pyproject: v3.2.0b6

Update version for pybricks Python package release.
pybricks.pupdevices.Motor: Add versionchanged.
2026-09-11 17:14:41 +00:00 · 2022-12-02 14:29:33 +01:00 · 2022-12-02 14:20:51 +01:00 · 2022-12-02 12:43:24 +01:00 · 2022-12-02 12:43:24 +01:00 · 2022-12-02 12:43:24 +01:00
78 changed files with 2599 additions and 655 deletions
@@ -0,0 +1,23 @@
+name: Release @pybricks/images
+
+on:
+  push:
+    tags: 
+    - '@pybricks/images/**'
+
+jobs:
+  publish_ide_docs:
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    # Setup .npmrc file to publish to npm
+    - uses: actions/setup-node@v3
+      with:
+        node-version: '16.x'
+        registry-url: 'https://registry.npmjs.org'
+    - run: ./build.py
+      working-directory: npm/images
+    - run: yarn publish
+      working-directory: npm/images/build
+      env:
+        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}
@@ -2,7 +2,7 @@
    "files.exclude": {
      "**/__pycache__": true,
    },
-
+    "python.defaultInterpreterPath": ".venv/bin/python",
    "python.autoComplete.extraPaths": ["jedi/src"],
    "python.formatting.provider": "black",
    "python.linting.pylintEnabled": false,
@@ -4,6 +4,26 @@

 ## Unreleased

+## 3.2.0b6 - 2022-12-02
+
+### Added
+- Documented ``Stop.NONE`` and ``Stop.COAST_SMART``.
+- Documented ``ujson`` module.
+- Added `done` and `stalled` methods for `DriveBase`.
+
+### Changed
+- Changed `PrimeHub.display.image()` to `PrimeHub.display.icon()` and renamed
+  its kwarg from `image` to `icon`.
+- Improved presentation and docstrings of the ``ubuiltins`` and other
+  MicroPython modules
+- Moved the random numbers example for Move Hub to the Move Hub page.
+- Moved `done()`, `stalled()`, `load()` from `Control` to `Motor` object.
+
+## 3.2.0b5 - 2022-11-11
+
+### Fixed
+- Fixed Jedi code completion for `Color` and `Icon` classes in `pybricks.parameters`.
+
 ## 3.2.0b4 - 2022-10-21

 ### Added
@@ -1,6 +1,6 @@
 MIT License

-Copyright (c) 2018-2021 The Pybricks Authors
+Copyright (c) 2018-2022 The Pybricks Authors

 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
@@ -11,6 +11,7 @@ FEATURES_SMALL = set()
 # Medium feature set.
 FEATURES_MEDIUM = FEATURES_SMALL | {
    "pybricks-geometry",
+    "pybricks-common-control",
    "pybricks-iodevices",
    "stm32-extra",
    "stm32-float",
@@ -24,8 +25,8 @@ HUB_FEATURES = {
    "movehub": {"movehub"} | FEATURES_SMALL,
    "cityhub": {"cityhub"} | FEATURES_MEDIUM,
    "technichub": {"technichub"} | FEATURES_MEDIUM,
-    "primehub": {"primehub", "inventorhub"} | FEATURES_LARGE,
-    "inventorhub": {"primehub", "inventorhub"} | FEATURES_LARGE,
+    "primehub": {"primehub", "inventorhub", "light-matrix"} | FEATURES_LARGE,
+    "inventorhub": {"primehub", "inventorhub", "light-matrix"} | FEATURES_LARGE,
    "essentialhub": {"essentialhub"} | FEATURES_LARGE,
 }

@@ -58,7 +59,7 @@ class PybricksRequirementsStaticDirective(Directive):
        # Cell with image of a hub.
        hub_cell = """
        <th><div class="align-default">
-        <img alt="" src="{0}_images/compat_{1}_{2}_label.png">
+        <img alt="" src="{0}_images/compat_{1}_{2}.png">
        </div></th>
        """

@@ -0,0 +1,86 @@
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+     guidetolerance="10"
+     inkscape:pageopacity="1"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1856"
+     inkscape:window-height="1136"
+     id="namedview4"
+     showgrid="false"
+     inkscape:zoom="0.9950413"
+     inkscape:cx="301.49502"
+     inkscape:cy="344.20682"
+     inkscape:window-x="64"
+     inkscape:window-y="27"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="svg2"
+     inkscape:snap-global="false"
+     inkscape:pagecheckerboard="0" />
+  <image
+     width="525"
+     height="447.47662"
+     preserveAspectRatio="none"
+     xlink:href="../cad/output/hub-technic.png"
+     id="image985"
+     x="0"
+     y="35.996998"
+     style="stroke-width:1.01905" />
+</svg>
@@ -26,6 +26,10 @@ Motors

    .. automethod:: pybricks.ev3devices.Motor.reset_angle

+    .. automethod:: pybricks.ev3devices.Motor.load
+
+    .. automethod:: pybricks.ev3devices.Motor.stalled
+
    .. rubric:: Stopping

    .. automethod:: pybricks.ev3devices.Motor.stop
@@ -34,10 +38,14 @@ Motors

    .. automethod:: pybricks.ev3devices.Motor.hold

-    .. rubric:: Action
+    .. rubric:: Running forever

    .. automethod:: pybricks.ev3devices.Motor.run

+    .. automethod:: pybricks.ev3devices.Motor.dc
+
+    .. rubric:: Running by a fixed amount
+
    .. automethod:: pybricks.ev3devices.Motor.run_time

    .. automethod:: pybricks.ev3devices.Motor.run_angle
@@ -48,31 +56,14 @@ Motors

    .. automethod:: pybricks.ev3devices.Motor.run_until_stalled

-    .. automethod:: pybricks.ev3devices.Motor.dc
-
-    .. rubric:: Motor status
-
-    .. attribute:: control.scale
-
-        Number of degrees that the motor turns to complete one degree at the
-        output of the gear train. This is the gear ratio determined from the
-        ``gears`` argument when initializing the motor.
-
-    .. automethod:: pybricks.ev3devices.Motor.control.done
-
-    .. automethod:: pybricks.ev3devices.Motor.control.stalled
-
-    .. automethod:: pybricks.ev3devices.Motor.control.load
+    .. automethod:: pybricks.ev3devices.Motor.done

    .. rubric:: Motor settings

-    You can only change these settings while the controller is stopped. For
-    example, you can change them at the start of your program. Alternatively,
-    first call :meth:`stop() <pybricks.ev3devices.Motor.stop>`, and then change
-    the settings.
-
    .. automethod:: pybricks.ev3devices.Motor.settings

+    .. rubric:: Control settings
+
    .. automethod:: pybricks.ev3devices.Motor.control.limits

    .. automethod:: pybricks.ev3devices.Motor.control.pid
@@ -81,6 +72,12 @@ Motors

    .. automethod:: pybricks.ev3devices.Motor.control.stall_tolerances

+    .. attribute:: control.scale
+
+        Number of degrees that the motor turns to complete one degree at the
+        output of the gear train. This is the gear ratio determined from the
+        ``gears`` argument when initializing the motor.
+
 Touch Sensor
 ^^^^^^^^^^^^

@@ -35,6 +35,10 @@ City Hub

    .. automethod:: pybricks.hubs::CityHub.system.storage

+        You can store up to 128 bytes of data on this hub. The data is cleared
+        when you update the Pybricks firmware or if you restore the original
+        firmware.
+
    .. automethod:: pybricks.hubs::CityHub.system.shutdown

    .. automethod:: pybricks.hubs::CityHub.system.reset_reason
@@ -67,6 +67,8 @@ Essential Hub

    .. automethod:: pybricks.hubs::EssentialHub.system.storage

+        You can store up to 512 bytes of data on this hub.
+
    .. automethod:: pybricks.hubs::EssentialHub.system.shutdown

    .. automethod:: pybricks.hubs::EssentialHub.system.reset_reason
@@ -47,6 +47,10 @@ Move Hub

    .. automethod:: pybricks.hubs::MoveHub.system.storage

+        You can store up to 128 bytes of data on this hub. The data is cleared
+        when you update the Pybricks firmware or if you restore the original
+        firmware.
+
    .. automethod:: pybricks.hubs::MoveHub.system.shutdown

    .. automethod:: pybricks.hubs::MoveHub.system.reset_reason
@@ -95,3 +99,16 @@ Turning the hub off

 .. literalinclude::
    ../../../examples/pup/hub_common/build/system_shutdown_movehub.py
+
+Making random numbers
+**************************************************
+
+The Move Hub does not include the :mod:`urandom` module. If you need random
+numbers in your application, you can try a variation of the following example.
+
+To make it work better, change the initial value of ``_rand`` to something
+that is truly random in your application. You could use the IMU acceleration
+or a sensor value, for example.
+
+.. literalinclude::
+    ../../../examples/pup/hub_movehub/randint_implementation.py
@@ -45,7 +45,7 @@ Prime Hub / Inventor Hub

    .. automethod:: pybricks.hubs::PrimeHub.display.pixel

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

    .. automethod:: pybricks.hubs::PrimeHub.display.animate

@@ -106,6 +106,8 @@ Prime Hub / Inventor Hub

    .. automethod:: pybricks.hubs::PrimeHub.system.storage

+        You can store up to 512 bytes of data on this hub.
+
    .. automethod:: pybricks.hubs::PrimeHub.system.shutdown

    .. automethod:: pybricks.hubs::PrimeHub.system.reset_reason
@@ -177,13 +179,15 @@ Changing the display orientation
 .. literalinclude::
    ../../../examples/pup/hub_primehub/display_orientation_imu.py

+.. _make_icons:
+
 Making your own images
 **********************

 .. literalinclude::
    ../../../examples/pup/hub_primehub/display_matrix.py

-Combining images to make expressions
+Combining icons to make expressions
 ************************************

 .. literalinclude::
@@ -49,6 +49,10 @@ Technic Hub

    .. automethod:: pybricks.hubs::TechnicHub.system.storage

+        You can store up to 128 bytes of data on this hub. The data is cleared
+        when you update the Pybricks firmware or if you restore the original
+        firmware.
+
    .. automethod:: pybricks.hubs::TechnicHub.system.shutdown

    .. automethod:: pybricks.hubs::TechnicHub.system.reset_reason
@@ -79,7 +79,9 @@ on your hub. Check `pybricks.com/install`_ to learn how.
   micropython/micropython
   micropython/uerrno
   micropython/uio
+   micropython/ujson
   micropython/umath
   micropython/urandom
   micropython/uselect
+   micropython/ustruct
   micropython/usys
@@ -1,3 +1,5 @@
+.. pybricks-requirements:: stm32-extra
+
 :mod:`micropython` -- MicroPython internals
 ===========================================

@@ -6,16 +8,20 @@

 .. autofunction:: micropython.const

-.. autofunction:: micropython.opt_level
+.. autofunction:: micropython.heap_lock
+
+.. autofunction:: micropython.heap_unlock
+
+.. autofunction:: micropython.kbd_intr

 .. autofunction:: micropython.mem_info

+.. autofunction:: micropython.opt_level
+
 .. autofunction:: micropython.qstr_info

 .. autofunction:: micropython.stack_use

-.. autofunction:: micropython.kbd_intr
-

 Examples
 ---------------------
@@ -1,6 +1,6 @@
+.. pybricks-requirements:: stm32-extra
+
 :mod:`uio` -- Input/output streams
 ==================================

-.. note:: This module is not available on the BOOST Move Hub.
-
 .. automodule:: uio
@@ -0,0 +1,15 @@
+.. pybricks-requirements:: stm32-extra
+
+:mod:`ujson` -- JSON encoding and decoding
+===========================================
+
+.. automodule:: ujson
+    :no-members:
+
+.. autofunction:: ujson.dump
+
+.. autofunction:: ujson.dumps
+
+.. autofunction:: ujson.load
+
+.. autofunction:: ujson.loads
@@ -1,4 +1,30 @@
+.. pybricks-requirements:: stm32-extra
+
 :mod:`urandom` -- Pseudo-random numbers
 ================================================

