imu",
+        "light",
+        "speaker",
+        "system",
+    ]
+
+
+def test_hub_dot_battery_dot():
+    line = "hub.battery."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "current",
+        "voltage",
+    ]
+
+
+def test_hub_dot_buttons_dot():
+    line = "hub.buttons."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "pressed",
+    ]
+
+
+def test_hub_dot_charger_dot():
+    line = "hub.charger."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "connected",
+        "current",
+        "status",
+    ]
+
+
+def test_hub_dot_display_dot():
+    line = "hub.display."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "animate",
+        "char",
+        "image",
+        "number",
+        "off",
+        "orientation",
+        "pixel",
+        "text",
+    ]
+
+
+def test_hub_dot_imu_dot():
+    line = "hub.imu."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "acceleration",
+        "angular_velocity",
+        "heading",
+        "reset_heading",
+        "tilt",
+        "up",
+    ]
+
+
+def test_hub_dot_light_dot():
+    line = "hub.light."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "animate",
+        "blink",
+        "off",
+        "on",
+    ]
+
+
+def test_hub_dot_speaker_dot():
+    line = "hub.speaker."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "beep",
+        "play_notes",
+        "volume",
+    ]
+
+
+def test_hub_dot_system_dot():
+    line = "hub.system."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "name",
+        "reset_reason",
+        "set_stop_button",
+        "shutdown",
+    ]
@@ -0,0 +1,97 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2022 The Pybricks Authors
+
+"""
+Tests for correct code completion of the TechnicHub class.
+"""
+
+
+import json
+from pybricks_jedi import CompletionItem, complete
+
+IMPORT = "from pybricks.hubs import TechnicHub"
+CREATE_INSTANCE = "hub = TechnicHub()"
+
+
+def _create_snippet(line: str) -> str:
+    """
+    Creates a code snippet::
+
+        from pybricks.hubs import TechnicHub
+        hub = TechnicHub()
+        {line}
+
+    Args:
+        line: The value substituted for ``{line}``
+    """
+    return "\n".join((IMPORT, CREATE_INSTANCE, line))
+
+
+def test_hub_dot():
+    line = "hub."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "battery",
+        "button",
+        "imu",
+        "light",
+        "system",
+    ]
+
+
+def test_hub_dot_battery_dot():
+    line = "hub.battery."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "current",
+        "voltage",
+    ]
+
+
+def test_hub_dot_button_dot():
+    line = "hub.button."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "pressed",
+    ]
+
+
+def test_hub_dot_imu_dot():
+    line = "hub.imu."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "acceleration",
+        "angular_velocity",
+        "heading",
+        "reset_heading",
+        "tilt",
+        "up",
+    ]
+
+
+def test_hub_dot_light_dot():
+    line = "hub.light."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "animate",
+        "blink",
+        "off",
+        "on",
+    ]
+
+
+def test_hub_dot_system_dot():
+    line = "hub.system."
+    code = _create_snippet(line)
+    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
+    assert [c["insertText"] for c in completions] == [
+        "name",
+        "reset_reason",
+        "set_stop_button",
+        "shutdown",
+    ]
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.2.0b1"
+version = "3.2.0b1-r2"
 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>" ]
@@ -1,6 +1,6 @@

 [flake8]
-exclude = .venv/,*.pyi
+exclude = .venv/,*.pyi,jedi/
 max-line-length = 88
 ignore = E203,W503

@@ -0,0 +1,8 @@
+from typing import Tuple
+
+
+version: Tuple[str, str, str] = (
+    "hub",
+    "3.2.0b1",
+    "v3.2.0b1-GIT_HASH on DATE",
+)
@@ -4,20 +4,23 @@
 """Generic cross-platform module for typical devices like lights, displays,
 speakers, and batteries."""

-from .parameters import Direction, Stop, Button, Port, Color, Side
+from __future__ import annotations
+
+from typing import Union, Iterable, overload, Optional, Tuple, Collection, TYPE_CHECKING

 from .geometry import Matrix, Axis
+from .parameters import Direction, Stop, Button, Port, Color, Side

-from typing import Union, Iterable, overload, Optional, Tuple, Collection
-
-
-Number = Union[int, float]
+if TYPE_CHECKING:
+    from .parameters import Number


 class System:
    """System control actions for a hub."""

-    def set_stop_button(self, button: Union[Button, Iterable[Button]]) -> None:
+    def set_stop_button(
+        self, button: Optional[Union[Button, Iterable[Button]]]
+    ) -> None:
        """
        set_stop_button(button)

@@ -33,13 +36,11 @@ class System:
                or a tuple of multiple buttons. Choose ``None`` to disable the
                stop button altogether.
        """
-        pass

    def shutdown(self) -> None:
        """shutdown()

        Stops your program and shuts the hub down."""
-        pass

    def reset_reason(self) -> int:
        """reset_reason() -> int
@@ -56,7 +57,6 @@ class System:
              crashed due to a watchdog timeout, which indicates a firmware
              issue.
        """
-        pass

    def name(self) -> str:
        """name() -> str
@@ -67,7 +67,6 @@ class System:
        Returns:
            The hub name.
        """
-        pass


 class DCMotor:
@@ -75,14 +74,13 @@ class DCMotor:
    as train motors."""

    def __init__(self, port: Port, positive_direction: Direction = Direction.CLOCKWISE):
-        """DCMotor(port, positive_direction=Direction.CLOCKWISE)
+        """__init__(port, positive_direction=Direction.CLOCKWISE)

        Arguments:
            port (Port): Port to which the motor is connected.
            positive_direction (Direction): Which direction the motor should
                turn when you give a positive duty cycle value.
        """
-        pass

    def dc(self, duty: Number) -> None:
        """dc(duty)
@@ -92,7 +90,6 @@ class DCMotor:
        Arguments:
            duty (Number, %): The duty cycle (-100.0 to 100).
        """
-        pass

    def stop(self) -> None:
        """stop()
@@ -100,7 +97,6 @@ class DCMotor:
        Stops the motor and lets it spin freely.

        The motor gradually stops due to friction."""
-        pass

    def brake(self) -> None:
        """brake()
@@ -109,7 +105,6 @@ class DCMotor:

        The motor stops due to friction, plus the voltage that
        is generated while the motor is still moving."""
-        pass

    @overload
    def settings(self, max_voltage: Optional[int] = None) -> None:
@@ -131,7 +126,6 @@ class DCMotor:
            max_voltage (Number, mV):
                Maximum voltage applied to the motor during all motor commands.
        """
-        pass


 class Control:
@@ -177,7 +171,6 @@ class Control:
            torque (:ref:`torque`):
                Maximum feedback torque during control.
        """
-        pass

    @overload
    def pid(self) -> Tuple[int, int, int, None, int]:
@@ -215,7 +208,6 @@ class Control:
            integral_rate (Number, deg/s or Number, mm/s): Maximum rate at
                which the error integral is allowed to grow.
        """
-        pass

    @overload
    def target_tolerances(self) -> Tuple[int, int]:
@@ -242,7 +234,6 @@ class Control:
                deviation from the target before motion is considered
                complete.
        """
-        pass

    @overload
    def stall_tolerances(self) -> Tuple[int, int]:
@@ -269,7 +260,6 @@ class Control:
            time (Number, ms): How long the controller has to be below this
                minimum ``speed`` before we say it is stalled.
        """
-        pass

    def stalled(self) -> bool:
        """stalled() -> bool
@@ -282,7 +272,6 @@ class Control:
        Returns:
            ``True`` if the controller is stalled, ``False`` if not.
        """
-        pass

    def done(self) -> bool:
        """done() -> bool
@@ -292,7 +281,6 @@ class Control:
        Returns:
            ``True`` if the command is done, ``False`` if not.
        """
-        pass

    def load(self) -> int:
        """load() -> int: mNm
@@ -306,7 +294,6 @@ class Control:
        Returns:
            The load torque. It returns 0 if control is not active.
        """
-        pass


 class Motor(DCMotor):
@@ -325,7 +312,7 @@ class Motor(DCMotor):
        gears: Optional[Union[Collection[int], Collection[Collection[int]]]] = None,
        reset_angle: bool = True,
    ):
-        """Motor(port, positive_direction=Direction.CLOCKWISE, gears=None, reset_angle=True)
+        """__init__(port, positive_direction=Direction.CLOCKWISE, gears=None, reset_angle=True)

        Arguments:
            port (Port): Port to which the motor is connected.
@@ -349,7 +336,6 @@ class Motor(DCMotor):
                current value, so your program knows where it left off last
                time.
        """
-        pass

    def angle(self) -> int:
        """angle() -> int: deg
@@ -359,7 +345,6 @@ class Motor(DCMotor):
        Returns:
            Motor angle.
        """
-        pass

    def speed(self) -> int:
        """speed() -> int: deg/s
@@ -370,7 +355,6 @@ class Motor(DCMotor):
            Motor speed.

        """
-        pass

    def reset_angle(self, angle: Number) -> None:
        """
@@ -381,13 +365,11 @@ class Motor(DCMotor):
        Arguments:
            angle (Number, deg): Value to which the angle should be reset.
        """
-        pass

    def hold(self) -> None:
        """hold()

        Stops the motor and actively holds it at its current angle."""
-        pass

    def run(self, speed: Number) -> None:
        """run(speed)
@@ -400,7 +382,6 @@ class Motor(DCMotor):
        Arguments:
            speed (Number, deg/s): Speed of the motor.
        """
-        pass

    def run_time(
        self, speed: Number, time: Number, then: Stop = Stop.HOLD, wait: bool = True
@@ -420,7 +401,6 @@ class Motor(DCMotor):
            wait (bool): Wait for the maneuver to complete before continuing
                with the rest of the program.
        """
-        pass

    def run_angle(
        self,
@@ -441,7 +421,6 @@ class Motor(DCMotor):
            wait (bool): Wait for the maneuver to complete before continuing
                with the rest of the program.
        """
-        pass

    def run_target(
        self,
@@ -464,7 +443,6 @@ class Motor(DCMotor):
            wait (bool): Wait for the motor to reach the target
                before continuing with the rest of the program.
        """
-        pass

    def run_until_stalled(
        self,
@@ -488,7 +466,6 @@ class Motor(DCMotor):
        Returns:
            Angle at which the motor becomes stalled.
        """
-        pass

    def track_target(self, target_angle: Number) -> None:
        """track_target(target_angle)
@@ -502,7 +479,6 @@ class Motor(DCMotor):
            target_angle (Number, deg): Target angle that the motor should
                rotate to.
        """
-        pass


 class Speaker:
@@ -527,7 +503,6 @@ class Speaker:
        Arguments:
            volume (Number, %): Volume of the speaker in the 0-100 range.
        """
-        pass

    def beep(self, frequency: Number = 500, duration: Number = 100) -> None:
        """beep(frequency=500, duration=100)
@@ -542,7 +517,6 @@ class Speaker:
                than 0, then the method returns immediately and the frequency
                play continues to play indefinitely.
        """
-        pass

    def play_notes(self, notes: Iterable[str], tempo: Number = 120) -> None:
        """play_notes(notes, tempo=120)
@@ -577,7 +551,6 @@ class Speaker:
            tempo (int):
                Beats per minute. A quarter note is one beat.
        """
-        pass


 class ColorLight:
@@ -591,13 +564,11 @@ class ColorLight:
        Arguments:
            color (Color): Color of the light.
        """
-        pass

    def off(self) -> None:
        """off()

        Turns off the light."""
-        pass

    def blink(self, color: Color, durations: Collection[int]) -> None:
        """blink(color, durations)
@@ -645,7 +616,6 @@ class LightArray:
        Arguments:
            n (int): Number of lights
        """
-        pass

    def on(self, brightness: Union[int, Collection[int]]) -> None:
        """on(brightness)
@@ -658,13 +628,11 @@ class LightArray:
                If you give just one brightness value, all lights get that
                brightness.
        """
-        pass

    def off(self) -> None:
        """off()

        Turns off all the lights."""
-        pass


 class LightMatrix:
@@ -679,7 +647,6 @@ class LightMatrix:
            rows (int): Number of rows in the grid
            columns (int): Number of columns in the grid
        """
-        pass

    def orientation(self, up: Side) -> None:
        """orientation(up)
@@ -694,7 +661,6 @@ class LightMatrix:
                design. Choose ``Side.TOP``, ``Side.LEFT``, ``Side.RIGHT``,
                or ``Side.BOTTOM``.
        """
-        pass

    def image(self, matrix: Matrix) -> None:
        """image(matrix)
@@ -706,7 +672,6 @@ class LightMatrix:
            matrix (Matrix): Matrix of intensities (:ref:`brightness`).  A 2D
                list is also accepted.
        """
-        pass

    def animate(self, matrices: Collection[Matrix], interval: Number) -> None:
        """animate(matrices, interval)
@@ -722,7 +687,6 @@ class LightMatrix:
                :class:`Matrix <pybricks.geometry.Matrix>` of intensities.
            interval (Number, ms): Time to display each image in the list.
        """
-        pass

    def pixel(self, row: int, column: int, brightness: Number = 100) -> None:
        """pixel(row, column, brightness=100)
@@ -734,13 +698,11 @@ class LightMatrix:
            column (int): Horizontal grid index, starting at 0 from the left.
            brightness (:ref:`brightness`): Brightness of the pixel.
        """
-        pass

    def off(self) -> None:
        """off()

        Turns off all the pixels."""
-        pass

    def number(self, number: Number) -> None:
        """number(number)
@@ -754,7 +716,6 @@ class LightMatrix:
        Arguments:
            number (int): The number to be displayed.
        """
-        pass

    def char(self, char: str) -> None:
        """char(char)
@@ -766,7 +727,6 @@ class LightMatrix:
        Arguments:
            character (str): The character or symbol to be displayed.
        """
-        pass

    def text(self, text: str, on: Number = 500, off: Number = 50) -> None:
        """text(text, on=500, off=50)
@@ -781,14 +741,13 @@ class LightMatrix:
            off (Number, ms): For how long the display is off between
                characters.
        """
-        pass


 class Keypad:
    """Get status of buttons on a keypad layout."""

    def __init__(self, active_buttons):
-        pass
+        ...

    def pressed(self) -> Tuple[Button]:
        """pressed() -> Tuple[Button]
@@ -798,7 +757,6 @@ class Keypad:
        Returns:
            Tuple of pressed buttons.
        """
-        pass


 class Battery:
@@ -812,7 +770,6 @@ class Battery:
        Returns:
            Battery voltage.
        """
-        pass

    def current(self) -> int:
        """current() -> int: mA
@@ -822,7 +779,6 @@ class Battery:
        Returns:
            Battery current.
        """
-        pass


 class Charger:
@@ -852,7 +808,6 @@ class Charger:
        Returns:
            Status value.
        """
-        pass

    def current(self) -> int:
        """current() -> int: mA
@@ -862,7 +817,6 @@ class Charger:
        Returns:
            Charging current.
        """
-        pass


 class SimpleAccelerometer:
@@ -876,7 +830,6 @@ class SimpleAccelerometer:
        Returns:
            Acceleration along all three axes.
        """
-        pass

    def up(self) -> Side:
        """up() -> Side
@@ -887,7 +840,6 @@ class SimpleAccelerometer:
            ``Side.TOP``, ``Side.BOTTOM``, ``Side.LEFT``, ``Side.RIGHT``,
            ``Side.FRONT`` or ``Side.BACK``.
        """
-        pass


 class Accelerometer(SimpleAccelerometer):
@@ -917,7 +869,6 @@ class Accelerometer(SimpleAccelerometer):
            Acceleration along the specified axis. If you specify no axis,
            this returns a vector of accelerations along all axes.
        """
-        pass

    def tilt(self) -> Tuple[int, int]:
        """tilt() -> Tuple[int, int]
@@ -932,7 +883,6 @@ class Accelerometer(SimpleAccelerometer):
        Returns:
            Tuple of pitch and roll angles.
        """
-        pass


 class IMU(Accelerometer):
@@ -952,10 +902,9 @@ class IMU(Accelerometer):
            Heading angle relative to starting orientation.