 .. automodule:: urandom
+    :no-members:
+
+    .. rubric:: Basic random numbers
+
+    .. autofunction:: randint
+
+    .. autofunction:: random
+
+    .. rubric:: Random numbers from a range
+
+    .. autofunction:: getrandbits
+
+    .. autofunction:: randrange
+
+    .. autofunction:: uniform
+
+    .. rubric:: Random elements from a sequence
+
+    .. autofunction:: choice
+
+    .. rubric:: Updating the random seed
+
+    .. autofunction:: seed
+
@@ -1,4 +1,41 @@
+.. pybricks-requirements:: stm32-extra
+
 :mod:`uselect` -- Wait for events
 =================================

 .. automodule:: uselect
+    :no-members:
+
+    .. rubric:: Poll instance and class
+
+    .. autofunction:: poll
+
+    .. autoclass:: Poll
+        :no-members:
+
+        .. automethod:: register
+
+        .. automethod:: unregister
+
+        .. automethod:: modify
+
+        .. automethod:: poll
+
+        .. automethod:: ipoll
+
+    .. rubric:: Event mask flags
+
+    .. autodata:: POLLIN
+
+    .. autodata:: POLLOUT
+
+    .. autodata:: POLLERR
+
+    .. autodata:: POLLHUP
+
+Examples
+---------------
+
+See the `projects website`_ for a demo that uses this module.
+
+.. _projects website: https://pybricks.com/projects/tutorials/wireless/hub-to-device/pc-keyboard/
@@ -0,0 +1,56 @@
+.. pybricks-requirements:: stm32-extra
+
+:mod:`ustruct` -- Pack and unpack binary data
+====================================================
+
+.. automodule:: ustruct
+
+The following byte orders are supported:
+
+-----------+------------------------+----------+-----------+
+| Character | Byte order             | Size     | Alignment |
+===========+========================+==========+===========+
+| @         | native                 | native   | native    |
+-----------+------------------------+----------+-----------+
+| <         | little-endian          | standard | none      |
+-----------+------------------------+----------+-----------+
+| >         | big-endian             | standard | none      |
+-----------+------------------------+----------+-----------+
+| !         | network (= big-endian) | standard | none      |
+-----------+------------------------+----------+-----------+
+
+The following data types are supported:
+
+--------+--------------------+-------------+---------------+
+| Format | C Type             | Python type | Standard size |
+========+====================+=============+===============+
+| b      | signed char        | integer     | 1             |
+--------+--------------------+-------------+---------------+
+| B      | unsigned char      | integer     | 1             |
+--------+--------------------+-------------+---------------+
+| h      | short              | integer     | 2             |
+--------+--------------------+-------------+---------------+
+| H      | unsigned short     | integer     | 2             |
+--------+--------------------+-------------+---------------+
+| i      | int                | integer     | 4             |
+--------+--------------------+-------------+---------------+
+| I      | unsigned int       | integer     | 4             |
+--------+--------------------+-------------+---------------+
+| l      | long               | integer (1) | 4             |
+--------+--------------------+-------------+---------------+
+| L      | unsigned long      | integer (1) | 4             |
+--------+--------------------+-------------+---------------+
+| q      | long long          | integer (1) | 8             |
+--------+--------------------+-------------+---------------+
+| Q      | unsigned long long | integer (1) | 8             |
+--------+--------------------+-------------+---------------+
+| f      | float              | float       | 4             |
+--------+--------------------+-------------+---------------+
+| d      | double             | float       | 8             |
+--------+--------------------+-------------+---------------+
+| s      | char[]             | bytes       |               |
+--------+--------------------+-------------+---------------+
+| P      | void *             | integer     |               |
+--------+--------------------+-------------+---------------+
+
+   - \(1\) Supports values up to +/-1073741823
@@ -5,6 +5,8 @@

 This MicroPython module is a subset of the `sys module`_ in Python.

+.. rubric:: Input and output streams
+
 .. module:: usys

 .. autodata:: usys.stdin
@@ -16,4 +18,37 @@ This MicroPython module is a subset of the `sys module`_ in Python.
 .. autodata:: usys.stderr
    :annotation:

+.. rubric:: Version info
+
+.. autodata:: implementation
+    :annotation:
+
+.. autodata:: version
+    :annotation:
+
+.. autodata:: version_info
+    :annotation:
+
+Examples
+---------------
+
+Version information
+*******************************
+
+.. literalinclude::
+    ../../../examples/micropython/usys/pybricks_version.py
+
+.. literalinclude::
+    ../../../examples/micropython/usys/micropython_version.py
+
+Standard input and output
+*******************************
+
+The ``stdin`` stream can be used to capture input via the Pybricks Code
+input/output window. See the `keyboard input`_ project to learn how this works.
+This approach can be extended to exchange data with any `other device`_ as well.
+
+.. _keyboard input: https://pybricks.com/projects/tutorials/wireless/hub-to-device/pc-keyboard/
+.. _other device: https://pybricks.com/projects/tutorials/wireless/hub-to-device/
+
 .. _sys module: https://docs.python.org/3.5/library/sys.html
@@ -0,0 +1,8 @@
+.. pybricks-requirements:: light-matrix
+
+Icon
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: pybricks.parameters.Icon
+
+    See the :ref:`make_icons` section for examples.
@@ -13,6 +13,7 @@
   button
   color
   direction
+   icon
   port
   side
   stop
@@ -23,6 +24,8 @@

 .. pybricks-classlink:: Direction

+.. pybricks-classlink:: Icon
+
 .. pybricks-classlink:: Port

 .. pybricks-classlink:: Side
@@ -10,14 +10,20 @@ Stop
    .. autoattribute:: pybricks.parameters.Stop.COAST
        :annotation:

+    .. autoattribute:: pybricks.parameters.Stop.COAST_SMART
+        :annotation:
+
    .. autoattribute:: pybricks.parameters.Stop.BRAKE
        :annotation:

    .. autoattribute:: pybricks.parameters.Stop.HOLD
        :annotation:

-    The following table shows how each stop type adds an extra level of
-    resistance to motion. In these examples, ``m`` is a
+    .. autoattribute:: pybricks.parameters.Stop.NONE
+        :annotation:
+
+    The following table shows how each of the basic stop types add an extra
+    level of resistance to motion. In these examples, ``m`` is a
    :class:`Motor <pybricks.pupdevices.Motor>` and
    and ``d`` is a :class:`DriveBase <pybricks.robotics.DriveBase>`. The
    examples also show how running at zero speed compares to these stop types.
@@ -24,6 +24,10 @@ Motors with rotation sensors

    .. automethod:: pybricks.pupdevices.Motor.reset_angle

+    .. automethod:: pybricks.pupdevices.Motor.load
+
+    .. automethod:: pybricks.pupdevices.Motor.stalled
+
    .. rubric:: Stopping

    .. automethod:: pybricks.pupdevices.Motor.stop
@@ -32,10 +36,14 @@ Motors with rotation sensors

    .. automethod:: pybricks.pupdevices.Motor.hold

-    .. rubric:: Action
+    .. rubric:: Running forever

    .. automethod:: pybricks.pupdevices.Motor.run

+    .. automethod:: pybricks.pupdevices.Motor.dc
+
+    .. rubric:: Running by a fixed amount
+
    .. automethod:: pybricks.pupdevices.Motor.run_time

    .. automethod:: pybricks.pupdevices.Motor.run_angle
@@ -46,11 +54,33 @@ Motors with rotation sensors

    .. automethod:: pybricks.pupdevices.Motor.run_until_stalled

-    .. automethod:: pybricks.pupdevices.Motor.dc
+    .. automethod:: pybricks.pupdevices.Motor.done

    .. _settings:

-    .. rubric:: Motor status
+    .. rubric:: Motor settings
+
+    .. automethod:: pybricks.pupdevices.Motor.settings
+
+    .. rubric:: Control settings
+
+    .. pybricks-requirements:: pybricks-common-control
+
+    .. automethod:: pybricks.pupdevices.Motor.control.limits
+
+    .. pybricks-requirements:: pybricks-common-control
+
+    .. automethod:: pybricks.pupdevices.Motor.control.pid
+
+    .. pybricks-requirements:: pybricks-common-control
+
+    .. automethod:: pybricks.pupdevices.Motor.control.target_tolerances
+
+    .. pybricks-requirements:: pybricks-common-control
+
+    .. automethod:: pybricks.pupdevices.Motor.control.stall_tolerances
+
+    .. pybricks-requirements:: pybricks-common-control

    .. attribute:: control.scale

@@ -58,27 +88,10 @@ Motors with rotation sensors
        output of the gear train. This is the gear ratio determined from the
        ``gears`` argument when initializing the motor.

-    .. automethod:: pybricks.pupdevices.Motor.control.done
+    .. versionchanged:: 3.2

-    .. automethod:: pybricks.pupdevices.Motor.control.stalled
-
-    .. automethod:: pybricks.pupdevices.Motor.control.load
-
-    .. rubric:: Motor settings
-
-    You can only change these settings while the controller is stopped. For
-    example, you can change them at the start of your program. Alternatively,
-    first call :meth:`stop() <pybricks.pupdevices.Motor.stop>`, and then change the settings.
-
-    .. automethod:: pybricks.pupdevices.Motor.settings
-
-    .. automethod:: pybricks.pupdevices.Motor.control.limits
-
-    .. automethod:: pybricks.pupdevices.Motor.control.pid
-
-    .. automethod:: pybricks.pupdevices.Motor.control.target_tolerances
-
-    .. automethod:: pybricks.pupdevices.Motor.control.stall_tolerances
+        The :meth:`done`, :meth:`stalled` and :meth:`load` methods have been
+        moved.

 Initialization examples
 -----------------------
@@ -10,7 +10,7 @@
 .. autoclass:: pybricks.robotics.DriveBase
    :no-members:

-    .. rubric:: Driving for a given distance or by an angle
+    .. rubric:: Driving by a given distance or angle

    Use the following commands to drive a given distance, or turn by a
    given angle.
@@ -26,6 +26,8 @@

    .. automethod:: pybricks.robotics.DriveBase.settings

+    .. automethod:: pybricks.robotics.DriveBase.done
+
    .. rubric:: Drive forever

    Use :meth:`.drive` to begin driving at a desired speed and steering.
@@ -48,6 +50,8 @@

    .. automethod:: pybricks.robotics.DriveBase.reset

+    .. automethod:: pybricks.robotics.DriveBase.stalled
+
    .. rubric:: Measuring and validating the robot dimensions

    As a first estimate, you can measure the ``wheel_diameter`` and the
@@ -80,15 +84,11 @@

    .. rubric:: Using the DriveBase motors individually

-    Suppose you make a :class:`.DriveBase` object using two ``Motor`` objects called
-    ``left_motor`` and ``right_motor``. You **cannot** use these motors
-    individually while the DriveBase is **active**.
-
-    The DriveBase is active if it is driving, but also when it is actively
-    holding the wheels in place after a :meth:`.straight` or
-    :meth:`.turn` command.
-    To deactivate the :class:`.DriveBase`, call :meth:`.stop`.
-
+    After creating a :class:`.DriveBase` object, you can still use its two
+    motors individually. If you start one motor, the other motor will
+    automatically stop. Likewise, if a motor is already running and you make
+    the drive base move, the original maneuver is cancelled and the drive base
+    will take over.

    .. rubric:: Advanced settings

@@ -104,3 +104,16 @@

    .. autoattribute:: pybricks.robotics.DriveBase.heading_control
        :annotation:
+
+    .. versionchanged:: 3.2
+
+        The :meth:`done` and :meth:`stalled` methods have been moved.
+
+Examples
+-------------------
+
+Driving straight and turning in place
+**********************************************
+
+.. literalinclude::
+    ../../examples/pup/robotics/drivebase_basics.py
@@ -260,5 +260,3 @@ Fahrenheit (°F) or Kelvin (K), you can use the following conversion formulas:
 hue: deg
 --------------
 Hue of a color (0-359 degrees).
-
-TODO: diagram
@@ -0,0 +1,10 @@
+import usys
+
+# ('micropython', (1, 19, 1), 'SPIKE Essential Hub with STM32F413RG', 6)
+print(usys.implementation)
+
+# '3.4.0; Pybricks MicroPython v3.2.0b5 on 2022-11-11'
+print(usys.version)
+
+# (3, 4, 0)
+print(usys.version_info)
@@ -0,0 +1,4 @@
+from pybricks import version
+
+# ('essentialhub', '3.2.0b5', 'v3.2.0b5 on 2022-11-11')
+print(version)
@@ -0,0 +1,19 @@
+from pybricks.hubs import MoveHub
+
+# Initialize the hub.
+hub = MoveHub()
+
+# Initialize "random" seed.
+_rand = hub.battery.voltage() + hub.battery.current()
+
+
+# Return a random integer N such that a <= N <= b.
+def randint(a, b):
+    global _rand
+    _rand = 75 * _rand % 65537  # Lehmer
+    return _rand * (b - a + 1) // 65537 + a
+
+
+# Generate a few example numbers.
+for i in range(5):
+    print(randint(0, 1000))
@@ -12,7 +12,7 @@ while not any(pressed):
    wait(10)

 # Display a circle.
-hub.display.image(Icon.CIRCLE)
+hub.display.icon(Icon.CIRCLE)

 # Wait for all buttons to be released.
 while any(hub.buttons.pressed()):
@@ -20,10 +20,10 @@ while any(hub.buttons.pressed()):

 # Display an arrow to indicate which button was pressed.
 if Button.LEFT in pressed:
-    hub.display.image(Icon.ARROW_LEFT_DOWN)
+    hub.display.icon(Icon.ARROW_LEFT_DOWN)
 elif Button.RIGHT in pressed:
-    hub.display.image(Icon.ARROW_RIGHT_DOWN)
+    hub.display.icon(Icon.ARROW_RIGHT_DOWN)
 elif Button.BLUETOOTH in pressed:
-    hub.display.image(Icon.ARROW_RIGHT_UP)
+    hub.display.icon(Icon.ARROW_RIGHT_UP)

 wait(3000)
@@ -24,11 +24,9 @@ while True:

    for i in range(3):
        # Display eyes open plus the random brows.
-        hub.display.image(Icon.EYE_LEFT + Icon.EYE_RIGHT + brows)
+        hub.display.icon(Icon.EYE_LEFT + Icon.EYE_RIGHT + brows)
        wait(2000)

        # Display eyes blinked plus the random brows.
-        hub.display.image(
-            Icon.EYE_LEFT_BLINK * 0.7 + Icon.EYE_RIGHT_BLINK * 0.7 + brows
-        )
+        hub.display.icon(Icon.EYE_LEFT_BLINK * 0.7 + Icon.EYE_RIGHT_BLINK * 0.7 + brows)
        wait(200)
@@ -6,13 +6,13 @@ from pybricks.parameters import Icon
 hub = PrimeHub()

 # Display a big arrow pointing up.
-hub.display.image(Icon.UP)
+hub.display.icon(Icon.UP)

 # Wait so we can see what is displayed.
 wait(2000)

 # Display a heart at half brightness.
-hub.display.image(Icon.HEART / 2)
+hub.display.icon(Icon.HEART / 2)

 # Wait so we can see what is displayed.
 wait(2000)
@@ -17,7 +17,7 @@ SQUARE = Matrix(
 )

 # Display the square.
-hub.display.image(SQUARE)
+hub.display.icon(SQUARE)
 wait(3000)

 # Make an image using a Python list comprehension. In this image, the
@@ -26,5 +26,5 @@ wait(3000)
 GRADIENT = Matrix([[(r + c) for c in range(5)] for r in range(5)]) * 12.5

 # Display the generated gradient.
-hub.display.image(GRADIENT)
+hub.display.icon(GRADIENT)
 wait(3000)
@@ -14,6 +14,6 @@ while True:
    hub.display.orientation(up_side)

    # Display something, like an arrow.
-    hub.display.image(Icon.UP)
+    hub.display.icon(Icon.UP)

    wait(10)
@@ -12,7 +12,7 @@ gripper_motor.run_angle(200, 720, wait=False)

 # While one or both of the motors are not done yet,
 # do something else. In this example, just wait.
-while not track_motor.control.done() or not gripper_motor.control.done():
+while not track_motor.done() or not gripper_motor.done():
    wait(10)

 print("Both motors are done!")
@@ -0,0 +1,24 @@
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Port, Direction
+from pybricks.robotics import DriveBase
+
+# Initialize both motors. In this example, the motor on the
+# left must turn counterclockwise to make the robot go forward.
+left_motor = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.B)
+
+# Initialize the drive base. In this example, the wheel diameter is 56mm.
+# The distance between the two wheel-ground contact points is 112mm.
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=112)
+
+# Drive forward by 500mm (half a meter).
+drive_base.straight(500)
+
+# Turn around clockwise (180 degrees)
+drive_base.turn(180)
+
+# Drive forward again to drive back.
+drive_base.straight(500)
+
+# Turn around counterclockwise.
+drive_base.turn(-180)
@@ -4,6 +4,14 @@

 ## Unreleased

+## 1.3.0 - 2022-11-11
+
+### Changed
+- Updated `pybricks` package to v3.2.0b5.
+
+### Fixed
+- Fixed code completion for `Color` and `Icon` classes in `pybricks.parameters`.
+
 ## 1.2.0 - 2022-10-21

 ### Added
@@ -185,7 +185,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"

 [[package]]
 name = "pybricks"
-version = "3.2.0b4"
+version = "3.2.0b5"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 category = "main"
 optional = false
@@ -263,7 +263,7 @@ python-versions = ">=3.7"
 [metadata]
 lock-version = "1.1"
 python-versions = ">= 3.10, < 3.11"
-content-hash = "f3cd92de360fc68d8bc8ad0999eb5d0591e7f33dc5f20a32409b3787cac71965"
+content-hash = "4f27a31e5659d2900dfa700d0e7a87ec6a2b4557af49f21102fbbc78054371c2"

 [metadata.files]
 atomicwrites = [
@@ -1,13 +1,13 @@
 [tool.poetry]
 name = "pybricks_jedi"
-version = "1.2.0"
+version = "1.3.0"
 description = "Code completion for Pybricks."
 authors = ["The Pybricks Authors"]
 license = "MIT"

 [tool.poetry.dependencies]
 python = ">= 3.10, < 3.11"
-pybricks = "3.2.0b4"
+pybricks = "3.2.0b5"
 jedi = "0.18.1"
 typing-extensions = "4.2.0"
 docstring-parser = "0.14.1"
@@ -149,6 +149,8 @@ def test_from_micropython_import():
    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
    assert [c["insertText"] for c in completions] == [
        "const",
+        "heap_lock",
+        "heap_unlock",
        "kbd_intr",
        "mem_info",
        "opt_level",
@@ -236,8 +238,8 @@ 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",
+        "poll",
        "POLLERR",
        "POLLHUP",
        "POLLIN",
@@ -249,7 +251,10 @@ 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] == [
+        "implementation",
        "stderr",
        "stdin",
        "stdout",
+        "version",
+        "version_info",
    ]
@@ -27,113 +27,16 @@ def _create_snippet(line: str) -> str:
    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",
-    ]
+# Everything else is the same as the Prime Hub.

-
-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",
-        "storage",
-    ]
+from test_complete_prime_hub import (  # noqa F401
+    test_hub_dot,
+    test_hub_dot_battery_dot,
+    test_hub_dot_buttons_dot,
+    test_hub_dot_charger_dot,
+    test_hub_dot_display_dot,
+    test_hub_dot_imu_dot,
+    test_hub_dot_light_dot,
+    test_hub_dot_speaker_dot,
+    test_hub_dot_system_dot,
+)
@@ -0,0 +1,139 @@
+import json
+
+import pytest
+from pybricks_jedi import CompletionItem, complete
+
+
+def _create_snippet(class_name: str) -> str:
+    """
+    Creates a code snippet::
+
+        from pybricks.parameters import {class_name}
+        {class_name}.
+
+    Args:
+        line: The value substituted for ``{class_name}``
+    """
+    return "\n".join(
+        (f"from pybricks.parameters import {class_name}", f"{class_name}.")
+    )
+
+
+ENUMS = [
+    pytest.param(
+        "Button",
+        [
+            "BEACON",
+            "BLUETOOTH",
+            "CENTER",
+            "DOWN",
+            "LEFT",
+            "LEFT_DOWN",
+            "LEFT_MINUS",
+            "LEFT_PLUS",
+            "LEFT_UP",
+            "RIGHT",
+            "RIGHT_DOWN",
+            "RIGHT_MINUS",
+            "RIGHT_PLUS",
+            "RIGHT_UP",
+            "UP",
+        ],
+    ),
+    pytest.param(
+        "Color",
+        [
+            "BLACK",
+            "BLUE",
+            "BROWN",
+            "CYAN",
+            "GRAY",
+            "GREEN",
+            "MAGENTA",
+            "NONE",
+            "ORANGE",
+            "RED",
+            "VIOLET",
+            "WHITE",
+            "YELLOW",
+        ],
+    ),
+    pytest.param("Direction", ["CLOCKWISE", "COUNTERCLOCKWISE"]),
+    pytest.param(
+        "Icon",
+        [
+            "ARROW_DOWN",
+            "ARROW_LEFT",
+            "ARROW_LEFT_DOWN",
+            "ARROW_LEFT_UP",
+            "ARROW_RIGHT",
+            "ARROW_RIGHT_DOWN",
+            "ARROW_RIGHT_UP",
+            "ARROW_UP",
+            "CIRCLE",
+            "CLOCKWISE",
+            "COUNTERCLOCKWISE",
+            "DOWN",
+            "EMPTY",
+            "EYE_LEFT",
+            "EYE_LEFT_BLINK",
+            "EYE_LEFT_BROW",
+            "EYE_LEFT_BROW_UP",
+            "EYE_RIGHT",
+            "EYE_RIGHT_BLINK",
+            "EYE_RIGHT_BROW",
+            "EYE_RIGHT_BROW_UP",
+            "FALSE",
+            "FULL",
+            "HAPPY",
+            "HEART",
+            "LEFT",
+            "PAUSE",
+            "RIGHT",
+            "SAD",
+            "SQUARE",
+            "TRIANGLE_DOWN",
+            "TRIANGLE_LEFT",
+            "TRIANGLE_RIGHT",
+            "TRIANGLE_UP",
+            "TRUE",
+            "UP",
+        ],
+    ),
+    pytest.param("Port", ["A", "B", "C", "D", "E", "F", "S1", "S2", "S3", "S4"]),
+    pytest.param("Side", ["BACK", "BOTTOM", "FRONT", "LEFT", "RIGHT", "TOP"]),
+    pytest.param("Stop", ["BRAKE", "COAST", "COAST_SMART", "HOLD", "NONE"]),
+]
+
+
+@pytest.mark.parametrize("class_name,members", ENUMS)
+def test_get_parameter_class_member_completion(class_name: str, members: list[str]):
+
+    code = _create_snippet(class_name)
+    completions: list[CompletionItem] = json.loads(
+        complete(code, 2, len(class_name) + 2)
+    )
+    assert [c["insertText"] for c in completions] == members
+
+
+def test_get_parameter_color_completion():
+    code = "\n".join(["from pybricks.parameters import Color", "Color.RED."])
+    completions: list[CompletionItem] = json.loads(complete(code, 2, 11))
+    assert [c["insertText"] for c in completions] == [
+        "BLACK",
+        "BLUE",
+        "BROWN",
+        "CYAN",
+        "GRAY",
+        "GREEN",
+        "h",
+        "MAGENTA",
+        "NONE",
+        "ORANGE",
+        "RED",
+        "s",
+        "v",
+        "VIOLET",
+        "WHITE",
+        "YELLOW",
+    ]
@@ -80,7 +80,7 @@ def test_hub_dot_display_dot():
    assert [c["insertText"] for c in completions] == [
        "animate",
        "char",
-        "image",
+        "icon",
        "number",
        "off",
        "orientation",
@@ -360,7 +360,7 @@ METHOD_PARAMS = [
        [(["row: Number", "column: Number", "brightness: Number=100"], "None")],
    ),
    pytest.param(
-        "pybricks.hubs", "PrimeHub", "display.image", [(["matrix: Matrix"], "None")]
+        "pybricks.hubs", "PrimeHub", "display.icon", [(["icon: Matrix"], "None")]
    ),
    pytest.param(
        "pybricks.hubs",
@@ -602,9 +602,9 @@ METHOD_PARAMS = [
        ],
    ),
    pytest.param("pybricks.pupdevices", "Motor", "dc", [(["duty: Number"], "None")]),
-    pytest.param("pybricks.pupdevices", "Motor", "control.done", [([], "bool")]),
-    pytest.param("pybricks.pupdevices", "Motor", "control.stalled", [([], "bool")]),
-    pytest.param("pybricks.pupdevices", "Motor", "control.load", [([], "int")]),
+    pytest.param("pybricks.pupdevices", "Motor", "done", [([], "bool")]),
+    pytest.param("pybricks.pupdevices", "Motor", "stalled", [([], "bool")]),
+    pytest.param("pybricks.pupdevices", "Motor", "load", [([], "int")]),
    pytest.param(
        "pybricks.pupdevices",
        "Motor",
@@ -853,6 +853,8 @@ METHOD_PARAMS = [
        "pybricks.robotics", "DriveBase", "state", [([], "Tuple[int, int, int, int]")]
    ),
    pytest.param("pybricks.robotics", "DriveBase", "reset", [([], "None")]),
+    pytest.param("pybricks.robotics", "DriveBase", "done", [([], "bool")]),
+    pytest.param("pybricks.robotics", "DriveBase", "stalled", [([], "bool")]),
 ]