        """
-        pass

    def reset_heading(self, angle: Number) -> None:
-        """reset_heading(angle: Number)
+        """reset_heading(angle)

        Resets the accumulated heading angle of the robot.

@@ -964,7 +913,6 @@ class IMU(Accelerometer):
        Arguments:
            angle (Number, deg): Value to which the heading should be reset.
        """
-        pass

    @overload
    def angular_velocity(self) -> Matrix:
@@ -989,4 +937,137 @@ class IMU(Accelerometer):
            Angular velocity along the specified axis. If you specify no axis,
            this returns a vector of accelerations along all axes.
        """
-        pass
+
+
+class CommonColorSensor:
+    """Generic color sensor that supports Pybricks color calibration."""
+
+    def __init__(self, port: Port):
+        """__init__(port)
+
+        Arguments:
+            port (Port): Port to which the sensor is connected.
+        """
+
+    def color(self) -> Color:
+        """color() -> Color
+
+        Scans the color of a surface.
+
+        You choose which colors are detected using the
+        ``detectable_colors()`` method. By default, it detects
+        ``Color.RED``, ``Color.YELLOW``, ``Color.GREEN``, ``Color.BLUE``,
+        ``Color.WHITE``, or ``Color.NONE``.
+
+        Returns:
+            Detected color.
+        """
+
+    def hsv(self) -> Color:
+        """hsv() -> Color
+
+        Scans the color of a surface.
+
+        This method is similar to ``color()``, but it gives the full range
+        of hue, saturation and brightness values, instead of rounding it to the
+        nearest detectable color.
+
+        Returns:
+            Measured color. The color is described by a hue (0--359), a
+            saturation (0--100), and a brightness value (0--100).
+        """
+
+    def ambient(self) -> int:
+        """ambient() -> int: %
+
+        Measures the ambient light intensity.
+
+        Returns:
+            Ambient light intensity, ranging from 0% (dark)
+            to 100% (bright).
+        """
+
+    def reflection(self) -> int:
+        """reflection() -> int: %
+
+        Measures how much a surface reflects the light emitted by the
+        sensor.
+
+        Returns:
+            Measured reflection, ranging from 0% (no reflection) to
+            100% (high reflection).
+        """
+
+    @overload
+    def detectable_colors(self, colors: Collection[Color]) -> None:
+        ...
+
+    @overload
+    def detectable_colors(self) -> Tuple[Color]:
+        ...
+
+    def detectable_colors(self, *args):
+        """
+        detectable_colors(colors)
+        detectable_colors() -> Tuple[Color]
+
+        Configures which colors the ``color()`` method should detect.
+
+        Specify only colors that you wish to detect in your application.
+        This way, the full-color measurements are rounded to the nearest
+        desired color, and other colors are ignored. This improves reliability.
+
+        If you give no arguments, the currently chosen colors will be returned
+        as a tuple.
+
+        Arguments:
+            colors (tuple): Tuple of :class:`Color <.parameters.Color>`
+                objects: the colors that you want to detect. You can pick
+                standard colors such as ``Color.MAGENTA``, or provide your
+                own colors like ``Color(h=348, s=96, v=40)`` for even
+                better results. You measure your own colors with the
+                ``hsv()`` method.
+        """
+
+
+class AmbientColorSensor(CommonColorSensor):
+    """Like CommonColorSensor, but also detects ambient colors when the sensor
+    light is turned off"""
+
+    def color(self, surface: bool = True) -> Optional[Color]:
+        """color(surface=True) -> Color
+
+        Scans the color of a surface or an external light source.
+
+        You choose which colors are detected using the
+        ``detectable_colors()`` method. By default, it detects
+        ``Color.RED``, ``Color.YELLOW``, ``Color.GREEN``, ``Color.BLUE``,
+        ``Color.WHITE``, or ``Color.NONE``.
+
+        Arguments:
+            surface (bool): Choose ``true`` to scan the color of objects
+                and surfaces. Choose ``false`` to scan the color of
+                screens and other external light sources.
+
+        Returns:
+            Detected color.`
+        """
+
+    def hsv(self, surface: bool = True) -> Color:
+        """hsv(surface=True) -> Color
+
+        Scans the color of a surface or an external light source.
+
+        This method is similar to ``color()``, but it gives the full range
+        of hue, saturation and brightness values, instead of rounding it to the
+        nearest detectable color.
+
+        Arguments:
+            surface (bool): Choose ``true`` to scan the color of objects
+                and surfaces. Choose ``false`` to scan the color of
+                screens and other external light sources.
+
+        Returns:
+            Measured color. The color is described by a hue (0--359), a
+            saturation (0--100), and a brightness value (0--100).
+        """
@@ -1,26 +1,33 @@
 # SPDX-License-Identifier: MIT
 # Copyright (c) 2018-2021 The Pybricks Authors

+from typing import Iterable, Union, Optional
+
+from ..media.ev3dev import SoundFile
+

 class Speaker:
    """Plays beeps and sounds using a speaker."""

-    def beep(self, frequency=500, duration=100):
-        """Play a beep/tone.
+    def beep(self, frequency: int = 500, duration: int = 100) -> None:
+        """beep(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.
+            frequency (Number, Hz):
+                Frequency of the beep. Frequencies below 100 Hz are treated as
+                100 Hz.
+            duration (Number, ms):
+                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:
+    def play_notes(self, notes: Iterable[str], tempo: int = 120) -> None:
+        """play_notes(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:
@@ -50,20 +57,21 @@ class Speaker:
            tempo (int):
                Beats per minute. A quarter note is one beat.
        """
-        pass

-    def play_file(self, file):
-        """Plays a sound file.
+    def play_file(self, file_name: Union[SoundFile, str]) -> None:
+        """play_file(file_name)
+
+        Plays a sound file.

        Arguments:
            file (str):
                Path to the sound file, including the file extension.
        """

-        pass
+    def say(self, text: str) -> None:
+        """say(text)

-    def say(self, text):
-        """Says a given text string.
+        Says a given text string.

        You can configure the language and voice of the text using
        :meth:`.set_speech_options`.
@@ -72,10 +80,16 @@ class Speaker:
            text (str): What to say.
        """

-        pass
+    def set_speech_options(
+        self,
+        language: Optional[str] = None,
+        voice: Optional[str] = None,
+        speed: Optional[int] = None,
+        pitch: Optional[int] = None,
+    ):
+        """set_speech_options(language, voice, speed, pitch)

-    def set_speech_options(self, language=None, voice=None, speed=None, pitch=None):
-        """Configures speech settings used by the :meth:`.say` method.
+        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
@@ -95,13 +109,14 @@ class Speaker:
                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.
+    def set_volume(self, volume: int, which: str = "_all_") -> None:
+        """set_volume(volume, which="_all_")
+
+        Sets the speaker volume.

        Arguments:
-            volume (:ref:`percentage`):
+            volume (Number, %):
                Volume of the speaker.
            which (str):
                Which volume to set. ``'Beep'`` sets the volume for
@@ -109,4 +124,3 @@ class Speaker:
                volume for :meth:`.play_file` and :meth:`.say`. ``'_all_'``
                sets both at the same time.
        """
-        pass
@@ -1,20 +0,0 @@
-# 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: ...
@@ -3,26 +3,30 @@

 """LEGO® MINDSTORMS® EV3 motors and sensors."""

-from .parameters import Direction, Port, Color, Button
-from ._common import Motor as _Motor
-
 from typing import Optional, Tuple, List

+from . import _common
+from .parameters import (
+    Button as _Button,
+    Color as _Color,
+    Direction as _Direction,
+    Port as _Port,
+)

-class Motor(_Motor):
-    pass
+
+class Motor(_common.Motor):
+    """LEGO® MINDSTORMS® EV3 Motor."""


 class TouchSensor:
    """LEGO® MINDSTORMS® EV3 Touch Sensor."""

-    def __init__(self, port: Port):
+    def __init__(self, port: _Port):
        """TouchSensor(port)

        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

    def pressed(self) -> bool:
        """pressed() -> bool
@@ -33,21 +37,19 @@ class TouchSensor:
            ``True`` if the sensor is pressed, ``False`` if it is
            not pressed.
        """
-        pass


 class ColorSensor:
    """LEGO® MINDSTORMS® EV3 Color Sensor."""

-    def __init__(self, port: Port):
+    def __init__(self, port: _Port):
        """ColorSensor(port)

        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

-    def color(self) -> Optional[Color]:
+    def color(self) -> Optional[_Color]:
        """color() -> Color

        Measures the color of a surface.
@@ -58,7 +60,6 @@ class ColorSensor:
            or ``None`` if no color is detected.

        """
-        pass

    def ambient(self) -> int:
        """ambient() -> int: %
@@ -69,7 +70,6 @@ class ColorSensor:
            Ambient light intensity, ranging from 0% (dark)
            to 100% (bright).
        """
-        pass

    def reflection(self) -> int:
        """reflection() -> int: %
@@ -81,7 +81,6 @@ class ColorSensor:
            100% (high reflection).

        """
-        pass

    def rgb(self) -> Tuple[int, int, int]:
        """rgb() -> Tuple[int, int, int]
@@ -93,20 +92,18 @@ class ColorSensor:
            Tuple of reflections for red, green, and blue light, each
            ranging from 0.0% (no reflection) to 100.0% (high reflection).
        """
-        pass


 class InfraredSensor:
    """LEGO® MINDSTORMS® EV3 Infrared Sensor and Beacon."""

-    def __init__(self, port: Port):
+    def __init__(self, port: _Port):
        """InfraredSensor(port)

        Arguments:
            port (Port): Port to which the sensor is connected.

        """
-        pass

    def distance(self) -> int:
        """distance() -> int: %
@@ -119,7 +116,6 @@ class InfraredSensor:
            to 100% (farthest).

        """
-        pass

    def beacon(self, channel: int) -> Tuple[Optional[int], Optional[int]]:
        """
@@ -137,9 +133,8 @@ class InfraredSensor:
            (-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: int) -> List[Button]:
+    def buttons(self, channel: int) -> List[_Button]:
        """buttons(channel) -> List[Button]

        Checks which buttons on the infrared remote are pressed.
@@ -154,9 +149,8 @@ class InfraredSensor:
            List of pressed buttons on the remote on the selected channel.

        """
-        pass

-    def keypad(self) -> List[Button]:
+    def keypad(self) -> List[_Button]:
        """keypad() -> List[Button]

        Checks which buttons on the infrared remote are pressed.
@@ -169,13 +163,14 @@ class InfraredSensor:
        Returns:
            List of pressed buttons.
        """
-        pass


 class GyroSensor:
    """LEGO® MINDSTORMS® EV3 Gyro Sensor."""

-    def __init__(self, port: Port, positive_direction: Direction = Direction.CLOCKWISE):
+    def __init__(
+        self, port: _Port, positive_direction: _Direction = _Direction.CLOCKWISE
+    ):
        """GyroSensor(port)

        Arguments:
@@ -185,7 +180,6 @@ class GyroSensor:
                of the sensor.

        """
-        pass

    def speed(self) -> int:
        """speed() -> int: deg/s
@@ -196,7 +190,6 @@ class GyroSensor:
            Angular velocity.

        """
-        pass

    def angle(self) -> int:
        """angle() -> int: deg
@@ -207,7 +200,6 @@ class GyroSensor:
            Rotation angle.

        """
-        pass

    def reset_angle(self, angle: int) -> None:
        """reset_angle(angle)
@@ -217,20 +209,18 @@ class GyroSensor:
        Arguments:
            angle (Number, deg): Value to which the angle should be reset.
        """
-        pass


 class UltrasonicSensor:
    """LEGO® MINDSTORMS® EV3 Ultrasonic Sensor."""

-    def __init__(self, port: Port):
+    def __init__(self, port: _Port):
        """UltrasonicSensor(port)

        Arguments:
            port (Port): Port to which the sensor is connected.

        """
-        pass

    def distance(self, silent: bool = False) -> int:
        """distance(silent=False) -> int: mm
@@ -249,7 +239,6 @@ class UltrasonicSensor:
            Measured distance.

        """
-        pass

    def presence(self) -> bool:
        """presence() -> bool
@@ -265,4 +254,3 @@ class UltrasonicSensor:
            ``True`` if ultrasonic sounds are detected,
            ``False`` if not.
        """
-        pass
@@ -63,14 +63,12 @@ class Matrix:
    def T(self) -> Matrix:
        """Returns a new :class:`.Matrix` that is the transpose of the
        original."""
-        pass

    @property
    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


@overload
@@ -99,7 +97,6 @@ def vector(*args):
    Returns:
        A matrix with the shape of a column vector.
    """
-    pass


 class Axis:
@@ -2,18 +2,8 @@
 # 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,
-    Charger as _Charger,
-    System as _System,
-    SimpleAccelerometer as _SimpleAccelerometer,
-)
-from .ev3dev._speaker import Speaker as _EV3Speaker
+from . import _common
+from .ev3dev import _speaker
 from .geometry import Axis as _Axis
 from .media.ev3dev import Image as _Image
 from .parameters import Button as _Button
@@ -24,19 +14,19 @@ class EV3Brick:

    # These class attributes are here for auto-documentation only.
    # In reality, they are instance attributes created by __init__.
-    buttons = _Keypad(
-        (
+    buttons = _common.Keypad(
+        [
            _Button.LEFT,
            _Button.RIGHT,
            _Button.CENTER,
            _Button.UP,
            _Button.DOWN,
-        )
+        ]
    )
    screen = _Image("_screen_")
-    speaker = _EV3Speaker()
-    battery = _Battery()
-    light = _ColorLight()
+    speaker = _speaker.Speaker()
+    battery = _common.Battery()
+    light = _common.ColorLight()


 class MoveHub:
@@ -44,11 +34,11 @@ class MoveHub:

    # These class attributes are here for auto-documentation only.
    # In reality, they are instance attributes created by __init__.
-    battery = _Battery()
-    light = _ColorLight()
-    imu = _SimpleAccelerometer()
-    system = _System()
-    button = _Keypad((_Button.CENTER,))
+    battery = _common.Battery()
+    light = _common.ColorLight()
+    imu = _common.SimpleAccelerometer()
+    system = _common.System()
+    button = _common.Keypad([_Button.CENTER])


 class CityHub:
@@ -56,10 +46,10 @@ class CityHub:

    # These class attributes are here for auto-documentation only.
    # In reality, they are instance attributes created by __init__.
-    battery = _Battery()
-    light = _ColorLight()
-    system = _System()
-    button = _Keypad((_Button.CENTER,))
+    battery = _common.Battery()
+    light = _common.ColorLight()
+    system = _common.System()
+    button = _common.Keypad([_Button.CENTER])


 class TechnicHub:
@@ -67,14 +57,14 @@ class TechnicHub:

    # These class attributes are here for auto-documentation only.
    # In reality, they are instance attributes created by __init__.
-    battery = _Battery()
-    light = _ColorLight()
-    imu = _IMU()
-    system = _System()
-    button = _Keypad((_Button.CENTER,))
+    battery = _common.Battery()
+    light = _common.ColorLight()
+    imu = _common.IMU()
+    system = _common.System()
+    button = _common.Keypad([_Button.CENTER])

-    def __init__(self, top_side=_Axis.Z, front_side=_Axis.X):
-        """__init__(top_side=Axis.Z, front_side=Axis.X)
+    def __init__(self, top_side: _Axis = _Axis.Z, front_side: _Axis = _Axis.X):
+        """TechnicHub(top_side=Axis.Z, front_side=Axis.X)

        Initializes the hub. Optionally, specify how the hub is
        :ref:`placed in your design <robotframe>` by saying in which
@@ -87,7 +77,6 @@ class TechnicHub:
            front_side (Axis): The axis that passes through the *front side* of
                the hub.
        """
-        pass


 class PrimeHub:
@@ -95,24 +84,24 @@ class PrimeHub:

    # These class attributes are here for auto-documentation only.
    # In reality, they are instance attributes created by __init__.
-    battery = _Battery()
-    buttons = _Keypad(
-        (
+    battery = _common.Battery()
+    buttons = _common.Keypad(
+        [
            _Button.LEFT,
            _Button.RIGHT,
            _Button.CENTER,
            _Button.BLUETOOTH,
-        )
+        ]
    )
-    charger = _Charger()
-    light = _ColorLight()
-    display = _LightMatrix(5, 5)
-    speaker = _Speaker()
-    imu = _IMU()
-    system = _System()
+    charger = _common.Charger()
+    light = _common.ColorLight()
+    display = _common.LightMatrix(5, 5)
+    speaker = _common.Speaker()
+    imu = _common.IMU()
+    system = _common.System()

-    def __init__(self, top_side=_Axis.Z, front_side=_Axis.X):
-        """__init__(top_side=Axis.Z, front_side=Axis.X)
+    def __init__(self, top_side: _Axis = _Axis.Z, front_side: _Axis = _Axis.X):
+        """PrimeHub(top_side=Axis.Z, front_side=Axis.X)

        Initializes the hub. Optionally, specify how the hub is
        :ref:`placed in your design <robotframe>` by saying in which
@@ -125,10 +114,7 @@ class PrimeHub:
            front_side (Axis): The axis that passes through the *front side* of
                the hub.
        """
-        pass


 class InventorHub(PrimeHub):
    """LEGO® MINDSTORMS Inventor Hub."""
-
-    pass
@@ -1,55 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
-
-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: EV3Speaker
-    battery: Battery
-    light: ColorLight
-    buttons = Keypad
-
-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_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): ...
@@ -3,132 +3,146 @@

 """Generic input/output devices."""