@@ -2,6 +2,11 @@

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

+## 2.4.0 - 2022-11-11
+
+### Changed
+- Updated docs to v3.2.0b5.
+
 ## 2.3.0 - 2022-10-21

 ### Changed
@@ -1,6 +1,6 @@
 {
  "name": "@pybricks/ide-docs",
-  "version": "2.3.0",
+  "version": "2.4.0",
  "description": "Special build of Pybricks API docs for embedding in an IDE.",
  "repository": {
    "type": "git",
@@ -0,0 +1,2 @@
+version-tag-prefix "@pybricks/images/v"
+version-git-message "@pybricks/images v%s"
@@ -0,0 +1,23 @@
+# Changelog
+
+<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
+
+## 1.2.1 - 2022-11-08
+
+### Changed
+- Changed size of some icons.
+
+## 1.2.0 - 2022-10-28
+
+### Changed
+- Changed all icon files to have the same dimensions.
+
+## 1.1.0 - 2022-10-28
+
+### Added
+- Added MINDSTORMS Robot Inventor hub image.
+
+## 1.0.0 - 2022-10-28
+
+### Added
+- Added new @pybricks/images package.
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2018-2022 The Pybricks Authors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
@@ -0,0 +1,5 @@
+@pybricks/images
+================
+
+Image resource for Pybricks Code.
+
@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+
+import json
+import pathlib
+import shutil
+
+BUILD_DIR = (pathlib.Path(__file__).parent / "build").resolve()
+IMAGE_DIR = (
+    pathlib.Path(__file__).parent.parent.parent / "doc" / "main" / "diagrams"
+).resolve()
+HUBS = ["move", "city", "technic", "prime", "essential", "inventor"]
+
+package_json = {
+    "name": "@pybricks/images",
+    "version": "1.2.1",
+    "description": "Distribution of Pybricks images.",
+    "license": "MIT",
+    "repository": {
+        "type": "git",
+        "url": "https://github.com/pybricks/pybricks-api",
+        "directory": "npm/images",
+    },
+    "publishConfig": {"registry": "https://registry.npmjs.org", "access": "public"},
+}
+
+# ensure empty build directory so we don't end up with stale files
+shutil.rmtree(BUILD_DIR, True)
+BUILD_DIR.mkdir()
+
+# copy the hub images
+for h in HUBS:
+    shutil.copyfile(IMAGE_DIR / f"icon_{h}hub.png", BUILD_DIR / f"hub-{h}.png")
+
+# generate package.json file
+
+# create "exports" item for hub images.
+package_json["exports"] = {f"./hub-{h}.png": f"./hub-{h}.png" for h in HUBS}
+
+with open(BUILD_DIR / "package.json", "w") as f:
+    json.dump(package_json, f, indent=2)
+
+# copy additional files
+
+ROOT_DIR = (pathlib.Path(__file__).parent).resolve()
+
+for file in "README.md", "CHANGELOG.md", "LICENSE":
+    shutil.copy(ROOT_DIR / file, BUILD_DIR / file)
@@ -2,6 +2,16 @@

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

+## 1.3.0 - 2022-11-11
+
+### Changed
+- Updated `pybricks_jedi` Python package to v1.3.0.
+
+## 1.2.0 - 2022-10-21
+
+### Changed
+- Updated `pybricks_jedi` Python package to v1.2.0.
+
 ## 1.0.1 - 2022-09-07

 ### Fixed
@@ -12,7 +12,7 @@ BUILD_DIR = (pathlib.Path(__file__).parent / "build").resolve()

 package_json = {
    "name": "@pybricks/jedi",
-    "version": "1.0.1",
+    "version": "1.3.0",
    "description": "Binary distribution of pybricks-jedi Python package and dependencies for use with Pyodide.",
    "repository": {
        "type": "git",
@@ -38,7 +38,7 @@ subprocess.check_call(
        "pip",
        "download",
        "--only-binary=any",
-        "pybricks-jedi==1.1.0",
+        "pybricks-jedi==1.3.0",
    ],
    cwd=BUILD_DIR,
 )
@@ -8,7 +8,7 @@ python-versions = "*"

 [[package]]
 name = "Babel"
-version = "2.10.3"
+version = "2.11.0"
 description = "Internationalization utilities"
 category = "dev"
 optional = false
@@ -19,11 +19,11 @@ pytz = ">=2015.7"

 [[package]]
 name = "black"
-version = "22.8.0"
+version = "22.10.0"
 description = "The uncompromising code formatter."
 category = "dev"
 optional = false
-python-versions = ">=3.6.2"
+python-versions = ">=3.7"

 [package.dependencies]
 click = ">=8.0.0"
@@ -41,7 +41,7 @@ uvloop = ["uvloop (>=0.15.2)"]

 [[package]]
 name = "certifi"
-version = "2022.6.15"
+version = "2022.9.24"
 description = "Python package for providing Mozilla's CA Bundle."
 category = "dev"
 optional = false
@@ -49,11 +49,11 @@ python-versions = ">=3.6"

 [[package]]
 name = "chardet"
-version = "5.0.0"
+version = "5.1.0"
 description = "Universal encoding detector for Python 3"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"

 [[package]]
 name = "charset-normalizer"
@@ -79,11 +79,11 @@ colorama = {version = "*", markers = "platform_system == \"Windows\""}

 [[package]]
 name = "colorama"
-version = "0.4.5"
+version = "0.4.6"
 description = "Cross-platform colored terminal text."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"

 [[package]]
 name = "doc8"
@@ -124,7 +124,7 @@ pyflakes = ">=2.4.0,<2.5.0"

 [[package]]
 name = "idna"
-version = "3.3"
+version = "3.4"
 description = "Internationalized Domain Names in Applications (IDNA)"
 category = "dev"
 optional = false
@@ -140,7 +140,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"

 [[package]]
 name = "importlib-metadata"
-version = "4.12.0"
+version = "5.1.0"
 description = "Read metadata from Python packages"
 category = "dev"
 optional = false
@@ -150,9 +150,9 @@ python-versions = ">=3.7"
 zipp = ">=0.5"

 [package.extras]
-docs = ["jaraco.packaging (>=9)", "rst.linker (>=1.9)", "sphinx"]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)"]
 perf = ["ipython"]
-testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)"]
+testing = ["flake8 (<5)", "flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)"]

 [[package]]
 name = "Jinja2"
@@ -205,7 +205,7 @@ pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"

 [[package]]
 name = "pathspec"
-version = "0.10.1"
+version = "0.10.2"
 description = "Utility library for gitignore style pattern matching of file paths."
 category = "dev"
 optional = false
@@ -213,7 +213,7 @@ python-versions = ">=3.7"

 [[package]]
 name = "pbr"
-version = "5.10.0"
+version = "5.11.0"
 description = "Python Build Reasonableness"
 category = "dev"
 optional = false
@@ -221,15 +221,15 @@ python-versions = ">=2.6"

 [[package]]
 name = "platformdirs"
-version = "2.5.2"
-description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+version = "2.5.4"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 category = "dev"
 optional = false
 python-versions = ">=3.7"

 [package.extras]
-docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
-test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
+docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
+test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]

 [[package]]
 name = "pycodestyle"
@@ -271,7 +271,7 @@ diagrams = ["jinja2", "railroad-diagrams"]

 [[package]]
 name = "pytz"
-version = "2022.2.1"
+version = "2022.6"
 description = "World timezone definitions, modern and historical"
 category = "dev"
 optional = false
@@ -324,7 +324,7 @@ python-versions = "*"

 [[package]]
 name = "Sphinx"
-version = "5.1.0.dev20220621"
+version = "5.1.0.dev20221202"
 description = "Python documentation generator"
 category = "dev"
 optional = false
@@ -363,18 +363,18 @@ resolved_reference = "b00124cb07318fd6875f6d53e0b26e50c7dde597"

 [[package]]
 name = "sphinx-rtd-theme"
-version = "1.0.0"
+version = "1.1.1"
 description = "Read the Docs theme for Sphinx"
 category = "dev"
 optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"

 [package.dependencies]
 docutils = "<0.18"
-sphinx = ">=1.6"
+sphinx = ">=1.6,<6"

 [package.extras]
-dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client"]
+dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]

 [[package]]
 name = "sphinxcontrib-applehelp"
@@ -449,7 +449,7 @@ test = ["pytest"]

 [[package]]
 name = "stevedore"
-version = "4.0.0"
+version = "4.1.1"
 description = "Manage dynamic plugins for Python applications"
 category = "dev"
 optional = false
@@ -476,7 +476,7 @@ python-versions = ">=3.7"

 [[package]]
 name = "typing-extensions"
-version = "4.3.0"
+version = "4.4.0"
 description = "Backported and Experimental Type Hints for Python 3.7+"
 category = "dev"
 optional = false
@@ -484,11 +484,11 @@ python-versions = ">=3.7"

 [[package]]
 name = "urllib3"
-version = "1.26.12"
+version = "1.26.13"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 category = "dev"
 optional = false
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+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"

 [package.extras]
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+version = "3.11.0"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 category = "dev"
 optional = false
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+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)"]
+testing = ["flake8 (<5)", "func-timeout", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]

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 ]
 pycodestyle = [
    {file = "pycodestyle-2.8.0-py2.py3-none-any.whl", hash = "sha256:720f8b39dde8b293825e7ff02c475f3077124006db4f440dcbc9a20b76548a20"},
@@ -677,8 +675,8 @@ pyparsing = [
    {file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
 ]
 pytz = [
-    {file = "pytz-2022.2.1-py2.py3-none-any.whl", hash = "sha256:220f481bdafa09c3955dfbdddb7b57780e9a94f5127e35456a48589b9e0c0197"},
-    {file = "pytz-2022.2.1.tar.gz", hash = "sha256:cea221417204f2d1a2aa03ddae3e867921971d0d76f14d87abb4414415bbdcf5"},
+    {file = "pytz-2022.6-py2.py3-none-any.whl", hash = "sha256:222439474e9c98fced559f1709d89e6c9cbf8d79c794ff3eb9f8800064291427"},
+    {file = "pytz-2022.6.tar.gz", hash = "sha256:e89512406b793ca39f5971bc999cc538ce125c0e51c27941bef4568b460095e2"},
 ]
 requests = [
    {file = "requests-2.28.1-py3-none-any.whl", hash = "sha256:8fefa2a1a1365bf5520aac41836fbee479da67864514bdb821f31ce07ce65349"},
@@ -697,8 +695,8 @@ snowballstemmer = [
 ]
 Sphinx = []
 sphinx-rtd-theme = [
-    {file = "sphinx_rtd_theme-1.0.0-py2.py3-none-any.whl", hash = "sha256:4d35a56f4508cfee4c4fb604373ede6feae2a306731d533f409ef5c3496fdbd8"},
-    {file = "sphinx_rtd_theme-1.0.0.tar.gz", hash = "sha256:eec6d497e4c2195fa0e8b2016b337532b8a699a68bcb22a512870e16925c6a5c"},
+    {file = "sphinx_rtd_theme-1.1.1-py2.py3-none-any.whl", hash = "sha256:31faa07d3e97c8955637fc3f1423a5ab2c44b74b8cc558a51498c202ce5cbda7"},
+    {file = "sphinx_rtd_theme-1.1.1.tar.gz", hash = "sha256:6146c845f1e1947b3c3dd4432c28998a1693ccc742b4f9ad7c63129f0757c103"},
 ]
 sphinxcontrib-applehelp = [
    {file = "sphinxcontrib-applehelp-1.0.2.tar.gz", hash = "sha256:a072735ec80e7675e3f432fcae8610ecf509c5f1869d17e2eecff44389cdbc58"},
@@ -725,8 +723,8 @@ sphinxcontrib-serializinghtml = [
    {file = "sphinxcontrib_serializinghtml-1.1.5-py2.py3-none-any.whl", hash = "sha256:352a9a00ae864471d3a7ead8d7d79f5fc0b57e8b3f95e9867eb9eb28999b92fd"},
 ]
 stevedore = [
-    {file = "stevedore-4.0.0-py3-none-any.whl", hash = "sha256:87e4d27fe96d0d7e4fc24f0cbe3463baae4ec51e81d95fbe60d2474636e0c7d8"},
-    {file = "stevedore-4.0.0.tar.gz", hash = "sha256:f82cc99a1ff552310d19c379827c2c64dd9f85a38bcd5559db2470161867b786"},
+    {file = "stevedore-4.1.1-py3-none-any.whl", hash = "sha256:aa6436565c069b2946fe4ebff07f5041e0c8bf18c7376dd29edf80cf7d524e4e"},
+    {file = "stevedore-4.1.1.tar.gz", hash = "sha256:7f8aeb6e3f90f96832c301bff21a7eb5eefbe894c88c506483d355565d88cc1a"},
 ]
 toml = [
    {file = "toml-0.10.2-py2.py3-none-any.whl", hash = "sha256:806143ae5bfb6a3c6e736a764057db0e6a0e05e338b5630894a5f779cabb4f9b"},
@@ -737,14 +735,14 @@ tomli = [
    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
 ]
 typing-extensions = [
-    {file = "typing_extensions-4.3.0-py3-none-any.whl", hash = "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02"},
-    {file = "typing_extensions-4.3.0.tar.gz", hash = "sha256:e6d2677a32f47fc7eb2795db1dd15c1f34eff616bcaf2cfb5e997f854fa1c4a6"},
+    {file = "typing_extensions-4.4.0-py3-none-any.whl", hash = "sha256:16fa4864408f655d35ec496218b85f79b3437c829e93320c7c9215ccfd92489e"},
+    {file = "typing_extensions-4.4.0.tar.gz", hash = "sha256:1511434bb92bf8dd198c12b1cc812e800d4181cfcb867674e0f8279cc93087aa"},
 ]
 urllib3 = [
-    {file = "urllib3-1.26.12-py2.py3-none-any.whl", hash = "sha256:b930dd878d5a8afb066a637fbb35144fe7901e3b209d1cd4f524bd0e9deee997"},
-    {file = "urllib3-1.26.12.tar.gz", hash = "sha256:3fa96cf423e6987997fc326ae8df396db2a8b7c667747d47ddd8ecba91f4a74e"},
+    {file = "urllib3-1.26.13-py2.py3-none-any.whl", hash = "sha256:47cc05d99aaa09c9e72ed5809b60e7ba354e64b59c9c173ac3018642d8bb41fc"},
+    {file = "urllib3-1.26.13.tar.gz", hash = "sha256:c083dd0dce68dbfbe1129d5271cb90f9447dea7d52097c6e0126120c521ddea8"},
 ]
 zipp = [
-    {file = "zipp-3.8.1-py3-none-any.whl", hash = "sha256:47c40d7fe183a6f21403a199b3e4192cca5774656965b0a4988ad2f8feb5f009"},
-    {file = "zipp-3.8.1.tar.gz", hash = "sha256:05b45f1ee8f807d0cc928485ca40a07cb491cf092ff587c0df9cb1fd154848d2"},
+    {file = "zipp-3.11.0-py3-none-any.whl", hash = "sha256:83a28fcb75844b5c0cdaf5aa4003c2d728c77e05f5aeabe8e95e56727005fbaa"},
+    {file = "zipp-3.11.0.tar.gz", hash = "sha256:a7a22e05929290a67401440b39690ae6563279bced5f314609d9d03798f56766"},
 ]
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.2.0b4"
+version = "3.2.0b6"
 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>" ]
@@ -12,10 +12,31 @@ Access and control MicroPython internals.
 from typing import Any, overload


+@overload
 def const(value: int) -> int:
+    ...
+
+
+@overload
+def const(value: str) -> str:
+    ...
+
+
+@overload
+def const(value: float) -> float:
+    ...
+
+
+@overload
+def const(value: tuple) -> tuple:
+    ...
+
+
+def const(value):
    """
-    Declares the value as a constant. This value will be
-    substituted wherever it is used, which makes your code more efficient.
+    const(value) -> Any
+
+    Declares the value as a constant, which makes your code more efficient.

    To reduce memory usage further, prefix its name with an
    underscore (``_ORANGES``). This constant can only be used within the
@@ -23,8 +44,13 @@ def const(value: int) -> int:

    If you want to import the value from another module, use a name without an
    underscore (``APPLES``). This uses a bit more memory.
+
+    Arguments:
+        value (int or float or str or tuple): The literal to be made constant.
+
+    Returns:
+        The constant value.
    """
-    ...


@overload
@@ -54,8 +80,11 @@ def opt_level(*args):
    This applies only to code that you run in the REPL, because regular scripts
    are already compiled before they are sent to the hub.

-    If no argument is given, this function returns the current optimization
-    level.
+    Arguments:
+        level (int): The level to be set.
+
+    Returns:
+        If no argument is given, this returns the current optimization level.

    """

@@ -72,10 +101,14 @@ def mem_info(verbose: Any) -> None:

 def mem_info(*args):
    """
+    mem_info()
+    mem_info(verbose)
+
    Prints information about stack and heap memory usage.

-    If the ``verbose`` argument is given, it also prints out
-    the entire heap, indicating which blocks are used and which are free.
+    Arguments:
+        verbose: If any value is given, it also prints out the entire heap.
+            This indicates which blocks are used and which are free.
    """


@@ -91,34 +124,64 @@ def qstr_info(verbose: Any) -> None:

 def qstr_info(*args):
    """
+    qstr_info()
+    qstr_info(verbose)
+
    Prints how many strings are interned and how much RAM they use.

    MicroPython uses string interning to save both RAM and ROM.
    This avoids having to store duplicate copies of the same string.

-    If the ``verbose`` argument is given it also prints out the names of all
-    RAM-interned strings.
+    Arguments:
+        verbose: If any value is given, it also prints out the names of all
+            RAM-interned strings.
    """


 def stack_use() -> int:
    """
-    Returns the amount of stack that is being used. This can be used to
+    stack_use() -> int
+
+    Checks the amount of stack that is being used. This can be used to
    compute differences in stack usage at different points in a script.
+
+    Returns:
+        The amount of stack in use.
    """


-# REVISIT: Skipping heap lock funcs for now
+def heap_lock() -> None:
+    """
+    heap_lock()
+
+    Locks the heap. When locked, no memory allocation can occur. A
+    ``MemoryError`` will be raised if any heap allocation is attempted.
+    """
+
+
+def heap_unlock() -> int:
+    """
+    heap_unlock() -> int
+
+    Unlocks the heap. Memory allocation is now allowed again.
+
+    If :func:`heap_lock()` was called multiple times, :func:`heap_unlock()`
+    must be called the same number of times to make the heap available again.
+
+    Returns:
+        The lock depth after unlocking. It is ``0`` once it is unlocked.
+    """


 def kbd_intr(chr: int) -> None:
    """
-    Set the character that will raise a ``KeyboardInterrupt`` exception.  By
-    default this is set to ``3`` during script execution, corresponding to
-    :kbd:`Ctrl-C`. Passing ``-1`` to this function will disable capture of
-    :kbd:`Ctrl-C`, and passing ``3`` will restore it.
+    kbd_intr(chr)

-    This function can be used to prevent the capturing of :kbd:`Ctrl-C` on the
-    incoming stream of characters that is usually used for the REPL, in case
-    that stream is used for other purposes.
+    Sets the character that raises a ``KeyboardInterrupt`` exception when
+    you type it in the input window. By default it is set to ``3``,
+    corresponding to :kbd:`Ctrl-C`.
+
+    Arguments:
+        chr (int): Character that should raise the ``KeyboardInterrupt``.
+            Choose ``-1`` to disable this feature.
    """
@@ -3,6 +3,6 @@ from typing import Tuple

 version: Tuple[str, str, str] = (
    "hub",
-    "3.2.0b1",
-    "v3.2.0b1-GIT_HASH on DATE",
+    "3.X.YbZ",
+    "v3.X.YbZ-GIT_HASH on DATE",
 )
@@ -78,20 +78,23 @@ class System:

    def storage(self, offset, read=None, write=None):
        """
-        storage(self, offset, read=) -> bytes
        storage(self, offset, write=)
+        storage(self, offset, read=) -> bytes

        Reads or writes binary data to persistent storage.

-        The available storage size is 128 bytes on Move, City and Technic hubs
-        and 512 bytes on SPIKE and MINDSTORMS hubs.
+        This lets you store data that can be used the next time you run the
+        program.

-        .. note:: The data is written to flash memory on shutdown, so will only
-            be saved if the hub is properly shut down. It will not be saved if
-            the batteries are removed while the hub is still running.
+        The data will be saved to flash memory when you turn the hub off
+        normally. It will not be saved if the batteries are removed *while* the
+        hub is still running.
+
+        Once saved, the data will remain available even after you remove the
+        batteries.

        Args:
-            offset (int): The offset from the start of the user storage memory in bytes.
+            offset (int): The offset from the start of the user storage memory, in bytes.
            read (int): The number of bytes to read. Omit this argument when writing.
            write (bytes): The bytes to write. Omit this argument when reading.

@@ -100,8 +103,7 @@ class System:

        Raises:
            ValueError:
-                The offset and/or the size of bytes to be read/written are
-                outside of the range of the allocated memory.
+                If you try to read or write data outside of the allowed range.
        """


@@ -197,6 +199,9 @@ class Control:

        If no arguments are given, this will return the current values.

+        The new ``acceleration`` and ``speed`` limit will become effective
+        when you give a new motor command. Ongoing maneuvers are not affected.
+
        Arguments:
            speed (Number, deg/s or Number, mm/s):
                Maximum speed. All speed commands will be capped to this value.
@@ -297,40 +302,6 @@ class Control:
                minimum ``speed`` before we say it is stalled.
        """

-    def stalled(self) -> bool:
-        """stalled() -> bool
-
-        Checks if the controller is currently stalled.
-
-        A controller is stalled when it cannot reach the target speed or
-        position, even with the maximum actuation signal.
-
-        Returns:
-            ``True`` if the controller is stalled, ``False`` if not.
-        """
-
-    def done(self) -> bool:
-        """done() -> bool
-
-        Checks if an ongoing command or maneuver is done.
-
-        Returns:
-            ``True`` if the command is done, ``False`` if not.
-        """
-
-    def load(self) -> int:
-        """load() -> int: mNm
-
-        Estimates the load based on the torque required to maintain the
-        specified speed or angle.
-
-        When coasting, braking, or controlling the duty cycle manually, the
-        load cannot be estimated in this way. Then this method returns zero.
-
-        Returns:
-            The load torque. It returns 0 if control is not active.
-        """
-

 class Motor(DCMotor):
    """Generic class to control motors with built-in rotation sensors."""
@@ -392,6 +363,27 @@ class Motor(DCMotor):

        """

+    def stalled(self) -> bool:
+        """stalled() -> bool
+
+        Checks if the motor is currently stalled.
+
+        It is stalled when it cannot reach the target speed or position, even
+        with the maximum actuation signal.
+
+        Returns:
+            ``True`` if the motor is stalled, ``False`` if not.
+        """
+
+    def load(self) -> int:
+        """load() -> int: mNm
+
+        Estimates the load that holds back the motor when it tries to move.
+
+        Returns:
+            The load torque.
+        """
+
    def reset_angle(self, angle: Optional[Number]) -> None:
        """
        reset_angle(angle)
@@ -503,6 +495,15 @@ class Motor(DCMotor):
            Angle at which the motor becomes stalled.
        """

+    def done(self) -> bool:
+        """done() -> bool
+
+        Checks if an ongoing command or maneuver is done.
+
+        Returns:
+            ``True`` if the command is done, ``False`` if not.
+        """
+
    def track_target(self, target_angle: Number) -> None:
        """track_target(target_angle)

@@ -708,14 +709,14 @@ class LightMatrix:
                or ``Side.BOTTOM``.
        """

-    def image(self, matrix: Matrix) -> None:
-        """image(matrix)
+    def icon(self, icon: Matrix) -> None:
+        """icon(icon)

-        Displays an image, represented by a matrix of :ref:`brightness`
+        Displays an icon, represented by a matrix of :ref:`brightness`
        values.