+from typing import Dict, Tuple, Optional, overload
+
+from . import _common
+from .parameters import Port as _Port
+

 class PUPDevice:
    """Powered Up motor or sensor."""

-    def __init__(self, port):
-        """
+    def __init__(self, port: _Port):
+        """PUPDevice(port)

        Arguments:
            port (Port): Port to which the device is connected.
        """
-        pass

-    def info(self):
-        """Returns information about the device.
+    def info(self) -> Dict[str, str]:
+        """info() -> Dict
+
+        Gets information about the device.

        Returns:
-            ``dict``: Dictionary with information, such as the device ``id``.
+            Dictionary with information, such as the device ``id``.
        """
-        pass

-    def read(self, mode):
-        """Reads values from a given mode.
+    def read(self, mode: int) -> Tuple:
+        """read(mode) -> Tuple
+
+        Reads values from a given mode.

        Arguments:
-            mode (``int``): Device mode.
+            mode (int): Device mode.

        Returns:
-            ``tuple``: Values read from the sensor.
+            Values read from the sensor.
        """
-        pass

-    def write(self, mode, data):
-        """Writes values to the sensor. Only selected sensors and modes support
+    def write(self, mode: int, data: Tuple) -> None:
+        """write(mode, data)
+
+        Writes values to the sensor. Only selected sensors and modes support
        this.

        Arguments:
-            mode (``int``): Device mode.
-            data (``tuple``): Values to be written.
+            mode (int): Device mode.
+            data (tuple): Values to be written.
        """
-        pass


 class LUMPDevice:
    """Devices using the LEGO UART Messaging Protocol."""

-    def __init__(self, port):
-        """
+    def __init__(self, port: _Port):
+        """LUMPDevice(port)

        Arguments:
            port (Port): Port to which the device is connected.
        """
-        pass

-    def read(self, mode):
-        """Reads values from a given mode.
+    def read(self, mode: int) -> Tuple:
+        """read(mode) -> Tuple
+
+        Reads values from a given mode.

        Arguments:
-            mode (``int``): Device mode.
+            mode (int): Device mode.

        Returns:
-            ``tuple``: Values read from the sensor.
+            Values read from the sensor.
        """
-        pass
+
+
+class DCMotor(_common.DCMotor):
+    """DC Motor for LEGO® MINDSTORMS EV3."""


 class Ev3devSensor:
    """Read values of an ev3dev-compatible sensor."""

-    sensor_index = 0
+    sensor_index: int
    """Index of the ev3dev sysfs `lego-sensor`_ class."""

-    port_index = 0
+    port_index: int
    """Index of the ev3dev sysfs `lego-port`_ class."""

-    def __init__(self, port):
-        """
+    def __init__(self, port: _Port):
+        """Ev3devSensor(port)

        Arguments:
            port (Port): Port to which the device is connected.
        """
-        pass

-    def read(self, mode):
-        """Reads values at a given mode.
+    def read(self, mode: str) -> Tuple:
+        """read(mode) -> Tuple
+
+        Reads values at a given mode.

        Arguments:
-            mode (``str``): `Mode name`_.
+            mode (str): `Mode name`_.

        Returns:
-            ``tuple``: Values read from the sensor.
+            values read from the sensor.
        """
-        pass


 class AnalogSensor:
    """Generic or custom analog sensor."""

-    def __init__(self, port):
-        """
+    def __init__(self, port: _Port):
+        """AnalogSensor(port)

        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

-    def voltage(self):
-        """Measures analog voltage.
+    def voltage(self) -> int:
+        """voltage() -> int: mV
+
+        Measures analog voltage.

        Returns:
-            :ref:`voltage`: Analog voltage.
+            Analog voltage.
        """
-        pass

-    def resistance(self):
-        """Measures resistance.
+    def resistance(self) -> int:
+        """resistance() -> int: Ω
+
+        Measures resistance.

        This value is only meaningful if the analog device is a passive load
        such as a resistor or thermistor.

        Returns:
-            :ref:`resistance: Ω <voltage>`: Resistance of the analog device.
+            Resistance of the analog device.
        """
-        pass

-    def active(self):
-        """Sets sensor to active mode. This sets pin 5 of the sensor
+    def active(self) -> None:
+        """active()
+
+        Sets sensor to active mode. This sets pin 5 of the sensor
        port to `high`.

        This is used in some analog
@@ -136,10 +150,11 @@ class AnalogSensor:
        Sensor as a custom analog sensor, this method will turn the light on.
        From then on, ``voltage()`` returns the raw reflected light value.
        """
-        pass

-    def passive(self):
-        """Sets sensor to passive mode. This sets pin 5 of the sensor
+    def passive(self) -> None:
+        """passive()
+
+        Sets sensor to passive mode. This sets pin 5 of the sensor
        port to `low`.

        This is used in some analog
@@ -147,116 +162,120 @@ class AnalogSensor:
        Sensor as a custom analog sensor, this method will turn the light off.
        From then on, ``voltage()`` returns the raw ambient light value.
        """
-        pass


 class I2CDevice:
    """Generic or custom I2C device."""

-    def __init__(self, port, address):
-        """
+    def __init__(self, port: _Port, address: int):
+        """I2CDevice(port, address)

        Arguments:
            port (Port): Port to which the device is connected.
            address(int): I2C address of the client device. See
                :ref:`I2C Addresses <i2caddress>`.
        """
-        pass

-    def read(self, reg, length=1):
-        """Reads bytes, starting at a given register.
+    def read(self, reg: Optional[int], length: Optional[int] = 1) -> bytes:
+        """read(reg, length=1)
+
+        Reads bytes, starting at a given register.

        Arguments:
-            reg (``int``): Register at which to begin
+            reg (int): Register at which to begin
                reading: 0--255 or 0x00--0xFF.
-            length (``int``): How many bytes to read.
+            length (int): How many bytes to read.

        Returns:
-            ``bytes``: Bytes returned from the device.
+            Bytes returned from the device.
        """
-        pass

-    def write(self, reg, data=None):
-        """Writes bytes, starting at a given register.
+    def write(self, reg: Optional[int], data: Optional[bytes] = None) -> None:
+        """write(reg, data=None)
+
+        Writes bytes, starting at a given register.

        Arguments:
-            reg (``int``): Register at which to begin
+            reg (int): Register at which to begin
                writing: 0--255 or 0x00--0xFF.
-            data (``bytes``): Bytes to be written.
+            data (bytes): Bytes to be written.
        """
-        pass


 class UARTDevice:
    """Generic UART device."""

-    def __init__(self, port, baudrate, timeout=None):
-        """
+    def __init__(self, port: _Port, baudrate: int, timeout: Optional[int] = None):
+        """UARTDevice(port, baudrate, timeout=None)

        Arguments:
            port (Port): Port to which the device is connected.
            baudrate (int): Baudrate of the UART device.
-            timeout (:ref:`time`): How long to wait
+            timeout (Number, ms): How long to wait
                during ``read`` before giving up. If you choose ``None``,
                it will wait forever.
        """
-        pass

-    def read(self, length=1):
-        """Reads a given number of bytes from the buffer.
+    def read(self, length: int = 1) -> bytes:
+        """read(length=1) -> bytes
+
+        Reads a given number of bytes from the buffer.

        Your program will wait until the requested number of bytes are
        received. If this takes longer than ``timeout``, the ``ETIMEDOUT``
        exception is raised.

        Arguments:
-            length (``int``): How many bytes to read.
+            length (int): How many bytes to read.

        Returns:
-            ``bytes``: Bytes returned from the device.
+            Bytes returned from the device.
        """
-        pass

-    def read_all(self):
-        """Reads all bytes from the buffer.
+    def read_all(self) -> bytes:
+        """read_all() -> bytes
+
+        Reads all bytes from the buffer.

        Returns:
-            ``bytes``: Bytes returned from the device.
+            Bytes returned from the device.
        """
-        pass

-    def write(self, data):
-        """Writes bytes.
+    def write(self, data: bytes) -> None:
+        """write(data)
+
+        Writes bytes.

        Arguments:
-            data (``bytes``): Bytes to be written.
+            data (bytes): Bytes to be written.
        """
-        pass

-    def waiting(self):
-        """Gets how many bytes are still waiting to be read.
+    def waiting(self) -> int:
+        """waiting() -> int
+
+        Gets how many bytes are still waiting to be read.

        Returns:
-            ``int``: Number of bytes in the buffer.
+            Number of bytes in the buffer.
        """
-        pass

-    def clear(self):
-        """Empties the buffer."""
-        pass
+    def clear(self) -> None:
+        """clear()
+
+        Empties the buffer."""


 class LWP3Device:
    """
-    Connects to a remote hub running official LEGO firmware using the the
+    Connects to a hub running official LEGO firmware using the
    `LEGO Wireless Protocol v3`_

    .. _`LEGO Wireless Protocol v3`:
        https://lego.github.io/lego-ble-wireless-protocol-docs/
    """

-    def __init__(self, hub_kind, name=None, timeout=10000):
-        """
+    def __init__(self, hub_kind: int, name: str = None, timeout: int = 10000):
+        """LWP3Device(hub_kind, name=None, timeout=10000)

        Arguments:
            hub_kind (int):
@@ -273,30 +292,42 @@ class LWP3Device:
            https://github.com/pybricks/technical-info/blob/master/assigned-numbers.md#hub-type-ids
        """

-    def name(self, name=None):
-        """Gets or sets the Bluetooth name of the remote.
+    @overload
+    def name(self, name: str) -> None:
+        ...

-        If no name is given, this method returns the current name.
+    @overload
+    def name(self) -> str:
+        ...
+
+    def name(self, *args):
+        """name(name)
+        name() -> str
+
+        Sets or gets the Bluetooth name of the device.

        Arguments:
-            name (str): New Bluetooth name of the remote.
+            name (str): New Bluetooth name of the device. If no name is given,
+                this method returns the current name.
        """

-    def write(self, buf):
-        """
+    def write(self, buf: bytes) -> None:
+        """write(buf)
+
        Sends a message to the remote hub.

        Arguments:
            buf (bytes): The raw binary message to send.
        """

-    def read(self):
-        """
+    def read(self) -> bytes:
+        """read() -> bytes
+
        Retrieves the most recent message received from the remote hub.

        If a message has not been received since the last read, the method will
        block until a message is received.

        Returns:
-            bytes: The raw binary message.
+            The raw binary message.
        """
@@ -1,52 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
-
-from typing import Dict, Optional, Tuple, overload
-
-from .parameters import Port
-
-class PUPDevice:
-    def __init__(self, port: Port): ...
-    def info(self) -> Dict[str, str]: ...
-    def read(self, mode: int) -> Tuple: ...
-    def write(self, mode: int, data: Tuple) -> None: ...
-
-class LUMPDevice:
-    def __init__(self, port: Port): ...
-    def read(self, mode: int) -> Tuple: ...
-
-class Ev3devSensor:
-    sensor_index: int
-    port_index: int
-    def __init__(self, port: Port): ...
-    def read(self, mode: int) -> Tuple: ...
-
-class AnalogSensor:
-    def __init__(self, port: Port): ...
-    def voltage(self) -> int: ...
-    def resistance(self) -> int: ...
-    def active(self) -> None: ...
-    def passive(self) -> None: ...
-
-class I2CDevice:
-    def __init__(self, port: Port, address: int): ...
-    def read(self, reg: Optional[int], length: Optional[int] = 1) -> bytes: ...
-    def write(self, reg: Optional[int], data: Optional[bytes] = None) -> None: ...
-
-class UARTDevice:
-    def __init__(self, port: Port, baudrate: int, timeout: Optional[int] = None): ...
-    def read(self, length: int = 1) -> bytes: ...
-    def read_all(self) -> bytes: ...
-    def write(self, data: bytes) -> None: ...
-    def waiting(self) -> int: ...
-    def clear(self) -> None: ...
-
-class LWP3Device:
-    def __init__(self, hub_kind: int, name: str = None, timeout: int = 10000): ...
-    @overload
-    def name(self) -> str: ...
-    @overload
-    def name(self, name: str) -> None: ...
-    def name(self, *args): ...
-    def read(self) -> bytes: ...
-    def write(self, buf: bytes) -> None: ...
@@ -3,7 +3,11 @@

 """Images and Sounds for Pybricks on ev3dev."""

-from ..parameters import Color as _Color
+from __future__ import annotations
+
+from typing import Union, Literal, overload, Optional, Any
+
+from ..parameters import Color


 class Image:
@@ -15,8 +19,20 @@ class Image:
    # in that context and it is automatically replaced when the documentation
    # is generated.

-    def __init__(self, source, sub=False):
-        """
+    @overload
+    def __init__(self, /, source: Union[Image, ImageFile, str]):
+        ...
+
+    @overload
+    def __init__(
+        self, /, source: Image, sub: Literal[False], x1: int, y1: int, x2: int, y2: int
+    ):
+        ...
+
+    def __init__(self, *args):
+        """Image(source, sub=False)
+
+
        Arguments:
            source (str or Image):
                The source of the image.
@@ -39,36 +55,47 @@ class Image:
                bottom-right coordinates in the ``source`` image that will be
                used as the bounds for the sub-image.
        """
-        pass

    @property
-    def width(self):
+    def width(self) -> int:
        """Gets the width of |this image| in pixels."""
        return 0

    @property
-    def height(self):
+    def height(self) -> int:
        """Gets the height of |this image| in pixels."""
        return 0

-    def clear(self):
-        """Clears |this image|. All pixels on |this image| will be set to
+    def clear(self) -> None:
+        """clear()
+
+        Clears |this image|. All pixels on |this image| will be set to
        :attr:`Color.WHITE <pybricks.parameters.Color.WHITE>`.
        """
-        pass

-    def draw_pixel(self, x, y, color=_Color.BLACK):
-        """Draws a single pixel on |this image|.
+    def draw_pixel(self, x: int, y: int, color: Color = Color.BLACK) -> None:
+        """draw_pixel(x, y, color=Color.BLACK)
+
+        Draws a single pixel on |this image|.