        Arguments:
-            matrix (Matrix): Matrix of intensities (:ref:`brightness`).  A 2D
+            icon (Matrix): Matrix of intensities (:ref:`brightness`). A 2D
                list is also accepted.
        """

@@ -29,9 +29,9 @@ if TYPE_CHECKING or os.environ.get("SPHINX_BUILD") == "True":
    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::
+    .. note::
        The BOOST Move hub doesn't support floating point numbers due to
-        limited system resources, so only integers can be used on that hub.
+        limited system resources. Only integers can be used on that hub.
    """


@@ -60,21 +60,43 @@ class _PybricksEnum(Enum, metaclass=_PybricksEnumMeta):
 class Color:
    """Light or surface color."""

-    h: int
-    s: int
-    v: int
+    NONE: Color = ...
+    BLACK: Color = ...
+    GRAY: Color = ...
+    WHITE: Color = ...
+    RED: Color = ...
+    ORANGE: Color = ...
+    BROWN: Color = ...
+    YELLOW: Color = ...
+    GREEN: Color = ...
+    CYAN: Color = ...
+    BLUE: Color = ...
+    VIOLET: Color = ...
+    MAGENTA: Color = ...

    def __init__(self, h: Number, s: Number = 100, v: Number = 100):
        """Color(h, s=100, v=100)

        Arguments:
-            h (Number, deg): Hue (0--360)
+            h (Number, deg): Hue.
            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))
+
+        self.h = int(h) % 360
+        """
+        The hue.
+        """
+
+        self.s = max(0, min(int(s), 100))
+        """
+        The saturation.
+        """
+
+        self.v = max(0, min(int(v), 100))
+        """
+        The brightness value.
+        """

    def __repr__(self):
        return "Color(h={}, s={}, v={})".format(self.h, self.s, self.v)
@@ -130,17 +152,32 @@ class Port(_PybricksEnum):


 class Stop(_PybricksEnum):
-    """Action after the motor stops."""
+    """Action after the motor stops or reaches its target."""

    COAST: Stop = 0
    """Let the motor move freely."""

+    COAST_SMART: Stop = 4
+    """
+    Let the motor move freely. For the next relative angle maneuver,
+    take the last target angle (instead of the current angle) as the new
+    starting point. This reduces cumulative errors. This will apply only if the
+    current angle is less than twice the configured position tolerance.
+    """
+
    BRAKE: Stop = 1
    """Passively resist small external forces."""

    HOLD: Stop = 2
-    """Keep controlling the motor to hold it at the commanded angle. This is
-    only available on motors with encoders."""
+    """Keep controlling the motor to hold it at the commanded angle."""
+
+    NONE: Stop = 3
+    """
+    Do not decelerate when approaching the target position. This can be used
+    to concatenate multiple motor or drive base maneuvers without stopping. If
+    no further commands are given, the motor will proceed to run indefinitely
+    at the given speed.
+    """


 class Direction(_PybricksEnum):
@@ -185,39 +222,297 @@ class Side(_PybricksEnum):


 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
+    """Icons to display on a light matrix.
+
+    Each of the following attributes are matrices. This means you can scale
+    icons to adjust the brightness or add icons to make composites.
+    """
+
+    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 = ...
+    """
+    | 🟨⬜⬜⬜🟨
+    | ⬜🟨⬜🟨⬜
+    | ⬜⬜🟨⬜⬜
+    | ⬜🟨⬜🟨⬜
+    | 🟨⬜⬜⬜🟨
+    """
@@ -189,6 +189,27 @@ class DriveBase:
                         with the rest of the program.
        """

+    def done(self) -> bool:
+        """done() -> bool
+
+        Checks if an ongoing command or maneuver is done.
+
+        Returns:
+            ``True`` if the command is done, ``False`` if not.
+        """
+
+    def stalled(self) -> bool:
+        """stalled() -> bool
+
+        Checks if the drive base is currently stalled.
+
+        It is stalled when it cannot reach the target speed or position, even
+        with the maximum actuation signal.
+
+        Returns:
+            ``True`` if the drivebase is stalled, ``False`` if not.
+        """
+

 # HACK: hide from jedi
 if TYPE_CHECKING:
@@ -15,6 +15,8 @@

 """
 The following functions and exceptions can be used without importing anything.
+
+Most functions and classes in this module do not accept keyword arguments.
 """

 from typing import (
@@ -177,19 +179,27 @@ class bytes:

    def __init__(self, *args):
        r"""
+        bytes()
+        bytes(integer)
+        bytes(iterable)
+        bytes(string, encoding)
+
        Creates a new ``bytes`` object, which is a sequence of integers
        in the range :math:`0 \leq x \leq 255`. This object is *immutable*,
        which means that you *cannot* change its contents after you create it.

-           * If no argument is given, this creates an empty ``bytes`` object.
-           * If the ``source`` argument is an integer, this creates a ``bytes``
-             object of zeros. The argument specifies how many zeros.
-           * If ``source`` is a ``bytearray``, ``bytes`` object, or some other
-             iterable of integers, this creates a ``bytes``
-             object with the same byte sequence as the ``source`` argument.
-           * If ``source`` is a string, choose ``'utf8'`` as the ``encoding``
-             argument. Then this creates a ``bytes`` object containing the
-             encoded string.
+        If no argument is given, this creates an empty ``bytes`` object.
+
+        Arguments:
+            integer (int): If the argument is a single integer, this creates
+              a ``bytes`` object of zeros. The argument specifies how many.
+            iterable (iter): If the argument is a ``bytearray``, ``bytes``
+              object, or some other iterable of integers, this creates a ``bytes``
+              object with the same byte sequence as the argument.
+            string (str): If the argument is a string, this creates a ``bytes``
+              object containing the encoded string.
+            encoding (str): Specifies which encoding to use for the ``string``
+              argument. Only ``"utf-8"``  is supported.
        """


@@ -208,21 +218,39 @@ class bytearray:

    def __init__(self, *args):
        r"""
+        bytearray()
+        bytearray(integer)
+        bytearray(iterable)
+        bytearray(string)
+
        Creates a new ``bytearray`` object, which is a sequence of integers
        in the range :math:`0 \leq x \leq 255`. This object is *mutable*, which
        means that you *can* change its contents after you create it.

-           * If no argument is given, this creates an empty ``bytearray``.
-           * If the ``source`` argument is an integer, this creates a ``bytearray``
-             of zeros. The argument specifies how many zeros.
-           * For all other valid ``source`` arguments, this creates a bytearray with
-             the same byte sequence as the given ``source`` argument.
+        If no argument is given, this creates an empty ``bytearray`` object.
+
+        Arguments:
+            integer (int): If the argument is a single integer, this creates
+              a ``bytearray`` object of zeros. The argument specifies how many.
+            iterable (iter): If the argument is a ``bytearray``, ``bytes``
+              object, or some other iterable of integers, this creates
+              a ``bytearray`` object with the same byte sequence as the argument.
+            string (str): If the argument is a string, this creates
+              a ``bytearray`` object containing the encoded string.
        """


 def callable(object: Any) -> _bool:
    """
-    Returns ``True`` if the object argument appears callable, ``False`` if not.
+    callable(object) -> bool
+
+    Checks if an object is callable.
+
+    Arguments:
+        object: Object to check.
+
+    Returns:
+        ``True`` if the object argument appears callable, ``False`` if not.
    """


@@ -306,6 +334,8 @@ class dict:
        dict(mapping, **kwargs)
        dict(iterable, **kwargs)

+        Creates a dictionary object.
+
        See the standard
        `Python documentation
        <https://docs.python.org/3/library/stdtypes.html#mapping-types-dict>`_
@@ -325,8 +355,19 @@ def dir(object: Any) -> List[_str]:

 def dir(*args) -> List[_str]:
    """
-    Without arguments, return the list of names in the current local scope. With
-    an argument, attempt to return a list of valid attributes for that object.
+    dir() -> List[str]
+    dir(object) -> List[str]
+
+    Gets a list of attributes of an object.
+
+    If no object argument is given, this function gets the list of names in the
+    current local scope.
+
+    Arguments:
+        object: Object to check for valid attributes.
+
+    Returns:
+        List of object attributes or list of names in current local scope.
    """


@@ -342,8 +383,21 @@ def divmod(a: _float, b: _float) -> Tuple[_float, _float]:

 def divmod(a, b):
    """
-    Takes two (non complex) numbers as arguments and returns a pair of numbers
-    consisting of their quotient and remainder when using integer division.
+    divmod(a, b) -> Tuple[int, int]
+
+    Gets the quotient and remainder for dividing two integers.
+
+    See the standard `Python divmod documentation
+    <https://docs.python.org/3/library/functions.html#divmod>`_ for
+    the expected behavior when ``a`` or ``b`` are floating point numbers
+    instead.
+
+    Arguments:
+        a (int): Numerator.
+        b (int): Denominator.
+
+    Returns:
+        A tuple with the quotient ``a // b`` and the remainder ``a % b``.
    """


@@ -358,9 +412,11 @@ class enumerate:

    def __init__(self, *args) -> None:
        """
-        Returns an enumerate object.
+        enumerate(iterable, start=0)

-        Equivalent to::
+        Enumerates an existing iterator by adding a numeric index.
+
+        This function is equivalent to::

            def enumerate(sequence, start=0):
                n = start
@@ -387,12 +443,23 @@ def eval(expression: _str, globals: _dict, locals: Mapping) -> Any:

 def eval(*args):
    """
-    The arguments are a string and optional globals and locals. If provided,
-    ``globals`` must be a dictionary. If provided, ``locals`` can be any mapping
-    object.
+    eval(expression) -> Any
+    eval(expression, globals) -> Any
+    eval(expression, globals, locals) -> Any

-    The return value is the result of the evaluated expression. Syntax errors
-    are reported as exceptions.
+    Evaluates the result of an expression.
+
+    Syntax errors are reported as exceptions.
+
+    Arguments:
+        expression (str): Expression to evaluate result of.
+        globals (dict): If given, this controls what functions are available
+            for use in the expression. By default the global scope is accessible.
+        locals (dict): If given, this controls what functions are available
+            for use in the expression. Defaults to the same as ``globals``.
+
+    Returns:
+        The value obtained by executing the expression.
    """


@@ -413,7 +480,20 @@ def exec(object: Any, globals: _dict, locals: Mapping) -> None:

 def exec(*args):
    """
-    This function supports dynamic execution of Python code.
+    exec(expression)
+    exec(expression, globals)
+    exec(expression, globals, locals)
+
+    Executes MicroPython code.
+
+    Syntax errors are reported as exceptions.
+
+    Arguments:
+        expression (str): Code to be executed.
+        globals (dict): If given, this controls what functions are available
+            for use in the expression. By default the global scope is accessible.
+        locals (dict): If given, this controls what functions are available
+            for use in the expression. Defaults to the same as ``globals``.
    """


@@ -456,26 +536,58 @@ def getattr(object: Any, name: _str, default: Any) -> Any:

 def getattr(*args):
    """
-    Returns the value of the named attribute of object.
+    getattr(object, name) -> Any
+    getattr(object, name, default) -> Any
+
+    Looks up the attribute called ``name`` in the given ``object``.
+
+    Arguments:
+        object: Object in which to look for the attribute.
+        name (str): Name of the attribute.
+        default: Object to return if the attribute is not found.
+
+    Returns:
+        Returns the value of the named attribute.
    """


 def globals() -> Dict[_str, Any]:
    """
-    Return a dictionary representing the current global symbol table.
+    globals() -> dict
+
+    Gets a dictionary representing the current global symbol table.
+
+    Returns:
+        The dictionary of globals.
    """


 def hasattr(object: Any, name: _str) -> _bool:
    """
-    The result is ``True`` if the string is the name of one of the object’s
-    attributes, ``False`` if not.
+    hasattr(object, name) -> bool
+
+    Checks if an attribute exists on an object.
+
+    Arguments:
+        object: Object in which to look for the attribute.
+        name (str): Name of the attribute.
+
+    Returns:
+        ``True`` if an attribute by that name exists, ``False`` if not.
    """


 def hash(object: Any) -> _int:
    """
-    Returns the hash value of the object (if it has one).
+    hash(object) -> int
+
+    Gets the hash value of an object, if the object supports it.
+
+    Arguments:
+        object: Object for which to get a hash value.
+
+    Returns:
+        The hash value.
    """


@@ -491,8 +603,16 @@ def help(object: Any) -> None:

 def help(*args) -> None:
    """
-    Prints help for the ``object``. If no argument is given, prints general help.
-    If object is ``'modules'``, prints available modules.
+    help()
+    help(object)
+
+    Get information about an object.
+
+    If no arguments are given, this function prints instructions to operate the
+    REPL. If the argument is ``"modules"``, it prints the available modules.
+
+    Arguments:
+        object: Object for which to print help information.
    """


@@ -511,10 +631,18 @@ def hex(x: int) -> _str:
    """


-def id() -> _int:
+def id(object: Any) -> _int:
    """
-    Returns the “identity” of an object. This is an integer which is guaranteed
+    id(object) -> int
+
+    Gets the *identity* of an object. This is an integer which is guaranteed
    to be unique and constant for this object during its lifetime.
+
+    Arguments:
+        object: Object of which to get the identifier.
+
+    Returns:
+        The identifier.
    """


@@ -605,26 +733,60 @@ class int:

 def isinstance(object: Any, classinfo: Union[_type, Tuple[_type]]) -> _bool:
    """
-    Returns ``True`` if the ``object`` argument is an instance of the ``classinfo``
-    argument, or of a subclass thereof.
+    isinstance(object, classinfo) -> bool
+
+    Checks if an object is an instance of a certain class.
+
+    Arguments:
+        object: Object to check the type of.
+        classinfo (type or tuple): Class information.
+
+    Returns:
+        ``True`` if the ``object`` argument is an instance of the ``classinfo``
+        argument, or of a subclass thereof.
    """


 def issubclass(cls: _type, classinfo: Union[_type, Tuple[_type]]) -> _bool:
    """
-    Returns ``True`` if ``cls`` is a subclass of ``classinfo``.
+    issubclass(cls, classinfo) -> bool
+
+    Checks if one class is a subclass of another class.
+
+    Arguments:
+        cls: Class type.
+        classinfo (type or tuple): Class information.
+
+    Returns:
+        ``True`` if ``cls`` is a subclass of ``classinfo``.
    """


 def iter(object: Union[Iterable, Sequence]) -> Iterator:
    """
-    Returns an iterator object.
+    iter(object) -> Iterator
+
+    Gets the iterator of the object if available.
+
+    Arguments:
+        object: Object for which to get the iterator.
+
+    Returns:
+        The iterator.
    """


 def len(s: Sequence) -> _int:
    """
-    Returns the length (the number of items) of an object.
+    len(s) -> int
+
+    Gets the length (the number of items) of an object.
+
+    Arguments:
+        s (Sequence): The sequence of which to get the length.
+
+    Returns:
+        The length.
    """


@@ -639,20 +801,49 @@ class list:

    def __init__(self, *args) -> None:
        """
-        Creates a new list.
+        list()
+        list(iterable)
+
+        Creates a new list. If no argument is given, this creates an empty
+        ``list`` object.
+
+        A list is *mutable*, which means that you *can* change its contents
+        after you create it.
+
+        Arguments:
+            iterable (iter): Iterable from which to build the list.
        """


 def locals() -> _dict:
    """
-    Updates and returns a dictionary representing the current local symbol table.
+    locals() -> dict
+
+    Gets a dictionary representing the current local symbol table.
+
+    Returns:
+        The dictionary of locals.
    """


 def map(function: Callable, iterable: Iterable, *args: Any) -> Iterator:
    """
-    Returns an iterator that applies function to every item of iterable,
-    yielding the results.
+    map(function, iterable) -> Iterator
+    map(function, iterable1, iterable2...) -> Iterator
+
+    Creates a new iterator that applies the given function to each item in the
+    given iterable and yields the results.
+
+    Arguments:
+        function (callable): Function that computes a result for one item in the
+            iterable(s). The number of arguments to this function must match
+            the number of iterables given.
+        iterable (iter): One or more source interables from which to draw data.
+            With multiple iterables, the iterator stops when the shortest
+            iterable is exhausted.
+
+    Returns:
+        The new, mapped iterator.
    """


@@ -668,7 +859,15 @@ def max(arg1: Any, arg2: Any, *args: Any) -> Any:

 def max(*args):
    """
-    Returns the largest item in an iterable or the largest of two or more arguments.
+    max(iterable) -> Any
+    max(arg1, arg2, ....) -> Any
+
+    Gets the object with largest value.
+
+    The argument may be a single iterable, or any number of objects.
+
+    Returns:
+        The object with the largest value.
    """


@@ -684,32 +883,37 @@ def min(arg1: Any, arg2: Any, *args: Any) -> Any:

 def min(*args):
    """
-    Returns the smallest item in an iterable or the smallest of two or more arguments.
+    min(iterable) -> Any
+    min(arg1, arg2, ....) -> Any
+
+    Gets the object with smallest value.
+
+    The argument may be a single iterable, or any number of objects.
+
+    Returns:
+        The object with the smallest value.
    """


-@overload
 def next(iterator: Iterator) -> Any:
-    ...
-
-
-@overload
-def next(iterator: Iterator, default: Any) -> Any:
-    ...
-
-
-def next(*args):
    """
+    next(iterator) -> Any
+
    Retrieves the next item from the iterator by calling its ``__next__()`` method.
-    If ``default`` is given, it is returned if the iterator is exhausted,
-    otherwise ``StopIteration`` is raised.
+
+    Arguments:
+        iterator (iter): Initialized generator object from which to draw the next
+            value.
+
+    Returns:
+        The next value from the generator.
    """


 class object:
    def __init__(self) -> None:
        """
-        Return a new featureless object.
+        Creates a new, featureless object.
        """


@@ -745,23 +949,20 @@ def ord(c: _str) -> _int:
    """


-@overload
-def pow(base: _int, exp: _int) -> Union[_int, _float]:
-    ...
-
-
-@overload
-def pow(base: _int, exp: _int, mod: _int) -> Union[_int, _float]:
-    ...
-
-
-def pow():
+def pow(base: Union[_int, _float], exp: Union[_int, _float]) -> Union[_int, _float]:
    """
-    Returns ``base`` to the power ``exp``; if ``mod`` is present, returns ``base``
-    to the power ``exp``, modulo ``mod``.
+    pow(base, exp) -> Number

-    The two-argument form ``pow(base, exp)`` is equivalent to using the power
-    operator: ``base ** exp``.
+    Raises the base to the given exponent: :math:`\\text{base}^{\\mathrm{exp}}`.
+
+    This is the same as doing ``base ** exp``.
+
+    Arguments:
+        base (Number): The base.
+        exp (Number): The exponent.
+
+    Returns:
+        The result.
    """


@@ -784,9 +985,9 @@ def print(*args):
        objects: Zero or more objects to print.

    Keyword Arguments:
-        sep: This is printed between objects, if there is more than one.
-        end: This is printed after the last object.
-        file: By default, the result is printed in the terminal window. This
+        sep (str): This is printed between objects, if there is more than one.
+        end (str): This is printed after the last object.
+        file (FileIO): By default, the result is printed in the terminal window. This
              argument lets you print it to a file instead, if files are
              supported.
    """
@@ -807,7 +1008,18 @@ class range:

    def __init__(self, *args) -> None:
        """
-        Rather than being a function, ``range`` is actually an immutable sequence type.
+        range(stop)
+        range(start, stop)
+        range(start, stop, step)
+
+        Creates a generator that yields values from ``start`` up to
+        ``stop``, with increments of ``step``.
+
+        Arguments:
+            start (int): Starting value. Defaults to ``0`` if only one argument is given.
+            stop (int): Endpoint. This value is *not* included.
+            step (int): Increment between values. Defaults to ``1`` if only one
+                or two arguments are given.
        """


@@ -826,7 +1038,16 @@ def repr(x: Any) -> _str:

 def reversed(seq: Sequence) -> Iterator:
    """
-    Returns a reverse iterator.
+    reversed(seq) -> Iterator
+
+    Gets an iterator that yields the values from the sequence in the reverse, if
+    supported.
+
+    Arguments:
+        seq: Sequence from which to draw samples.
+
+    Returns:
+        Iterator that yields values in reverse order, starting with the last value.
    """


@@ -842,42 +1063,38 @@ def round(number: _float, ndigits: _int) -> _float:

 def round(*args):
    """
-    Returns ``number`` rounded to ``ndigits`` precision after the decimal point.
-    If ``ndigits`` is omitted or is ``None``, it returns the nearest integer to
-    its input.
+    round(number) -> int
+    round(number, ndigits) -> float

-    .. tip:: To print a number use a format function instead. Since many floating
-        point numbers don't have exact representations, :meth:`round` often gives
-        unexpected results!
+    Round a number to a given number of digits after the decimal point.

-        Example::
+    If ``ndigits`` is omitted or ``None``, it returns the nearest integer.

-            # print two decimal places
-            print('my number: %.2f' % number)
-            print('my number: {:.2f}'.format(number))
+    Rounding with one or more digits after the decimal point will not always
+    truncate trailing zeros. To print numbers nicely, format strings instead::
+
+        # print two decimal places
+        print('my number: %.2f' % number) print('my number:
+        {:.2f}'.format(number))
+
+    Arguments:
+        number (float): The number to be rounded.
+        ndigits (int): The number of digits remaining after the decimal point.
    """


-class set:
-    @overload
-    def __init__(self) -> None:
-        ...
-
-    @overload
-    def __init__(self, iterable: Iterable) -> None:
-        ...
-
-    def __init__(self, *args) -> None:
-        """
-        Returns a new set object, optionally with elements taken from ``iterable``.
-        """
-
-
 def setattr(object: Any, name: _str, value: Any) -> None:
    """
-    Assigns the value to the attribute, provided the object allows it.
+    setattr(object, name, value)
+
+    Assigns a value to an attribute, provided that the object allows it.

    This is the counterpart of :meth:`getattr`.
+
+    Arguments:
+        object: Object in which to store the attribute.
+        name (str): Name of the attribute.
+        value: Value to store.
    """


@@ -896,17 +1113,31 @@ class slice:

    def __init__(self, *args) -> None:
        """
-        Returns a slice object representing the set of indices specified by
-        ``range(start, stop, step)``.
+        slice()

-        Slice objects are also generated when extended indexing syntax is used.
-        For example: ``a[start:stop:step]`` or ``a[start:stop, i]``.
+        Creating instances of this class is not supported.
+
+        Use indexing syntax instead. For
+        example: ``a[start:stop:step]`` or ``a[start:stop, i]``.
        """


 def sorted(iterable: Iterable, key=None, reverse=False) -> List:
    """
-    Returns a new sorted list from the items in ``iterable``.
+    Sorts objects.
+
+    Arguments:
+        iterable (iter): Objects to be sorted. This can also be a generator that
+            yield a finite number of objects.
+        key (callable): Function ``def(item) -> int`` that maps an object to a
+            numerical value. This is used to figure out the order of the sorted
+            items.
+        reverse (bool): Whether to sort in reverse, putting the highest value
+            first.
+
+
+    Returns:
+        A new list with the sorted items.
    """


@@ -929,7 +1160,20 @@ class str:

    def __init__(self) -> None:
        """
-        Return a :class:`str` version of object.
+        str()
+        str(object)
+        str(object, encoding)
+
+        Gets the string representation of an object.
+
+        If no argument is given, this creates an empty ``str`` object.
+
+        Arguments:
+            object: If only this argument is given, this returns the stirng
+              representation of the object.
+            encoding (str): If the first argument is a ``bytearray`` or ``bytes``
+              object and the encoding argument is ``"utf-8"``, this will decode
+              the byte data to get a string representation.
        """


@@ -945,8 +1189,17 @@ def sum(iterable: Iterable, start: _int) -> _int:

 def sum(*args):
    """
-    Sums ``start`` and the items of an ``iterable`` from left to right and
-    returns the total.
+    sum(iterable) -> Number
+    sum(iterable, start) -> Number
+
+    Sums the items from the iterable and the start value.
+
+    Arguments:
+        iterable (iter): Values to be summed, starting with the first value.
+        start (Number): Value added to the total.
+
+    Returns:
+        The total sum.
    """


@@ -967,8 +1220,15 @@ def super(type: _type, object_or_type: Any) -> _type:

 def super(*args):
    """
-    Returns am object that delegates method calls to a parent or sibling class
-    of ``type``.
+    super() -> type
+    super(type) -> type
+    super(type, object_or_type) -> type
+
+    Gets an object that delegates method calls to a parent, or a sibling class
+    of the given type.
+
+    Returns:
+        The matching `super()` object.
    """


@@ -983,31 +1243,46 @@ class tuple:

    def __init__(self, *args) -> None:
        """
-        Rather than being a function, :class:`tuple` is actually an immutable
-        sequence type.
+        tuple()
+        tuple(iterable)
+
+        Creates a new tuple. If no argument is given, this creates an empty
+        ``tuple`` object.
+
+        A tuple is *immutable*, which means that you *cannot* change its
+        contents after you create it.
+
+        Arguments:
+            iterable (iter): Iterable from which to build the tuple.
        """


 class type:
    def __init__(self, object: Any) -> None:
-        """
-        With one argument, returns the type of an ``object``.
+        """type(object)
+
+        Gets the type of an object. This can be used to check if an object
+        is an instance of a particular class.
+
+        Arguments:
+            object: Object of which to check the type.
        """


 def zip(*iterables: Iterable) -> Iterable[Tuple]:
    """
-    Returns an iterator of tuples, where the i-th tuple contains the i-th
+    zip(iter_a, iter_b, ...) -> Iterable[Tuple]
+
+    Returns an iterator of tuples, where the *i*-th tuple contains the *i*-th
    element from each of the argument sequences or iterables. The iterator
    stops when the shortest input iterable is exhausted.