        Arguments:
            x (int): The x coordinate of the pixel.
            y (int): The y coordinate of the pixel.
            color (Color): The color of the pixel.
        """
-        pass

-    def draw_line(self, x1, y1, x2, y2, width=1, color=_Color.BLACK):
-        """Draws a line on |this image|.
+    def draw_line(
+        self,
+        x1: int,
+        y1: int,
+        x2: int,
+        y2: int,
+        width: int = 1,
+        color: Color = Color.BLACK,
+    ) -> None:
+        """draw_line(x1, y1, x2, y2, width=1, color=Color.BLACK)
+
+        Draws a line on |this image|.

        Arguments:
            x1 (int): The x coordinate of the starting point of the line.
@@ -78,10 +105,20 @@ class Image:
            width (int): The width of the line in pixels.
            color (Color): The color of the line.
        """
-        pass

-    def draw_box(self, x1, y1, x2, y2, r=0, fill=False, color=_Color.BLACK):
-        """Draws a box on |this image|.
+    def draw_box(
+        self,
+        x1: int,
+        y1: int,
+        x2: int,
+        y2: int,
+        r: int = 0,
+        fill: bool = False,
+        color: Color = Color.BLACK,
+    ) -> None:
+        """draw_box(x1, y1, x2, y2, r=0, fill=False, color=Color.BLACK)
+
+        Draws a box on |this image|.

        Arguments:
            x1 (int): The x coordinate of the left side of the box.
@@ -93,10 +130,13 @@ class Image:
                otherwise only the outline of the box will be drawn.
            color (Color): The color of the box.
        """
-        pass

-    def draw_circle(self, x, y, r, fill=False, color=_Color.BLACK):
-        """Draws a circle on |this image|.
+    def draw_circle(
+        self, x: int, y: int, r: int, fill: bool = False, color: Color = Color.BLACK
+    ) -> None:
+        """draw_circle(x, y, r, fill=False, color=Color.BLACK)
+
+        Draws a circle on |this image|.

        Arguments:
            x (int): The x coordinate of the center of the circle.
@@ -106,10 +146,17 @@ class Image:
                ``color``, otherwise only the circumference will be drawn.
            color (Color): The color of the circle.
        """
-        pass

-    def draw_image(self, x, y, source, transparent=None):
-        """Draws the ``source`` image on |this image|.
+    def draw_image(
+        self,
+        x: int,
+        y: int,
+        source: Union[Image, ImageFile, str],
+        transparent: Optional[Color] = None,
+    ) -> None:
+        """draw_image(x, y, source, transparent=None)
+
+        Draws the ``source`` image on |this image|.

        Arguments:
            x (int):
@@ -125,8 +172,10 @@ class Image:
                no transparency.
        """

-    def load_image(self, source):
-        """Clears this image, then draws the ``source`` image centered in
+    def load_image(self, source: Union[Image, ImageFile, str]) -> None:
+        """load_image(source)
+
+        Clears this image, then draws the ``source`` image centered in
        |this image|.

        Arguments:
@@ -136,8 +185,17 @@ class Image:
                from file.
        """

-    def draw_text(self, x, y, text, text_color=_Color.BLACK, background_color=None):
-        """Draws text on |this image|.
+    def draw_text(
+        self,
+        x: int,
+        y: int,
+        text: str,
+        text_color: Color = Color.BLACK,
+        background_color: Optional[Color] = None,
+    ) -> None:
+        """draw_text(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 <pybricks.media.ev3dev.Font.DEFAULT>` if no font
@@ -156,10 +214,11 @@ class Image:
                The color used to fill the rectangle behind the text or
                ``None`` for transparent background.
        """
-        pass

-    def print(self, *args, sep=" ", end="\n"):
-        """Prints a line of text on |this image|.
+    def print(self, *args: Any, sep: str = " ", end: str = "\n") -> None:
+        """print(*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.
@@ -176,18 +235,16 @@ class Image:
        bottom of |this image|.

        Arguments:
-            * (object):
-                Zero or more objects to print.
-            sep (str):
-                Separator that will be placed between each object that is
-                printed.
-            end (str):
-                End of line that will be printed after the last object.
+            args (Any): Zero or more objects to print.
+            sep (str): Separator that will be placed between each object that
+                is printed.
+            end (str): End of line that will be printed after the last object.
        """
-        pass

-    def set_font(self, font):
-        """Sets the font used for writing on |this image|.
+    def set_font(self, font: Font) -> None:
+        """set_font(font)
+
+        Sets the font used for writing on |this image|.

        The font is used for both :meth:`.draw_text` and :meth:`.print`.

@@ -195,11 +252,10 @@ class Image:
            font (Font):
                The font to use.
        """
-        pass

    @staticmethod
-    def empty(width=178, height=128):
-        """empty(width=<screen width>, height=<screen height>)
+    def empty(width: int = 178, height: int = 128) -> Image:
+        """empty(width=178, height=128) -> Image

        Creates a new empty :class:`Image` object.

@@ -210,21 +266,22 @@ class Image:
                The height of the image in pixels.

        Returns:
-            Image:
-                A new image with all pixels set to :attr:`Color.WHITE
-                <pybricks.parameters.Color.WHITE>`.
+            A new image with all pixels set
+            to :attr:`Color.WHITE <pybricks.parameters.Color.WHITE>`.

        Raises:
            TypeError:
-                ``width`` or ``height`` is not a number.
+                If ``width`` or ``height`` is not a number.
            ValueError:
-                ``width`` or ``height`` is less than 1.
+                If ``width`` or ``height`` is less than 1.
            RuntimeError:
-                There was a problem allocating a new image.
+                If there was a problem allocating a new image.
        """

-    def save(self, filename):
-        """Saves |this image| as a ``.png`` file.
+    def save(self, filename: str) -> None:
+        """save(filename)
+
+        Saves |this image| as a ``.png`` file.

        Arguments:
            filename (str):
@@ -241,13 +298,21 @@ class Image:
 class Font:
    """Object that represents a font for writing text."""

-    DEFAULT = None  # assigned later since we can't use Font() here
+    DEFAULT: Font = 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
+        self,
+        family: Optional[str] = None,
+        size: int = 12,
+        bold: bool = False,
+        monospace: bool = False,
+        lang: Optional[str] = None,
+        script: Optional[str] = None,
    ):
-        """The font object will be a font that is the "best" match based on the
+        """Font(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.

        Arguments:
@@ -269,30 +334,34 @@ class Font:
        """

    @property
-    def family(self):
+    def family(self) -> str:
        """Gets the family name of the font."""
        return "Lucida"

    @property
-    def style(self):
-        """Gets a string describing the font style.
+    def style(self) -> str:
+        """style -> str
+
+        Gets a string describing the font style.

        Can be "Regular" or "Bold".
        """
        return "Regular"

    @property
-    def width(self):
+    def width(self) -> int:
        """Gets the width of the widest character of the font."""
        return 0

    @property
-    def height(self):
+    def height(self) -> int:
        """Gets the height of the font."""
        return 0

-    def text_width(self, text):
-        """Gets the width of the text when the text is drawn using this font.
+    def text_width(self, text: str) -> int:
+        """text_width(text)
+
+        Gets the width of the text when the text is drawn using this font.

        Arguments:
            text (str):
@@ -304,8 +373,10 @@ class Font:
        """
        return 0

-    def text_height(self, text):
-        """Gets the height of the text when the text is drawn using this font.
+    def text_height(self, text: str) -> int:
+        """text_height(text)
+
+        Gets the height of the text when the text is drawn using this font.

        Arguments:
            text (str):
@@ -324,153 +395,153 @@ 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: str = "/usr/share/sounds/ev3dev/"
+    SHOUTING: str = _BASE_PATH + "expressions/shouting.wav"
+    CHEERING: str = _BASE_PATH + "expressions/cheering.wav"
+    CRYING: str = _BASE_PATH + "expressions/crying.wav"
+    OUCH: str = _BASE_PATH + "expressions/ouch.wav"
+    LAUGHING_2: str = _BASE_PATH + "expressions/laughing_2.wav"
+    SNEEZING: str = _BASE_PATH + "expressions/sneezing.wav"
+    SMACK: str = _BASE_PATH + "expressions/smack.wav"
+    BOING: str = _BASE_PATH + "expressions/boing.wav"
+    BOO: str = _BASE_PATH + "expressions/boo.wav"
+    UH_OH: str = _BASE_PATH + "expressions/uh-oh.wav"
+    SNORING: str = _BASE_PATH + "expressions/snoring.wav"
+    KUNG_FU: str = _BASE_PATH + "expressions/kung_fu.wav"
+    FANFARE: str = _BASE_PATH + "expressions/fanfare.wav"
+    CRUNCHING: str = _BASE_PATH + "expressions/crunching.wav"
+    MAGIC_WAND: str = _BASE_PATH + "expressions/magic_wand.wav"
+    LAUGHING_1: str = _BASE_PATH + "expressions/laughing_1.wav"
+    LEFT: str = _BASE_PATH + "information/left.wav"
+    BACKWARDS: str = _BASE_PATH + "information/backwards.wav"
+    RIGHT: str = _BASE_PATH + "information/right.wav"
+    OBJECT: str = _BASE_PATH + "information/object.wav"
+    COLOR: str = _BASE_PATH + "information/color.wav"
+    FLASHING: str = _BASE_PATH + "information/flashing.wav"
+    ERROR: str = _BASE_PATH + "information/error.wav"
+    ERROR_ALARM: str = _BASE_PATH + "information/error_alarm.wav"
+    DOWN: str = _BASE_PATH + "information/down.wav"
+    FORWARD: str = _BASE_PATH + "information/forward.wav"
+    ACTIVATE: str = _BASE_PATH + "information/activate.wav"
+    SEARCHING: str = _BASE_PATH + "information/searching.wav"
+    TOUCH: str = _BASE_PATH + "information/touch.wav"
+    UP: str = _BASE_PATH + "information/up.wav"
+    ANALYZE: str = _BASE_PATH + "information/analyze.wav"
+    STOP: str = _BASE_PATH + "information/stop.wav"
+    DETECTED: str = _BASE_PATH + "information/detected.wav"
+    TURN: str = _BASE_PATH + "information/turn.wav"
+    START: str = _BASE_PATH + "information/start.wav"
+    MORNING: str = _BASE_PATH + "communication/morning.wav"
+    EV3: str = _BASE_PATH + "communication/ev3.wav"
+    GO: str = _BASE_PATH + "communication/go.wav"
+    GOOD_JOB: str = _BASE_PATH + "communication/good_job.wav"
+    OKEY_DOKEY: str = _BASE_PATH + "communication/okey-dokey.wav"
+    GOOD: str = _BASE_PATH + "communication/good.wav"
+    NO: str = _BASE_PATH + "communication/no.wav"
+    THANK_YOU: str = _BASE_PATH + "communication/thank_you.wav"
+    YES: str = _BASE_PATH + "communication/yes.wav"
+    GAME_OVER: str = _BASE_PATH + "communication/game_over.wav"
+    OKAY: str = _BASE_PATH + "communication/okay.wav"
+    SORRY: str = _BASE_PATH + "communication/sorry.wav"
+    BRAVO: str = _BASE_PATH + "communication/bravo.wav"
+    GOODBYE: str = _BASE_PATH + "communication/goodbye.wav"
+    HI: str = _BASE_PATH + "communication/hi.wav"
+    HELLO: str = _BASE_PATH + "communication/hello.wav"
+    MINDSTORMS: str = _BASE_PATH + "communication/mindstorms.wav"
+    LEGO: str = _BASE_PATH + "communication/lego.wav"
+    FANTASTIC: str = _BASE_PATH + "communication/fantastic.wav"
+    SPEED_IDLE: str = _BASE_PATH + "movements/speed_idle.wav"
+    SPEED_DOWN: str = _BASE_PATH + "movements/speed_down.wav"
+    SPEED_UP: str = _BASE_PATH + "movements/speed_up.wav"
+    BROWN: str = _BASE_PATH + "colors/brown.wav"
+    GREEN: str = _BASE_PATH + "colors/green.wav"
+    BLACK: str = _BASE_PATH + "colors/black.wav"
+    WHITE: str = _BASE_PATH + "colors/white.wav"
+    RED: str = _BASE_PATH + "colors/red.wav"
+    BLUE: str = _BASE_PATH + "colors/blue.wav"
+    YELLOW: str = _BASE_PATH + "colors/yellow.wav"
+    TICK_TACK: str = _BASE_PATH + "mechanical/tick_tack.wav"
+    HORN_1: str = _BASE_PATH + "mechanical/horn_1.wav"
+    BACKING_ALERT: str = _BASE_PATH + "mechanical/backing_alert.wav"
+    MOTOR_IDLE: str = _BASE_PATH + "mechanical/motor_idle.wav"
+    AIR_RELEASE: str = _BASE_PATH + "mechanical/air_release.wav"
+    AIRBRAKE: str = _BASE_PATH + "mechanical/airbrake.wav"
+    RATCHET: str = _BASE_PATH + "mechanical/ratchet.wav"
+    MOTOR_STOP: str = _BASE_PATH + "mechanical/motor_stop.wav"
+    HORN_2: str = _BASE_PATH + "mechanical/horn_2.wav"
+    LASER: str = _BASE_PATH + "mechanical/laser.wav"
+    SONAR: str = _BASE_PATH + "mechanical/sonar.wav"
+    MOTOR_START: str = _BASE_PATH + "mechanical/motor_start.wav"
+    INSECT_BUZZ_2: str = _BASE_PATH + "animals/insect_buzz_2.wav"
+    ELEPHANT_CALL: str = _BASE_PATH + "animals/elephant_call.wav"
+    SNAKE_HISS: str = _BASE_PATH + "animals/snake_hiss.wav"
+    DOG_BARK_2: str = _BASE_PATH + "animals/dog_bark_2.wav"
+    DOG_WHINE: str = _BASE_PATH + "animals/dog_whine.wav"
+    INSECT_BUZZ_1: str = _BASE_PATH + "animals/insect_buzz_1.wav"
+    DOG_SNIFF: str = _BASE_PATH + "animals/dog_sniff.wav"
+    T_REX_ROAR: str = _BASE_PATH + "animals/t-rex_roar.wav"
+    INSECT_CHIRP: str = _BASE_PATH + "animals/insect_chirp.wav"
+    DOG_GROWL: str = _BASE_PATH + "animals/dog_growl.wav"
+    SNAKE_RATTLE: str = _BASE_PATH + "animals/snake_rattle.wav"
+    DOG_BARK_1: str = _BASE_PATH + "animals/dog_bark_1.wav"
+    CAT_PURR: str = _BASE_PATH + "animals/cat_purr.wav"
+    EIGHT: str = _BASE_PATH + "numbers/eight.wav"
+    SEVEN: str = _BASE_PATH + "numbers/seven.wav"
+    SIX: str = _BASE_PATH + "numbers/six.wav"
+    FOUR: str = _BASE_PATH + "numbers/four.wav"
+    TEN: str = _BASE_PATH + "numbers/ten.wav"
+    ONE: str = _BASE_PATH + "numbers/one.wav"
+    TWO: str = _BASE_PATH + "numbers/two.wav"
+    THREE: str = _BASE_PATH + "numbers/three.wav"
+    ZERO: str = _BASE_PATH + "numbers/zero.wav"
+    FIVE: str = _BASE_PATH + "numbers/five.wav"
+    NINE: str = _BASE_PATH + "numbers/nine.wav"
+    READY: str = _BASE_PATH + "system/ready.wav"
+    CONFIRM: str = _BASE_PATH + "system/confirm.wav"
+    GENERAL_ALERT: str = _BASE_PATH + "system/general_alert.wav"
+    CLICK: str = _BASE_PATH + "system/click.wav"
+    OVERPOWER: str = _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: str = "/usr/share/images/ev3dev/mono/"
+    RIGHT: str = _BASE_PATH + "information/right.png"
+    FORWARD: str = _BASE_PATH + "information/forward.png"
+    ACCEPT: str = _BASE_PATH + "information/accept.png"
+    QUESTION_MARK: str = _BASE_PATH + "information/question_mark.png"
+    STOP_1: str = _BASE_PATH + "information/stop_1.png"
+    LEFT: str = _BASE_PATH + "information/left.png"
+    DECLINE: str = _BASE_PATH + "information/decline.png"
+    THUMBS_DOWN: str = _BASE_PATH + "information/thumbs_down.png"
+    BACKWARD: str = _BASE_PATH + "information/backward.png"
+    NO_GO: str = _BASE_PATH + "information/no_go.png"
+    WARNING: str = _BASE_PATH + "information/warning.png"
+    STOP_2: str = _BASE_PATH + "information/stop_2.png"
+    THUMBS_UP: str = _BASE_PATH + "information/thumbs_up.png"
+    EV3: str = _BASE_PATH + "lego/ev3.png"
+    EV3_ICON: str = _BASE_PATH + "lego/ev3_icon.png"
+    TARGET: str = _BASE_PATH + "objects/target.png"
+    BOTTOM_RIGHT: str = _BASE_PATH + "eyes/bottom_right.png"
+    BOTTOM_LEFT: str = _BASE_PATH + "eyes/bottom_left.png"
+    EVIL: str = _BASE_PATH + "eyes/evil.png"
+    CRAZY_2: str = _BASE_PATH + "eyes/crazy_2.png"
+    KNOCKED_OUT: str = _BASE_PATH + "eyes/knocked_out.png"
+    PINCHED_RIGHT: str = _BASE_PATH + "eyes/pinched_right.png"
+    WINKING: str = _BASE_PATH + "eyes/winking.png"
+    DIZZY: str = _BASE_PATH + "eyes/dizzy.png"
+    DOWN: str = _BASE_PATH + "eyes/down.png"
+    TIRED_MIDDLE: str = _BASE_PATH + "eyes/tired_middle.png"
+    MIDDLE_RIGHT: str = _BASE_PATH + "eyes/middle_right.png"
+    SLEEPING: str = _BASE_PATH + "eyes/sleeping.png"
+    MIDDLE_LEFT: str = _BASE_PATH + "eyes/middle_left.png"
+    TIRED_RIGHT: str = _BASE_PATH + "eyes/tired_right.png"
+    PINCHED_LEFT: str = _BASE_PATH + "eyes/pinched_left.png"
+    PINCHED_MIDDLE: str = _BASE_PATH + "eyes/pinched_middle.png"
+    CRAZY_1: str = _BASE_PATH + "eyes/crazy_1.png"
+    NEUTRAL: str = _BASE_PATH + "eyes/neutral.png"
+    AWAKE: str = _BASE_PATH + "eyes/awake.png"
+    UP: str = _BASE_PATH + "eyes/up.png"
+    TIRED_LEFT: str = _BASE_PATH + "eyes/tired_left.png"
+    ANGRY: str = _BASE_PATH + "eyes/angry.png"
@@ -1,232 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
-
-from typing import Any, Literal, Optional, Union, overload
-
-from ..parameters import Color
-
-class Image:
-    @overload
-    def __init__(self, /, source: Union[Image, ImageFile, str]): ...
-    @overload
-    def __init__(
-        self, /, source: Image, sub: Literal[True], x1: int, y1: int, x2: int, y2: int
-    ): ...
-    @property
-    def width(self) -> int: ...
-    @property
-    def height(self) -> int: ...
-    def clear(self) -> None: ...
-    def draw_pixel(self, x: int, y: int, color: Color = Color.BLACK) -> None: ...
-    def draw_line(
-        self,
-        x1: int,
-        y1: int,
-        x2: int,
-        y2: int,
-        width: int = 1,
-        color: Color = Color.BLACK,
-    ) -> None: ...
-    def draw_box(
-        self,
-        x1: int,
-        y1: int,
-        x2: int,
-        y2: int,
-        r: int = 0,
-        fill: bool = False,
-        color: Color = Color.BLACK,
-    ) -> None: ...
-    def draw_circle(
-        self, x: int, y: int, r: int, fill: bool = False, color: Color = Color.BLACK
-    ) -> None: ...
-    def draw_image(
-        self,
-        x: int,
-        y: int,
-        source: Union[Image, ImageFile, str],
-        transparent: Optional[Color] = None,
-    ) -> None: ...
-    def load_image(self, source: Union[Image, ImageFile, str]) -> None: ...
-    def draw_text(
-        self,
-        x: int,
-        y: int,
-        text: str,
-        text_color: Color = Color.BLACK,
-        background_color: Optional[Color] = None,
-    ) -> None: ...
-    def print(self, *args: Any, sep: str = " ", end: str = "\n") -> None: ...
-    def set_font(self, font: Font) -> None: ...
-    @staticmethod
-    def empty(width: int = 178, height: int = 128) -> Image: ...
-    def save(self, filename: str) -> None: ...
-
-class Font:
-    DEFAULT: Font
-    def __init__(
-        self,
-        family: Optional[str] = None,
-        size: int = 12,
-        bold: bool = False,
-        monospace: bool = False,
-        lang: Optional[str] = None,
-        script: Optional[str] = None,
-    ): ...
-    @property
-    def family(self) -> str: ...
-    @property
-    def style(self) -> str: ...
-    @property
-    def width(self) -> int: ...
-    @property
-    def height(self) -> int: ...
-    def text_width(self, text: str) -> int: ...
-    def text_height(self, text: str) -> int: ...
-
-class SoundFile:
-    SHOUTING: SoundFile
-    CHEERING: SoundFile
-    CRYING: SoundFile
-    OUCH: SoundFile
-    LAUGHING_2: SoundFile
-    SNEEZING: SoundFile
-    SMACK: SoundFile
-    BOING: SoundFile
-    BOO: SoundFile
-    UH_OH: SoundFile
-    SNORING: SoundFile
-    KUNG_FU: SoundFile
-    FANFARE: SoundFile
-    CRUNCHING: SoundFile
-    MAGIC_WAND: SoundFile
-    LAUGHING_1: SoundFile
-    LEFT: SoundFile
-    BACKWARDS: SoundFile
-    RIGHT: SoundFile
-    OBJECT: SoundFile
-    COLOR: SoundFile
-    FLASHING: SoundFile
-    ERROR: SoundFile
-    ERROR_ALARM: SoundFile
-    DOWN: SoundFile
-    FORWARD: SoundFile
-    ACTIVATE: SoundFile
-    SEARCHING: SoundFile
-    TOUCH: SoundFile
-    UP: SoundFile
-    ANALYZE: SoundFile
-    STOP: SoundFile
-    DETECTED: SoundFile
-    TURN: SoundFile
-    START: SoundFile
-    MORNING: SoundFile
-    EV3: SoundFile
-    GO: SoundFile
-    GOOD_JOB: SoundFile
-    OKEY_DOKEY: SoundFile
-    GOOD: SoundFile
-    NO: SoundFile
-    THANK_YOU: SoundFile
-    YES: SoundFile
-    GAME_OVER: SoundFile
-    OKAY: SoundFile
-    SORRY: SoundFile
-    BRAVO: SoundFile
-    GOODBYE: SoundFile
-    HI: SoundFile
-    HELLO: SoundFile
-    MINDSTORMS: SoundFile
-    LEGO: SoundFile
-    FANTASTIC: SoundFile
-    SPEED_IDLE: SoundFile
-    SPEED_DOWN: SoundFile
-    SPEED_UP: SoundFile
-    BROWN: SoundFile
-    GREEN: SoundFile
-    BLACK: SoundFile
-    WHITE: SoundFile
-    RED: SoundFile
-    BLUE: SoundFile
-    YELLOW: SoundFile
-    TICK_TACK: SoundFile
-    HORN_1: SoundFile
-    BACKING_ALERT: SoundFile
-    MOTOR_IDLE: SoundFile
-    AIR_RELEASE: SoundFile
-    AIRBRAKE: SoundFile
-    RATCHET: SoundFile
-    MOTOR_STOP: SoundFile
-    HORN_2: SoundFile
-    LASER: SoundFile
-    SONAR: SoundFile
-    MOTOR_START: SoundFile
-    INSECT_BUZZ_2: SoundFile
-    ELEPHANT_CALL: SoundFile
-    SNAKE_HISS: SoundFile
-    DOG_BARK_2: SoundFile
-    DOG_WHINE: SoundFile
-    INSECT_BUZZ_1: SoundFile
-    DOG_SNIFF: SoundFile
-    T_REX_ROAR: SoundFile
-    INSECT_CHIRP: SoundFile
-    DOG_GROWL: SoundFile
-    SNAKE_RATTLE: SoundFile
-    DOG_BARK_1: SoundFile
-    CAT_PURR: SoundFile
-    EIGHT: SoundFile
-    SEVEN: SoundFile
-    SIX: SoundFile
-    FOUR: SoundFile
-    TEN: SoundFile
-    ONE: SoundFile
-    TWO: SoundFile
-    THREE: SoundFile
-    ZERO: SoundFile
-    FIVE: SoundFile
-    NINE: SoundFile
-    READY: SoundFile
-    CONFIRM: SoundFile
-    GENERAL_ALERT: SoundFile
-    CLICK: SoundFile
-    OVERPOWER: SoundFile
-
-class ImageFile:
-    RIGHT: ImageFile
-    FORWARD: ImageFile
-    ACCEPT: ImageFile
-    QUESTION_MARK: ImageFile
-    STOP_1: ImageFile
-    LEFT: ImageFile
-    DECLINE: ImageFile
-    THUMBS_DOWN: ImageFile
-    BACKWARD: ImageFile
-    NO_GO: ImageFile
-    WARNING: ImageFile
-    STOP_2: ImageFile
-    THUMBS_UP: ImageFile
-    EV3: ImageFile
-    EV3_ICON: ImageFile
-    TARGET: ImageFile
-    BOTTOM_RIGHT: ImageFile
-    BOTTOM_LEFT: ImageFile
-    EVIL: ImageFile
-    CRAZY_2: ImageFile
-    KNOCKED_OUT: ImageFile
-    PINCHED_RIGHT: ImageFile
-    WINKING: ImageFile
-    DIZZY: ImageFile
-    DOWN: ImageFile
-    TIRED_MIDDLE: ImageFile
-    MIDDLE_RIGHT: ImageFile
-    SLEEPING: ImageFile
-    MIDDLE_LEFT: ImageFile
-    TIRED_RIGHT: ImageFile
-    PINCHED_LEFT: ImageFile
-    PINCHED_MIDDLE: ImageFile
-    CRAZY_1: ImageFile
-    NEUTRAL: ImageFile
-    AWAKE: ImageFile
-    UP: ImageFile
-    TIRED_LEFT: ImageFile
-    ANGRY: ImageFile
@@ -5,10 +5,38 @@
 Classes to exchange messages between EV3 bricks.
 """

+from __future__ import annotations

-class Mailbox:
-    def __init__(self, name, connection, encode=None, decode=None):
-        """Object that represents a mailbox containing data.
+from typing import abstractmethod, TypeVar, Optional, Callable, Generic
+
+T = TypeVar("T")
+
+
+class Connection:
+    @abstractmethod
+    def read_from_mailbox(self, name: str) -> bytes:
+        ...
+
+    @abstractmethod
+    def send_to_mailbox(self, name: str, data: bytes) -> None:
+        ...
+
+    @abstractmethod
+    def wait_for_mailbox_update(self, name: str) -> None:
+        ...
+
+
+class Mailbox(Generic[T]):
+    def __init__(
+        self,
+        name: str,
+        connection: Connection,
+        encode: Optional[Callable[[T], bytes]] = None,
+        decode: Optional[Callable[[bytes], T]] = None,
+    ):
+        """Mailbox(name, connection, encode=None, decode=None)
+
+        Object that represents a mailbox containing data.

        You can read data that is delivered by other EV3 bricks, or send data
        to other bricks that have the same mailbox.
@@ -29,16 +57,20 @@ class Mailbox:
                Function that creates a new Python object from bytes.
        """

-    def read(self):
-        """Gets the current value of the mailbox.
+    def read(self) -> T:
+        """read()
+
+        Gets the current value of the mailbox.

        Returns:
            The current value or ``None`` if the mailbox is empty.
        """
        return ""

-    def send(self, value, brick=None):
-        """Sends a value to this mailbox on connected devices.
+    def send(self, value: T, brick: Optional[str] = None) -> None:
+        """send(value, brick=None)
+
+        Sends a value to this mailbox on connected devices.

        Arguments:
            value:
@@ -52,23 +84,28 @@ class Mailbox:
                There is a problem with the connection.
        """

-    def wait(self):
-        """Waits for the mailbox to be updated by remote device."""
+    def wait(self) -> None:
+        """wait()

-    def wait_new(self):
-        """Waits for a new value to be delivered to the mailbox that is not
+        Waits for the mailbox to be updated by remote device."""
+
+    def wait_new(self) -> T:
+        """wait_new()
+
+        Waits for a new value to be delivered to the mailbox that is not
        equal to the current value in the mailbox.

-
        Returns:
            The new value.
        """
        return object()


-class LogicMailbox(Mailbox):
-    def __init__(self, name, connection):
-        """Object that represents a mailbox containing boolean data.
+class LogicMailbox(Mailbox[bool]):
+    def __init__(self, name: str, connection: Connection):
+        """LogicMailbox(name, connection)
+
+        Object that represents a mailbox containing boolean data.

        This works just like a regular :class:`Mailbox`, but values
        must be ``True`` or ``False``.
@@ -83,9 +120,11 @@ class LogicMailbox(Mailbox):
        """


-class NumericMailbox(Mailbox):
-    def __init__(self, name, connection):
-        """Object that represents a mailbox containing numeric data.
+class NumericMailbox(Mailbox[float]):
+    def __init__(self, name: str, connection: Connection):
+        """NumericMailbox(name, connection)
+
+        Object that represents a mailbox containing numeric data.

        This works just like a regular :class:`Mailbox`, but values must be a
        number, such as ``15`` or ``12.345``
@@ -100,12 +139,14 @@ class NumericMailbox(Mailbox):
        """


-class TextMailbox(Mailbox):
-    def __init__(self, name, connection):
-        """Object that represents a mailbox containing text data.
+class TextMailbox(Mailbox[str]):
+    def __init__(self, name: str, connection: Connection):
+        """TextMailbox(name, connection)
+
+        Object that represents a mailbox containing text data.

        This works just like a regular :class:`Mailbox`, but data must be a
-        string, such as ``'hello!'`` or ``'My name is EV3'``.
+        string, such as ``'hello!'``.

        This is compatible with the "text" mailbox type in EV3-G.

@@ -127,14 +168,16 @@ class BluetoothMailboxServer:
    A "server" waits for a "client" to connect to it.
    """

-    def __enter__(self):
+    def __enter__(self) -> BluetoothMailboxServer:
        return self

-    def __exit__(self, type, value, traceback):
-        self.close()
+    def __exit__(self, type, value, traceback) -> None:
+        self.server_close()

-    def wait_for_connection(self, count=1):
-        """Waits for a :class:`BluetoothMailboxClient` on a remote device to
+    def wait_for_connection(self, count: int = 1) -> None:
+        """wait_for_connection(count=1)
+
+        Waits for a :class:`BluetoothMailboxClient` on a remote device to
        connect.

        Arguments:
@@ -146,8 +189,10 @@ class BluetoothMailboxServer:
                There was a problem establishing the connection.
        """

-    def close(self):
-        """Closes all connections."""
+    def server_close(self) -> None:
+        """server_close()
+
+        Closes all connections."""


 class BluetoothMailboxClient:
@@ -159,14 +204,16 @@ class BluetoothMailboxClient:
    A "client" initiates a connection to a waiting "server".
    """

-    def __enter__(self):
+    def __enter__(self) -> BluetoothMailboxClient:
        return self

-    def __exit__(self, type, value, traceback):
+    def __exit__(self, type, value, traceback) -> None:
        self.close()

-    def connect(self, brick):
-        """Connects to an :class:`BluetoothMailboxServer` on another device.
+    def connect(self, brick: str) -> None:
+        """connect(brick)
+
+        Connects to an :class:`BluetoothMailboxServer` on another device.

        The remote device must be paired and waiting for a connection. See
        :meth:`BluetoothMailboxServer.wait_for_connection`.
@@ -180,5 +227,7 @@ class BluetoothMailboxClient:
                There was a problem establishing the connection.
        """

-    def server_close(self):
-        """Closes all connections."""
+    def close(self) -> None:
+        """close()
+
+        Closes all connections."""
@@ -1,49 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
-
-from abc import abstractmethod
-from typing import Callable, Generic, Optional, TypeVar
-
-T = TypeVar("T")
-
-class Connection:
-    @abstractmethod
-    def read_from_mailbox(self, name: str) -> bytes: ...
-    @abstractmethod
-    def send_to_mailbox(self, name: str, data: bytes) -> None: ...
-    @abstractmethod
-    def wait_for_mailbox_update(self, name: str) -> None: ...
-
-class Mailbox(Generic[T]):
-    def __init__(
-        self,
-        name: str,
-        connection: Connection,
-        encode: Optional[Callable[[T], bytes]] = None,
-        decode: Optional[Callable[[bytes], T]] = None,
-    ): ...
-    def read(self) -> T: ...
-    def send(self, value: T, brick: Optional[str] = None) -> None: ...
-    def wait(self) -> None: ...
-    def wait_new(self) -> T: ...
-
-class LogicMailbox(Mailbox[bool]):
-    def __init__(self, name, connection: Connection): ...
-
-class NumericMailbox(Mailbox[float]):
-    def __init__(self, name, connection: Connection): ...
-
-class TextMailbox(Mailbox[str]):
-    def __init__(self, name, connection: Connection): ...
-
-class BluetoothMailboxServer(Connection):
-    def __enter__(self) -> BluetoothMailboxServer: ...
-    def __exit__(self, type, value, traceback) -> None: ...
-    def wait_for_connection(self, count: int = 1) -> None: ...
-    def server_close(self) -> None: ...
-
-class BluetoothMailboxClient(Connection):
-    def __enter__(self) -> BluetoothMailboxClient: ...
-    def __exit__(self, type, value, traceback) -> None: ...
-    def connect(self, brick: str) -> None: ...
-    def close(self) -> None: ...
@@ -4,10 +4,10 @@
 """Use LEGO® MINDSTORMS® NXT motors and sensors with the EV3 brick."""


-from .parameters import Port, Color
+from .parameters import Port

+from ._common import ColorLight, CommonColorSensor
 from .iodevices import AnalogSensor
-from ._common import ColorLight


 from typing import Callable, Optional, Tuple
@@ -22,7 +22,6 @@ class TouchSensor:
        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

    def pressed(self) -> bool:
        """pressed() -> bool
@@ -33,7 +32,6 @@ class TouchSensor:
            ``True`` if the sensor is pressed, ``False`` if it is
            not pressed.
        """
-        pass


 class LightSensor:
@@ -45,7 +43,6 @@ class LightSensor:
        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

    def ambient(self) -> int:
        """ambient() -> int: %
@@ -55,7 +52,6 @@ class LightSensor:
        Returns:
            Ambient light intensity, ranging from 0% (dark) to 100% (bright).
        """
-        pass

    def reflection(self) -> int:
        """reflection() -> int: %
@@ -66,54 +62,13 @@ class LightSensor:
            Reflection, ranging from 0% (no reflection) to 100% (high
            reflection).
        """
-        pass


-class ColorSensor(LightSensor):
+class ColorSensor(CommonColorSensor):
    """LEGO® MINDSTORMS® NXT Color Sensor."""

    light = ColorLight()

-    def __init__(self, port: Port):
-        """ColorSensor(port)
-
-        Arguments:
-            port (Port): Port to which the sensor is connected.
-        """
-        pass
-
-    def color(self) -> Color:
-        """color() -> Color
-
-        Measures the color of a surface.
-
-        Returns:
-            ``Color.BLACK``, ``Color.BLUE``, ``Color.GREEN``, ``Color.YELLOW``,
-            ``Color.RED``, ``Color.WHITE`` or ``Color.NONE``.
-        """
-        pass
-
-    def ambient(self) -> int:
-        """ambient() -> int: %
-
-        Measures the ambient light intensity.
-
-        Returns:
-            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) -> Tuple[int, int, int]:
        """Measures the reflection of a surface using a red, green, and then a
        blue light.
@@ -122,7 +77,6 @@ class ColorSensor(LightSensor):
            Tuple of reflections for red, green, and blue light, each
            ranging from 0.0% (no reflection) to 100.0% (high reflection).
        """
-        pass


 class UltrasonicSensor:
@@ -134,7 +88,6 @@ class UltrasonicSensor:
        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

    def distance(self) -> int:
        """distance() -> int: mm
@@ -145,7 +98,6 @@ class UltrasonicSensor:
        Returns:
            Measured distance.
        """
-        pass


 class SoundSensor:
@@ -157,7 +109,6 @@ class SoundSensor:
        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

    def intensity(self, audible_only: bool = True) -> int:
        """intensity(audible_only=True) -> int: %
@@ -172,7 +123,6 @@ class SoundSensor:
        Returns:
            Sound intensity.
        """
-        pass


 class TemperatureSensor:
@@ -184,7 +134,6 @@ class TemperatureSensor:
        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

    def temperature(self) -> int:
        """temperature() -> float: °C
@@ -194,7 +143,6 @@ class TemperatureSensor:
        Returns:
            Measured temperature.
        """
-        pass


 class EnergyMeter:
@@ -206,7 +154,6 @@ class EnergyMeter:
        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

    def storage(self) -> int:
        """storage() -> int: J
@@ -216,7 +163,6 @@ class EnergyMeter:
        Returns:
            Remaining stored energy.
        """
-        pass

    def input(self) -> Tuple[int, int, int]:
        """input() -> Tuple[int, int, int]
@@ -232,7 +178,6 @@ class EnergyMeter:
            Voltage (mV), current (mA), and power (mW) measured at the input
            port.
        """
-        pass

    def output(self) -> Tuple[int, int, int]:
        """output() -> Tuple[int, int, int]
@@ -248,7 +193,6 @@ class EnergyMeter:
            Voltage (mV), current (mA), and power (mW) measured at the output
            port.
        """
-        pass


 class VernierAdapter(AnalogSensor):
@@ -265,7 +209,6 @@ class VernierAdapter(AnalogSensor):
                own conversion function. The example given below demonstrates
                the conversion for the Surface Temperature Sensor.
        """
-        pass

    def voltage(self) -> int:
        """voltage() -> int: mV
@@ -275,7 +218,6 @@ class VernierAdapter(AnalogSensor):
        Returns:
            Analog voltage.
        """
-        pass

    def conversion(self, voltage: int) -> float:
        """conversion(voltage) -> float
@@ -291,7 +233,6 @@ class VernierAdapter(AnalogSensor):
        Returns:
            Converted sensor value.
        """
-        pass

    def value(self) -> float:
        """value() -> float
@@ -302,4 +243,3 @@ class VernierAdapter(AnalogSensor):
        Returns:
            Converted sensor value.
        """
-        pass
@@ -1,12 +1,41 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2020 The Pybricks Authors
+# Copyright (c) 2018-2022 The Pybricks Authors

 """Constant parameters/arguments for the Pybricks API."""

-from enum import Enum as _Enum
+from __future__ import annotations
+
+from enum import Enum
+from typing import Union, TYPE_CHECKING
+import os
+
+from .geometry import Matrix as _Matrix
+
+if TYPE_CHECKING or os.environ["SPHINX_BUILD"] == "True":
+    Number = Union[int, float]
+    """
+    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` 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.
+
+    .. warning::
+        The BOOST Move hub doesn't support floating point numbers due to
+        limited system resources, so only integers can be used on that hub.
+    """


-class _PybricksEnumMeta(type(_Enum)):
+class _PybricksEnumMeta(type(Enum)):
    def __dir__(cls):
        yield "__class__"
        yield "__name__"
@@ -14,7 +43,7 @@ class _PybricksEnumMeta(type(_Enum)):
            yield member.name


-class _PybricksEnum(_Enum, metaclass=_PybricksEnumMeta):
+class _PybricksEnum(Enum, metaclass=_PybricksEnumMeta):
    def __dir__(self):
        yield "__class__"
        for member in type(self):
@@ -30,7 +59,18 @@ class _PybricksEnum(_Enum, metaclass=_PybricksEnumMeta):
 class Color:
    """Light or surface color."""

-    def __init__(self, h, s=100, v=100):
+    h: int
+    s: int
+    v: int
+
+    def __init__(self, h: Number, s: Number = 100, v: Number = 100):
+        """Color(h, s=100, v=100)
+
+        Arguments:
+            h (Number, deg): Hue (0--360)
+            s (Number, %): Saturation.
+            v (Number, %): Brightness value.
+        """
        self.h = h % 360
        self.s = max(0, min(s, 100))
        self.v = max(0, min(v, 100))
@@ -38,25 +78,20 @@ class Color:
    def __repr__(self):
        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
-        )
+    def __eq__(self, other: Color) -> bool:
+        ...

-    def __mul__(self, scale):
+    def __mul__(self, scale: float) -> Color:
        v = max(0, min(self.v * scale, 100))
        return Color(self.h, self.s, int(v), self.name)

-    def __rmul__(self, scale):
+    def __rmul__(self, scale: float) -> Color:
        return self.__mul__(scale)

-    def __truediv__(self, scale):
+    def __truediv__(self, scale: float) -> Color:
        return self.__mul__(1 / scale)

-    def __floordiv__(self, scale):
+    def __floordiv__(self, scale: int) -> Color:
        return self.__mul__(1 / scale)


@@ -79,30 +114,30 @@ 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: Port = ord("A")
+    B: Port = ord("B")
+    C: Port = ord("C")
+    D: Port = ord("D")
+    E: Port = ord("E")
+    F: Port = ord("F")

    # NXT/EV3 sensor ports
-    S1 = ord("1")
-    S2 = ord("2")
-    S3 = ord("3")
-    S4 = ord("4")
+    S1: Port = ord("1")
+    S2: Port = ord("2")
+    S3: Port = ord("3")
+    S4: Port = ord("4")


 class Stop(_PybricksEnum):
    """Action after the motor stops."""

-    COAST = 0
+    COAST: Port = 0
    """Let the motor move freely."""

-    BRAKE = 1
+    BRAKE: Port = 1
    """Passively resist small external forces."""

-    HOLD = 2
+    HOLD: Port = 2
    """Keep controlling the motor to hold it at the commanded angle. This is
    only available on motors with encoders."""

@@ -110,39 +145,78 @@ class Stop(_PybricksEnum):
 class Direction(_PybricksEnum):
    """Rotational direction for positive speed or angle values."""

-    CLOCKWISE = 0
+    CLOCKWISE: Direction = 0
    """A positive speed value should make the motor move clockwise."""

-    COUNTERCLOCKWISE = 1
+    COUNTERCLOCKWISE: Direction = 1
    """A positive speed value should make the motor move counterclockwise."""


 class Button(_PybricksEnum):
    """Buttons on a hub or remote."""

-    LEFT_DOWN = 1
-    LEFT_MINUS = 1
-    DOWN = 2
-    RIGHT_DOWN = 3
-    RIGHT_MINUS = 3
-    LEFT = 4
-    CENTER = 5
-    RIGHT = 6
-    LEFT_UP = 7
-    LEFT_PLUS = 7
-    UP = 8
-    BEACON = 8
-    RIGHT_UP = 9
-    RIGHT_PLUS = 9
-    BLUETOOTH = 9
+    LEFT_DOWN: Button = 1
+    LEFT_MINUS: Button = 1
+    DOWN: Button = 2
+    RIGHT_DOWN: Button = 3
+    RIGHT_MINUS: Button = 3
+    LEFT: Button = 4
+    CENTER: Button = 5
+    RIGHT: Button = 6
+    LEFT_UP: Button = 7
+    LEFT_PLUS: Button = 7
+    UP: Button = 8
+    BEACON: Button = 8
+    RIGHT_UP: Button = 9
+    RIGHT_PLUS: Button = 9
+    BLUETOOTH: Button = 9


 class Side(_PybricksEnum):
    """Side of a hub or a sensor."""

-    RIGHT = 6
-    FRONT = 0
-    TOP = 8
-    LEFT = 4
-    BACK = 5
-    BOTTOM = 2
+    RIGHT: Side = 6
+    FRONT: Side = 0
+    TOP: Side = 8
+    LEFT: Side = 4
+    BACK: Side = 5
+    BOTTOM: Side = 2
+
+
+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
@@ -1,109 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
-
-from geometry import Matrix
-
-class Color:
-    BLACK: Color
-    BLUE: Color
-    BROWN: Color
-    CYAN: Color
-    GRAY: Color
-    GREEN: Color
-    MAGENTA: Color
-    NONE: Color
-    ORANGE: Color
-    RED: 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: ...
-    def __floordiv__(self, scale: int) -> Color: ...
-
-class Port:
-    A: Port
-    B: Port
-    C: Port
-    D: Port
-    E: Port
-    F: Port
-    S1: Port
-    S2: Port
-    S3: Port
-    S4: Port
-
-class Stop:
-    COAST: Stop
-    BRAKE: Stop
-    HOLD: Stop
-
-class Direction:
-    CLOCKWISE: Direction
-    COUNTERCLOCKWISE: Direction
-
-class Button:
-    LEFT_DOWN: Button
-    LEFT_MINUS: Button
-    DOWN: Button
-    RIGHT_DOWN: Button
-    RIGHT_MINUS: Button
-    LEFT: Button
-    CENTER: Button
-    RIGHT: Button
-    LEFT_UP: Button
-    LEFT_PLUS: Button
-    UP: Button
-    BEACON: Button
-    RIGHT_UP: Button
-    RIGHT_PLUS: Button
-    BLUETOOTH: Button
-
-class Side:
-    RIGHT: Side
-    FRONT: Side
-    TOP: 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
@@ -3,25 +3,28 @@

 """LEGO® Powered Up motor, sensors, and lights."""

-from typing import Optional
+from __future__ import annotations

-from ._common import (
-    Keypad as _Keypad,
-    DCMotor as _DCMotor,
-    ColorLight as _ColorLight,
-    Motor as _Motor,
-    LightArray as _LightArray,
+from typing import TYPE_CHECKING, Collection, Optional, Union, overload, Tuple
+
+from . import _common
+from .parameters import (
+    Button as _Button,
+    Color as _Color,
+    Direction as _Direction,
+    Port as _Port,
 )

-from .parameters import Direction as _Direction, Button as _Button
+if TYPE_CHECKING:
+    from .parameters import Number as _Number


-class DCMotor(_DCMotor):
-    pass
+class DCMotor(_common.DCMotor):
+    """LEGO® Powered Up motor without rotation sensors."""


-class Motor(_Motor):
-    """Generic class to control motors with built-in rotation sensors."""
+class Motor(_common.Motor):
+    """LEGO® Powered Up motor with rotation sensors."""

    def reset_angle(self, angle: Optional[int]) -> None:
        """reset_angle(angle=None)
@@ -34,14 +37,13 @@ class Motor(_Motor):
        Arguments:
            angle (Number, deg): Value to which the angle should be reset.
        """
-        pass


 class Remote:
    """LEGO® Powered Up Bluetooth Remote Control."""

-    light = _ColorLight()
-    buttons = _Keypad(
+    light = _common.ColorLight()
+    buttons = _common.Keypad(
        (
            _Button.LEFT_MINUS,
            _Button.RIGHT_MINUS,
@@ -52,9 +54,12 @@ class Remote:
            _Button.RIGHT_PLUS,
        )
    )
+    addresss: Union[str, None]

-    def __init__(self, name=None, timeout=10000):
-        """When you instantiate this class, the hub will search for a remote
+    def __init__(self, name: Optional[str] = None, timeout: int = 10000):
+        """Remote(name=None, timeout=10000)
+
+        When you instantiate this class, the hub will search for a remote
        and connect automatically.

        The remote must be on and ready for a connection, as indicated by a
@@ -63,137 +68,77 @@ class Remote:
        Arguments:
            name (str): Bluetooth name of the remote. If no name is given,
                the hub connects to the first remote that it finds.
-            timeout (:ref:`time`): How long to search for the remote.
+            timeout (Number, ms): How long to search for the remote.
        """
-        pass

-    def name(self, name=None):
-        """Gets or sets the Bluetooth name of the remote.
+    @overload
+    def name(self, name: str) -> None:
+        ...

-        If no name is given, this method returns the current name.
+    @overload
+    def name(self) -> str:
+        ...
+
+    def name(self, *args):
+        """name(name)
+        name() -> str
+
+        Sets or gets the Bluetooth name of the remote.

        Arguments:
-            name (str): New Bluetooth name of the remote.
+            name (str): New Bluetooth name of the remote. If no name is given,
+                this method returns the current name.
        """


 class TiltSensor:
    """LEGO® Powered Up Tilt Sensor."""

-    def __init__(self, port):
-        """
+    def __init__(self, port: _Port):
+        """TiltSensor(port)

        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

-    def tilt(self):
-        """Measures the tilt relative to the horizontal plane.
+    def tilt(self) -> Tuple[int, int]:
+        """tilt() -> Tuple[int, int]: deg
+
+        Measures the tilt relative to the horizontal plane.

        Returns:
-            (:ref:`angle`, :ref:`angle`): Tuple of pitch and roll angles.
+            Tuple of pitch and roll angles.
        """
-        pass


-class ColorDistanceSensor:
+class ColorDistanceSensor(_common.CommonColorSensor):
    """LEGO® Powered Up Color and Distance Sensor."""

-    light = _ColorLight()
+    light = _common.ColorLight()

-    def __init__(self, port):
-        """ColorDistanceSensor(port)
+    def distance(self) -> int:
+        """distance() -> int: %

-        Arguments:
-            port (Port): Port to which the sensor is connected.
-        """
-        pass
-
-    def color(self):
-        """Scans the color of a surface.
-
-        You choose which colors are detected using the
-        :meth:`.detectable_colors` method. By default, it detects
-        ``Color.RED``, ``Color.YELLOW``, ``Color.GREEN``, ``Color.BLUE``,
-        ``Color.WHITE``, or ``Color.NONE``.
-
-        :returns:
-            Detected color.
-        :rtype: :class:`Color <.parameters.Color>`
-        """
-        pass
-
-    def ambient(self):
-        """Measures the ambient light intensity.
-
-        Returns:
-            :ref:`percentage`: Ambient light intensity, ranging from 0 (dark)
-            to 100 (bright).
-        """
-        pass
-
-    def reflection(self):
-        """Measures the reflection of a surface.
-
-        Returns:
-            :ref:`percentage`: Reflection, ranging from 0.0 (no reflection) to
-            100.0 (high reflection).
-        """
-        pass
-
-    def detectable_colors(self, colors):
-        """Configures which colors the :meth:`.color` method should detect.
-
-        Specify only colors that you wish to detect in your application.
-        This way, the full-color measurements are rounded to the nearest
-        desired color, and other colors are ignored. This improves reliability.
-
-        If you give no arguments, the currently chosen colors will be returned
-        as a tuple.
-
-        Arguments:
-            colors (list): Tuple of :class:`Color <.parameters.Color>` objects:
-                the colors that you want to detect. You can pick
-                standard colors such as ``Color.MAGENTA``, or provide your own
-                colors like ``Color(h=348, s=96, v=40)`` for even
-                better results. You measure your own colors with the
-                :meth:`.hsv` method.
-        """
-        pass
-
-    def hsv(self):
-        """Scans the color of a surface.
-
-        This method is similar to :meth:`.color`, but it gives the full range
-        of hue, saturation and brightness values, instead of rounding it to the
-        nearest detectable color.
-
-        :returns:
-            Measured color. The color is described by a hue (0--359), a
-            saturation (0--100), and a brightness value (0--100).
-        :rtype: :class:`Color <.parameters.Color>`
-
-        """
-        pass
-
-    def distance(self):
-        """Measures the relative distance between the sensor and an object
+        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).
+            Distance ranging from 0% (closest) to 100% (farthest).
        """
-        pass


 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: ColorDistanceSensor,
+        channel: int,
+        color: _Color,
+        positive_direction: _Direction = _Direction.CLOCKWISE,
+    ):
+        """PFMotor(sensor, channel, color, positive_direction=Direction.CLOCKWISE)

        Arguments:
            sensor (ColorDistanceSensor):
@@ -207,193 +152,111 @@ class PFMotor(DCMotor):
            positive_direction (Direction): Which direction the motor should
                turn when you give a positive duty cycle value.
        """
-        pass


-class ColorSensor:
+class ColorSensor(_common.AmbientColorSensor):
    """LEGO® SPIKE Color Sensor."""

-    lights = _LightArray(3)
-
-    def __init__(self, port):
-        """
-
-        Arguments:
-            port (Port): Port to which the sensor is connected.
-
-        """
-        pass
-
-    def color(self, surface=True):
-        """Scans the color of a surface or an external light source.
-
-        You choose which colors are detected using the
-        :meth:`.detectable_colors` method. By default, it detects
-        ``Color.RED``, ``Color.YELLOW``, ``Color.GREEN``, ``Color.BLUE``,
-        ``Color.WHITE``, or ``Color.NONE``.
-
-        Arguments:
-            surface (bool): Choose ``true`` to scan the color of objects
-                and surfaces. Choose ``false`` to scan the color of
-                screens and other external light sources.
-        :returns:
-            Detected color.
-        :rtype: :class:`Color <.parameters.Color>`
-        """
-        pass
-
-    def detectable_colors(self, colors):
-        """Configures which colors the :meth:`.color` method should detect.
-
-        Specify only colors that you wish to detect in your application.
-        This way, the full-color measurements are rounded to the nearest
-        desired color, and other colors are ignored. This improves reliability.
-
-        If you give no arguments, the currently chosen colors will be returned
-        as a tuple.
-
-        Arguments:
-            colors (list): Tuple of :class:`Color <.parameters.Color>` objects:
-                the colors that you want to detect. You can pick
-                standard colors such as ``Color.MAGENTA``, or provide your own
-                colors like ``Color(h=348, s=96, v=40)`` for even
-                better results. You measure your own colors with the
-                :meth:`.hsv` method.
-        """
-        pass
-
-    def hsv(self, surface=True):
-        """Scans the color of a surface or an external light source.
-
-        This method is similar to :meth:`.color`, but it gives the full range
-        of hue, saturation and brightness values, instead of rounding it to the
-        nearest detectable color.
-
-        Arguments:
-            surface (bool): Choose ``true`` to scan the color of objects
-                and surfaces. Choose ``false`` to scan the color of
-                screens and other external light sources.
-
-        :returns:
-            Measured color. The color is described by a hue (0--359), a
-            saturation (0--100), and a brightness value (0--100).
-        :rtype: :class:`Color <.parameters.Color>`
-
-        """
-        pass
-
-    def ambient(self):
-        """Measures the ambient light intensity.
-
-        Returns:
-            :ref:`percentage`: Ambient light intensity, ranging from 0 (dark)
-            to 100 (bright).
-        """
-        pass
-
-    def reflection(self):
-        """Measures the reflection of a surface.
-
-        Returns:
-            :ref:`percentage`: Reflection, ranging from 0.0 (no reflection) to
-            100.0 (high reflection).
-        """
-        pass
+    lights = _common.LightArray(3)


 class UltrasonicSensor:
    """LEGO® SPIKE Color Sensor."""

-    lights = _LightArray(3)
+    lights = _common.LightArray(3)

-    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`: Measured distance. If no valid distance was
-            measured, it returns 2000 mm.
+            Measured distance. If no valid distance was measured,
+            it returns 2000 mm.

        """
-        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.

        Returns:
-            bool: ``True`` if ultrasonic sounds are detected,
-            ``False`` if not.
+            ``True`` if ultrasonic sounds are detected, ``False`` if not.
        """
-        pass


 class ForceSensor:
    """LEGO® SPIKE Force Sensor."""

-    def __init__(self, port):
-        """
+    def __init__(self, port: _Port):
+        """ForceSensor(port)

        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

-    def force(self):
-        """Measures the force exerted on the sensor.
+    def force(self) -> float:
+        """force() -> float: N
+
+        Measures the force exerted on the sensor.

        Returns:
-            :ref:`force`: Measured force (up to approximately 10.00 N).
+            Measured force (up to approximately 10.00 N).
        """

-    def distance(self):
-        """Measures by how much the sensor button has moved.
+    def distance(self) -> float:
+        """distance() -> float: mm
+
+        Measures by how much the sensor button has moved.

        Returns:
-            :ref:`distance`: How much the sensor button has
-            moved (up to approximately 8.00 mm).
+            Movement up to approximately 8.00 mm.
        """

-    def pressed(self, force=3):
-        """Checks if the sensor button is pressed.
+    def pressed(self, force: _Number = 3) -> bool:
+        """pressed(force=3) -> bool
+
+        Checks if the sensor button is pressed.

        Arguments:
-            force (:ref:`force`): Minimum force to be considered pressed.
+            force (Number, N): Minimum force to be considered pressed.

        Returns:
-            bool: ``True`` if the sensor is pressed, ``False`` if it is not.
+            ``True`` if the sensor is pressed, ``False`` if it is not.
        """

-    def touched(self):
-        """Checks if the sensor is touched.
+    def touched(self) -> bool:
+        """touched() -> bool
+
+        Checks if the sensor is touched.

        This is similar to :meth:`pressed`, but it detects slight movements of
        the button even when the measured force is still considered zero.

        Returns:
-            bool: ``True`` if the sensor is touched or pressed, ``False``
+            ``True`` if the sensor is touched or pressed, ``False``
            if it is not.
        """

-        pass
-

 class ColorLightMatrix:
    """
    LEGO® SPIKE 3x3 Color Light Matrix.
    """

-    def __init__(self, port):
-        """
+    def __init__(self, port: _Port):
+        """ColorLightMatrix(port)

        Arguments:
            port (Port): Port to which the device is connected.
@@ -401,8 +264,9 @@ class ColorLightMatrix:
        """
        ...

-    def on(self, colors):
-        """
+    def on(self, color: Union[_Color, Collection[_Color]]) -> None:
+        """on(colors)
+
        Turns the lights on.

        Arguments:
@@ -413,9 +277,10 @@ class ColorLightMatrix:
        """
        ...

-    def off(self):
-        """
-        Turns all of the lights off.
+    def off(self) -> None:
+        """off()
+
+        Turns all lights off.
        """
        ...

@@ -423,55 +288,54 @@ class ColorLightMatrix:
 class InfraredSensor:
    """LEGO® Powered Up Infrared Sensor."""

-    def __init__(self, port):
-        """
+    def __init__(self, port: _Port):
+        """InfraredSensor(port)

        Arguments:
            port (Port): Port to which the sensor is connected.
        """
-        pass

-    def reflection(self):
-        """Measures the reflection of a surface using an infrared light.
+    def reflection(self) -> int:
+        """reflection() -> int: %
+
+        Measures the reflection of a surface using an infrared light.

        Returns:
-            :ref:`percentage`: Reflection, ranging from 0.0 (no reflection) to
-            100.0 (high reflection).
+            Measured reflection, ranging from 0% (no reflection) to
+            100% (high reflection).
        """
-        pass

-    def distance(self):
-        """Measures the relative distance between the sensor and an object
+    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).
+            Distance ranging from 0% (closest) to 100% (farthest).
        """
-        pass

-    def count(self):
-        """Counts the number of objects that have passed by the sensor.
+    def count(self) -> int:
+        """count() -> int
+
+        Counts the number of objects that have passed by the sensor.

        Returns:
-            int: Number of objects counted.
+            Number of objects counted.
        """
-        pass


 class Light:
    """LEGO® Powered Up Light."""

-    def __init__(self, port):
-        """
+    def __init__(self, port: _Port):
+        """Light(port)

        Arguments:
            port (Port): Port to which the device is connected.
-
        """
-        pass

-    def on(self, brightness: int = 100) -> None:
+    def on(self, brightness: _Number = 100) -> None:
        """on(brightness=100)

        Turns on the light at the specified brightness.
@@ -485,4 +349,3 @@ class Light:
        """off()

        Turns off the light."""
-        pass
@@ -1,80 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020-2022 The Pybricks Authors
-
-from typing import Collection, List, Optional, Tuple, Union
-
-from ._common import (
-    Keypad,
-    DCMotor as _DCMotor,
-    ColorLight,
-    LightArray,
-    Motor as _Motor,
-    Light as BaseLight,
-)
-
-from .parameters import Color, Direction, Port
-
-class Remote:
-    light: ColorLight
-    buttons: Keypad
-    addresss: Union[str, None]
-    def __init__(self, address: str = None, timeout: int = 10000): ...
-
-class TiltSensor:
-    def __init__(self, port: Port): ...
-    def tilt(self) -> Tuple[int, int]: ...
-
-class ColorDistanceSensor:
-    light: ColorLight
-    def __init__(self, port: Port): ...
-    def color(self) -> Optional[Color]: ...
-    def ambient(self) -> int: ...
-    def reflection(self) -> int: ...
-    def detectable_colors(self, colors: Collection[Color]) -> None: ...
-    def hsv(self) -> Color: ...
-    def distance(self) -> int: ...
-
-class PFMotor(DCMotor):
-    def __init__(
-        self,
-        sensor: ColorDistanceSensor,
-        channel: int,
-        color: Color,
-        positive_direction: Direction = Direction.CLOCKWISE,
-    ): ...
-
-class ColorSensor:
-    lights: LightArray
-    def __init__(self, port: Port): ...
-    def color(self, surface: bool = True) -> Optional[Color]: ...
-    def detectable_colors(self, colors: Collection[Color]) -> None: ...
-    def hsv(self, surface: bool = True) -> Color: ...
-    def ambient(self) -> int: ...
-    def reflection(self) -> int: ...
-
-class UltrasonicSensor:
-    lights: LightArray
-    def __init__(self, port: Port): ...
-    def distance(self) -> int: ...
-    def presence(self) -> bool: ...
-
-class ForceSensor:
-    def __init__(self, port: Port): ...
-    def force(self) -> int: ...
-    def distance(self) -> int: ...
-    def pressed(self, force: int = 3) -> bool: ...
-    def touched(self) -> bool: ...
-
-class ColorLightMatrix:
-    def __init__(self, port: Port) -> None: ...
-    def on(self, color: Union[Color, List[Color]]) -> None: ...
-    def off(self) -> None: ...
-
-class InfraredSensor:
-    def __init__(self, port: Port): ...
-    def reflection(self) -> int: ...
-    def distance(self) -> int: ...
-    def count(self) -> int: ...
-
-class Light(BaseLight):
-    def __init__(self, port: Port): ...
@@ -3,10 +3,16 @@

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

-from ._common import Control as _Control
+from __future__ import annotations

+from typing import Tuple, Optional, overload, TYPE_CHECKING
+
+from . import _common
 from .parameters import Stop as _Stop

+if TYPE_CHECKING:
+    from .parameters import Number as _Number
+

 class DriveBase:
    """A robotic vehicle with two powered wheels and an optional support
@@ -25,7 +31,7 @@ class DriveBase:

    """

-    distance_control = _Control()
+    distance_control = _common.Control()
    """The traveled distance and drive speed are controlled by a PID
    controller. You can use this attribute to change its settings.
    See the :ref:`motor control <settings>` attribute for an overview of
@@ -33,7 +39,7 @@ class DriveBase:
    functionality, but the settings apply to every millimeter driven by the
    drive base, instead of degrees turned by one motor."""

-    heading_control = _Control()
+    heading_control = _common.Control()
    """The robot turn angle and turn rate are controlled by a PID
    controller. You can use this attribute to change its settings.
    See the :ref:`motor control <settings>` attribute for an overview of
@@ -42,7 +48,13 @@ class DriveBase:
    whole drive base (viewed from the top) instead of degrees turned by one
    motor."""

-    def __init__(self, left_motor, right_motor, wheel_diameter, axle_track):
+    def __init__(
+        self,
+        left_motor: _common.Motor,
+        right_motor: _common.Motor,
+        wheel_diameter: _Number,
+        axle_track: _Number,
+    ):
        """DriveBase(left_motor, right_motor, wheel_diameter, axle_track)

        Arguments:
@@ -50,107 +62,126 @@ class DriveBase:
                The motor that drives the left wheel.
            right_motor (Motor):
                The motor that drives the right wheel.
-            wheel_diameter (:ref:`dimension`): Diameter of the wheels.
-            axle_track (:ref:`dimension`): Distance between the points where
+            wheel_diameter (Number, mm): Diameter of the wheels.
+            axle_track (Number, mm): Distance between the points where
                both wheels touch the ground.
        """

-    def drive(self, speed, turn_rate):
-        """Starts driving at the specified speed and turn rate. Both values are
+    def drive(self, speed: _Number, turn_rate: _Number) -> None:
+        """drive(speed, turn_rate)
+
+        Starts driving at the specified speed and turn rate. Both values are
        measured at the center point between the wheels of the robot.

        Arguments:
-            speed (:ref:`linspeed`): Speed of the robot.
-            turn_rate (:ref:`speed`): Turn rate of the robot.
+            speed (Number, mm/s): Speed of the robot.
+            turn_rate (Number, deg/s): Turn rate of the robot.
        """
-        pass

-    def stop(self):
-        """Stops the robot by letting the motors spin freely."""
-        pass
+    def stop(self) -> None:
+        """stop()

-    def distance(self):
-        """Gets the estimated driven distance.
+        Stops the robot by letting the motors spin freely."""
+
+    def distance(self) -> int:
+        """distance() -> int: mm
+
+        Gets the estimated driven distance.

        Returns:
-            :ref:`distance`: Driven distance since last reset.
+            Driven distance since last reset.
        """
-        pass

-    def angle(self):
-        """Gets the estimated rotation angle of the drive base.
+    def angle(self) -> int:
+        """angle() -> int: deg
+
+        Gets the estimated rotation angle of the drive base.

        Returns:
-            :ref:`angle`: Accumulated angle since last reset.
+            Accumulated angle since last reset.
        """
-        pass

-    def state(self):
-        """Gets the state of the robot.
+    def state(self) -> Tuple[int, int, int, int]:
+        """state() -> Tuple[int, int, int, int]

-        This returns the current :meth:`.distance`, the drive speed, the
-        :meth:`.angle`, and the turn rate.
+        Gets the state of the robot.

-        :returns: Distance, drive speed, angle, turn rate
-        :rtype: (:ref:`distance`, :ref:`linspeed`, :ref:`angle`, :ref:`speed`)
+        Returns:
+            Tuple of distance, drive speed, angle, and turn rate of the robot.
        """
-        pass

-    def reset(self):
-        """Resets the estimated driven distance and angle to 0."""
-        pass
+    def reset(self) -> None:
+        """reset()

+        Resets the estimated driven distance and angle to 0."""
+
+    @overload
    def settings(
-        self, straight_speed, straight_acceleration, turn_rate, turn_acceleration
-    ):
-        """Configures the speed and acceleration used
+        self,
+        straight_speed: Optional[_Number],
+        straight_acceleration: Optional[_Number],
+        turn_rate: Optional[_Number],
+        turn_acceleration: Optional[_Number],
+    ) -> None:
+        ...
+
+    @overload
+    def settings(self) -> Tuple[int, int, int, int]:
+        ...
+
+    def settings(self, *args):
+        """settings(straight_speed, straight_acceleration, turn_rate, turn_acceleration)
+        settings() -> Tuple[int, int, int, int]
+
+        Configures the speed and acceleration used
        by :meth:`.straight`, :meth:`.turn`, and  :meth:`.curve`.

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

-        You can only change the settings while the robot is stopped. This is
-        either before you begin driving or after you call :meth:`.stop`.
-
        Arguments:
-            straight_speed (:ref:`linspeed`): Straight-line speed of the robot.
-            straight_acceleration (:ref:`linacceleration`): Straight-line
+            straight_speed (Number, mm/s): Straight-line speed of the robot.
+            straight_acceleration (Number, mm/s²): Straight-line
                acceleration and deceleration of the robot.
-            turn_rate (:ref:`speed`): Turn rate of the robot.
-            turn_acceleration (:ref:`acceleration`): Angular acceleration and
+            turn_rate (Number, deg/s): Turn rate of the robot.
+            turn_acceleration (Number, deg/s²): Angular acceleration and
                deceleration of the robot.
        """
-        pass

-    def straight(self, distance, then=_Stop.HOLD, wait=True):
-        """Drives straight for a given distance and then stops.
+    def straight(self, distance: _Number, then=_Stop.HOLD, wait=True) -> None:
+        """straight(distance, then=Stop.HOLD, wait=True)
+
+        Drives straight for a given distance and then stops.

        Arguments:
-            distance (:ref:`distance`): Distance to travel
+            distance (Number, mm): 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, then=_Stop.HOLD, wait=True):
-        """Turns in place by a given angle and then stops.
+    def turn(self, angle: _Number, then=_Stop.HOLD, wait=True) -> None:
+        """turn(angle, then=Stop.HOLD, wait=True)
+
+        Turns in place by a given angle and then stops.

        Arguments:
-            angle (:ref:`angle`): Angle of the turn.
+            angle (Number, deg): 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.
+    def curve(
+        self, radius: _Number, angle: _Number, then=_Stop.HOLD, wait=True
+    ) -> None:
+        """curve(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.
+            radius (Number, mm): Radius of the circle.
+            angle (Number, deg): Angle along the circle.
            then (Stop): What to do after coming to a standstill.
            wait (bool): Wait for the maneuver to complete before continuing
                         with the rest of the program.
        """
-        pass
@@ -1,39 +0,0 @@
-# SPDX-License-Identifier: MIT
-# 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
-    heading_control: Control
-    def __init__(
-        self,
-        left_motor: Motor,
-        right_motor: Motor,
-        wheel_diameter: Union[int, float],
-        axle_track: Union[int, float],
-    ): ...
-    def drive(self, speed: int, turn_rate: int) -> None: ...
-    def stop(self) -> None: ...
-    def distance(self) -> int: ...
-    def angle(self) -> int: ...
-    def state(self) -> Tuple[int, int, int, int]: ...
-    def reset(self) -> None: ...
-    @overload
-    def settings(self) -> Tuple[int, int, int, int]: ...
-    @overload
-    def settings(
-        self,
-        straight_speed: Optional[int],
-        straight_acceleration: Optional[int],
-        turn_rate: Optional[int],
-        turn_acceleration: Optional[int],
-    ) -> 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: ...
@@ -1,17 +1,19 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2020 The Pybricks Authors
+# Copyright (c) 2018-2022 The Pybricks Authors

 """Common tools for timing and data logging."""

+from typing import Any

-def wait(time):
-    """Pauses the user program for a specified amount of time.
+
+def wait(time: int) -> None:
+    """wait(time)
+
+    Pauses the user program for a specified amount of time.

    Arguments:
-        time (:ref:`time`): How long to wait.
-
+        time (Number, ms): How long to wait.
    """
-    pass


 class StopWatch:
@@ -19,45 +21,54 @@ class StopWatch:
    feature on your phone."""

    def __init__(self):
-        pass
+        ...

-    def time(self):
-        """Gets the current time of the stopwatch.
+    def time(self) -> int:
+        """time() -> int: ms
+
+        Gets the current time of the stopwatch.

        Returns:
-            :ref:`time`: Elapsed time.
+            Elapsed time.
        """
-        pass

-    def pause(self):
-        """Pauses the stopwatch."""
-        pass
+    def pause(self) -> None:
+        """pause()

-    def resume(self):
-        """Resumes the stopwatch."""
-        pass
+        Pauses the stopwatch."""

-    def reset(self):
-        """Resets the stopwatch time to 0.
+    def resume(self) -> None:
+        """resume()
+
+        Resumes the stopwatch."""
+
+    def reset(self) -> None:
+        """reset()
+
+        Resets the stopwatch time to 0.

        The run state is unaffected:

        * If it was paused, it stays paused (but now at 0).
        * If it was running, it stays running (but starting again from 0).
        """
-        pass


 class DataLog:
    """Create a file and log data."""

    def __init__(
-        self, *headers, name="log", timestamp=True, extension="csv", append=False
+        self,
+        *headers: str,
+        name: str = "log",
+        timestamp: bool = True,
+        extension: str = "csv",
+        append: bool = False
    ):
-        """
+        """DataLog(*headers, name='log', timestamp=True, extension='csv', append=False)

        Arguments:
-            headers (`col1`, `col2`, `...`): Column headers. These are the
+            headers (str, str, ...): Column headers. These are the
                names of the data columns. For example, choose ``'time'`` and
                ``'angle'``.
            name (str): Name of the file.
@@ -70,12 +81,12 @@ class DataLog:
                data. If the file does not exist yet, an empty file will be
                created either way.
        """
-        pass

-    def log(self, *values):
-        """Saves one or more values on a new line in the file.
+    def log(self, *values: Any) -> None:
+        """log(value1, value2, ...)
+
+        Saves one or more values on a new line in the file.

        Arguments:
-            values (object, object, `...`): One or more objects or values.
+            values (object, object, ...): One or more objects or values.
        """
-        pass
@@ -1,23 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2020 The Pybricks Authors
-
-from typing import Any
-
-def wait(time: int) -> None: ...
-
-class StopWatch:
-    def time(self) -> int: ...
-    def pause(self) -> None: ...
-    def resume(self) -> None: ...
-    def reset(self) -> None: ...
-
-class DataLog:
-    def __init__(
-        self,
-        *headers: str,
-        name: str = "log",
-        timestamp: bool = True,
-        extension: str = "csv",
-        append: bool = False
-    ): ...
-    def log(self, *values: Any) -> None: ...
@@ -25,14 +25,6 @@ This module implements pseudo-random number generators.
 from typing import Any, Optional, Sequence, overload


-[
-    "random",
-    "uniform",
-]
-
-# bookkeeping
-
-
 def seed(a: Optional[int] = None) -> None:
    """
    Initialize the random number generator.
@@ -9,11 +9,11 @@
 This module provides a subset of the standard Python ``sys`` module.
 """

-from uio import FileIO
+from uio import FileIO as _FileIO

 # REVISIT: most functions are excluded since they aren't useful for Pybricks

-stdin: FileIO = FileIO()
+stdin: _FileIO = _FileIO()
 """
 Stream object (:class:`uio.FileIO`) that receives input from a connected
 terminal, if any.
@@ -25,7 +25,7 @@ Also see :func:`micropython.kbd_intr` to disable ``KeyboardInterrupt`` if you
 are passing binary data via ``stdin``.
 """

-stdout: FileIO = FileIO()
+stdout: _FileIO = _FileIO()
 """
 Stream object (:class:`uio.FileIO`) that sends output to a connected terminal,
 if any.
@@ -34,7 +34,7 @@ Reading may modify newline characters. Use ``usys.stdout.buffer`` instead if
 this is undesirable.
 """

-stderr: FileIO = FileIO()
+stderr: _FileIO = _FileIO()
 """
 Alias for :data:`stdout`.
 """
Author	SHA1	Message	Date
David Lechner	37cdd2a83b	v3.2.0b1-r2	2022-06-24 15:14:42 -05:00
David Lechner	a2d9c33eb5	jedi: add new pybricks_jedi package This package will be used in Pybricks Code to provide some intellesense operations.	2022-06-24 14:52:45 -05:00
Laurens Valk	6d0de1effa	doc/main: Drop beta tag. Less variants is better. Now we'll just have to add beta support for SPIKE in the next release. Fixes https://github.com/pybricks/pybricks-api/issues/102	2022-06-10 11:31:08 +02:00
Laurens Valk	8e7fc53974	doc/main: Disable NXT and EV3 pages again. Now that all typehints have been added, we can revert commit `4c583a9d4e` again.	2022-06-10 11:20:32 +02:00
Laurens Valk	e456c8ef91	pybricks: Drop underscores on imports. Fixes https://github.com/pybricks/pybricks-api/issues/101	2022-06-10 11:10:20 +02:00
Laurens Valk	6500440031	pybricks: Drop most ellipsis and pass instances. See [1]: "I still prefer ... over pass. This clarifies to the readers that they are reading a stub. But if there's a docstring we need neither." [1] https://github.com/srittau/type-stub-pep/issues/88#issuecomment-758843441 Fixes https://github.com/pybricks/pybricks-api/issues/101#issuecomment-1148780369	2022-06-10 10:46:44 +02:00
Laurens Valk	8ec1b18629	pybricks.parameters: Add typing, part 2.	2022-06-10 10:33:33 +02:00
Laurens Valk	26908040eb	pybricks.common: Add CommonColorSensor class. Fixes https://github.com/pybricks/pybricks-api/issues/103	2022-06-10 10:05:13 +02:00
Laurens Valk	f67c98105a	pybricks.parameters: Add typing, part 1.	2022-06-10 10:05:13 +02:00
Laurens Valk	877391dea7	pybricks.parameters: Add typing.	2022-06-10 10:05:13 +02:00
Laurens Valk	fb3446ad0d	pybricks.robotics: Add typing.	2022-06-10 10:05:12 +02:00
Laurens Valk	31256d70c1	pybricks.tools: Add typing.	2022-06-10 10:05:12 +02:00
Laurens Valk	f87e1b48ac	pybricks.messaging: Add typing.	2022-06-10 10:05:12 +02:00
Laurens Valk	6bcf6117c3	pybricks.hubs: Add typing.	2022-06-10 10:05:11 +02:00
Laurens Valk	c77682f50d	pybricks.iodevices: Add typing.	2022-06-10 10:05:11 +02:00
Laurens Valk	4c583a9d4e	doc/main: Enable NXT and EV3 pages. This will help us review the pages as we add typing to the documentation. Then they will be hidden again. This commit can be cherry-picked later on if we ever enable NXT and EV3 content again.	2022-06-10 10:05:10 +02:00
Laurens Valk	0688b8dded	doc/common/conf.py: Add missing units. These are used for NXT sensors.	2022-06-10 10:05:10 +02:00
Laurens Valk	d1a4327751	pybricks.ev3dev.media: Type file classes.	2022-06-10 10:05:10 +02:00
Laurens Valk	4aec24a051	pybricks.ev3dev.media: Type Font class.	2022-06-10 10:05:09 +02:00
Laurens Valk	7bc995d0b6	pybricks.ev3dev.media: Type Image class.	2022-06-10 10:05:09 +02:00
Laurens Valk	725a07e6e1	pybricks.ev3dev._speaker: Add typing.	2022-06-10 10:05:09 +02:00
David Lechner	d43bf94720	v3.2.0b1-r1	2022-06-09 19:31:04 -05:00
David Lechner	c6163fcc81	pybricks: add `__init__.py` This file was missing which breaks some tools that don't know about namespace packages. Also `from pybricks import version` is a thing.	2022-06-09 19:25:44 -05:00
David Lechner	34992d5b20	vscode: drop deprecated setting This setting no longer has any effect.	2022-06-09 19:25:21 -05:00