    With a single iterable argument, it returns an iterator of 1-tuples.
    With no arguments, it returns an empty iterator.

-    Equivalent to::
+    This functionality is equivalent to::

        def zip(*iterables):
-            # zip('ABCD', 'xy') --> Ax By
            sentinel = object()
            iterators = [iter(it) for it in iterables]
            while iterators:
@@ -1018,6 +1293,16 @@ def zip(*iterables: Iterable) -> Iterable[Tuple]:
                        return
                    result.append(elem)
                yield tuple(result)
+
+    Arguments:
+        iter_a (iter): The first iterable. This provides the first value for
+            each of the yielded tuples.
+        iter_b (iter): The second iterable. This provides the second value in
+            each of the yielded tuples. And so on.
+
+    Returns:
+        A new iterator that yields tuples containing the values of the
+        individual iterables.
    """


@@ -1,21 +1,20 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2021 The Pybricks Authors
+# Copyright (c) 2022 The Pybricks Authors
 #
 # Portions of documentation copied from:
 # https://raw.githubusercontent.com/micropython/micropython/1e6d18c915ccea0b6a19ffec9710d33dd7e5f866/docs/library/uio.rst
 # Copyright (c) 2014-2021, Damien P. George, Paul Sokolovsky, and contributors

 """
-This module contains additional types of ``stream`` (file-like) objects
-and helper functions.
+This module contains ``stream`` objects that behave like files.
 """

 # TODO: open() is not implemented on Powered Up hubs

-from typing import overload
+from typing import overload, Union

 # TODO: MicroPython streams implement '__enter__', '__exit__', 'close', 'read',
-# 'readinto', 'readline', 'write', 'flush', 'getvalue', 'seek', 'tell'
+# 'readinto', 'readline', 'write', 'flush', 'seek', 'tell'
 # and are iterable


@@ -25,7 +24,7 @@ class BytesIO:
        ...

    @overload
-    def __init__(self, initial_bytes: bytes) -> None:
+    def __init__(self, data: Union[bytes, bytearray]) -> None:
        ...

    @overload
@@ -34,11 +33,25 @@ class BytesIO:

    def __init__(self, *args) -> None:
        """
+        BytesIO()
+        BytesIO(data)
+        BytesIO(alloc_size)
+
        A binary stream using an in-memory bytes buffer.

-        Args:
-            initial_bytes: Optional bytes-like object that contains initial data.
-            alloc_size: Optional number of preallocated bytes.
+        Arguments:
+            data (bytes or bytearray): Optional bytes-like object
+                that contains initial data.
+            alloc_size (int): Optional number of preallocated bytes. This
+                parameter is unique to MicroPython. It is not recommended to
+                use it in end-user code.
+        """
+
+    def getvalue(self) -> bytes:
+        """
+        getvalue() -> bytes
+
+        Gets the contents of the underlying buffer.
        """


@@ -48,7 +61,7 @@ class StringIO:
        ...

    @overload
-    def __init__(self, initial_value: str) -> None:
+    def __init__(self, string: str) -> None:
        ...

    @overload
@@ -57,16 +70,29 @@ class StringIO:

    def __init__(self, *args) -> None:
        """
-        A binary stream using an in-memory string buffer.
+        StringIO()
+        StringIO(string)
+        StringIO(alloc_size)

-        Args:
-            initial_value: Optional string object that contains initial data.
-            alloc_size: Optional number of preallocated bytes.
+        A stream using an in-memory string buffer.
+
+        Arguments:
+            string (str): Optional string with initial data.
+            alloc_size (int): Optional number of preallocated bytes. This
+                parameter is unique to MicroPython. It is not recommended to
+                use it in end-user code.
+        """
+
+    def getvalue(self) -> str:
+        """
+        getvalue() -> str
+
+        Gets the contents of the underlying buffer.
        """


 class FileIO:
    """
-    This is type of a file open in binary mode, e.g. using ``open(name, 'rb')``.
+    This type represents a file opened in binary mode with ``open(name, 'rb')``.
    You should not instantiate this class directly.
    """
@@ -0,0 +1,81 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2022 The Pybricks Authors
+#
+# Documentation adapted from:
+# https://raw.githubusercontent.com/micropython/micropython/master/docs/library/json.rst
+# Copyright (c) 2014-2021, Damien P. George, Paul Sokolovsky, and contributors
+
+"""
+Convert between Python objects and the JSON data format.
+"""
+
+from typing import IO, Any, Tuple
+
+import json
+
+json.dump
+
+
+def dump(object: Any, stream: IO, separators: Tuple[str, str] = (", ", ": ")):
+    """
+    dump(object, stream, separators=(", ", ": "))
+
+    Serializes an object to a JSON string and write it to a stream.
+
+    Arguments:
+        obj: Object to serialize.
+        stream: Stream to write the output to.
+        separators (tuple): An ``(item_separator, key_separator)`` tuple to
+            specify how elements should be separated.
+    """
+
+
+def dumps(object: Any, separators: Tuple[str, str] = (", ", ": ")) -> str:
+    """
+    dumps(object, separators=(", ", ": "))
+
+    Serializes an object to JSON and return it as a string
+
+    Arguments:
+        obj: Object to serialize.
+        separators (tuple): An ``(item_separator, key_separator)`` tuple to
+            specify how elements should be separated.
+
+    Return:
+        The JSON string.
+    """
+
+
+def load(stream: IO) -> Any:
+    """
+    load(stream)
+
+    Parses the stream to interpret and deserialize the JSON data to a
+    MicroPython object.
+
+    Parsing continues until end-of-file is encountered. A ``ValueError`` is
+    raised if the data in stream is not correctly formed.
+
+    Arguments:
+        stream: Stream from which to read the JSON string.
+
+    Returns:
+        The deserialized MicroPython object.
+    """
+
+
+def loads(string) -> Any:
+    """
+    loads(string)
+
+    Parses the string to interpret and deserialize the JSON data to a
+    MicroPython object.
+
+    A ``ValueError`` is raised if the string is not correctly formed.
+
+    Arguments:
+        string (str): JSON string to decode.
+
+    Returns:
+        The deserialized MicroPython object.
+    """
@@ -9,17 +9,8 @@
 """
 This module implements pseudo-random number generators.

-.. note:: This module is not available on the BOOST Move Hub.
-
-    You can make your own random number generator like this instead::
-
-        _rand = hub.battery.voltage() + hub.battery.current()  # seed
-
-        # Return a random integer N such that a <= N <= b.
-        def randint(a, b):
-            global _rand
-            _rand = 75 * _rand % 65537  # Lehmer
-            return _rand * (b - a + 1) // 65537 + a
+All functions in this module should be used with positional arguments. Keyword
+arguments are not supported.
 """

 from typing import Any, Optional, Sequence, overload
@@ -27,19 +18,18 @@ from typing import Any, Optional, Sequence, overload

 def seed(a: Optional[int] = None) -> None:
    """
-    Initialize the random number generator.
+    seed(value=None)

-    Args:
-        a: Optional seed value. If ``None``, the system timer will be used.
+    Initializes the random number generator.

-    .. tip:: This is called when the module is imported, so normally you do
-        not need to call this.
+    This gets called when the module is imported, so normally you do
+    not need to call this.
+
+    Arguments:
+        value: Seed value. When using ``None``, the system timer will be used.
    """


-# integers
-
-
@overload
 def randrange(stop: int) -> int:
    ...
@@ -57,53 +47,92 @@ def randrange(start: int, stop: int, step: int) -> int:

 def randrange(start, stop, step):
    """
+    randrange(stop) -> int
+    randrange(start, stop) -> int
+    randrange(start, stop, step) -> int
+
    Returns a randomly selected element from ``range(start, stop, step)``.
+
+    For example, ``randrange(1, 7, 2)`` returns random numbers from ``1`` up to
+    (but excluding) ``7``, in increments of ``2``. In other words, it
+    returns ``1``, ``3``, or ``5``.
+
+
+    Arguments:
+        start (int): Lowest value. Defaults to ``0`` if only one argument is given.
+        stop (int): Highest value. This value is *not* included in the range.
+        step (int): Increment between values. Defaults to ``1`` if only one
+            or two arguments are given.
+
+    Returns:
+        The random number.
    """


 def randint(a: int, b: int) -> int:
    """
-    Returns a random integer *N* such that ``a`` <= *N* <= ``b``.
+    randint(a, b) -> int
+
+    Gets a random integer :math:`N` satisfying :math:`a \\leq N \\leq b`.
+
+    Arguments:
+        a (int): Lowest value. This value *is* included in the range.
+        b (int): Highest value. This value *is* included in the range.
+
+    Returns:
+        The random integer.
    """


 def getrandbits(k: int) -> int:
    """
-    Returns a non-negative integer with ``k`` random bits.
+    getrandbits(k) -> int
+
+    Gets a random integer :math:`N` satisfying :math:`0 \\leq N < 2^{\\text{bits}}`.
+
+    Arguments:
+        k (int): How many bits to use for the result.
    """


-# sequences
-
-
 def choice(seq: Sequence[Any]) -> Any:
    """
-    Returns a random element from the non-empty sequence ``seq``.
+    choice(sequence) -> Any

-    If ``seq`` is empty, raises ``IndexError``.
+    Gets a random element from a sequence such as a tuple or list.
+
+    Arguments:
+        sequence: Sequence from which to select a random element.
+
+    Returns:
+        The randomly selected element.
+
+    Raises:
+        ``IndexError``: If the sequence is empty.
    """


-# real
-
-
 def random() -> float:
    """
-    Return the next random floating point number in the range [0.0, 1.0).
+    random() -> float

-    .. tip:: The `interval notation`_ indicates that this includes 0.0 and
-        excludes 1.0.
+    Gets a random value :math:`x` satisfying :math:`0 \\leq x < 1`.

-    .. _interval notation:
-        https://en.wikipedia.org/wiki/Interval_(mathematics)#Notations_for_intervals
+    Returns:
+        The random value.
    """


 def uniform(a: float, b: float) -> float:
    """
-    Returns a random floating point number *N* such that ``a`` <= *N* <= ``b``
-    for ``a`` <= ``b`` and ``b`` <= *N* <= ``a`` for ``b`` < ``a``.
+    uniform(a, b) -> float

-    The end-point value ``b`` may or may not be included in the range depending
-    on floating-point rounding in the equation ``a + (b-a) * random()``.
+    Gets a random floating point value :math:`x` satisfying :math:`a \\leq x \\leq b`.
+
+    Arguments:
+        a (float): Lowest value.
+        b (float): Highest value.
+
+    Returns:
+        The random value.
    """
@@ -7,8 +7,6 @@

 """
 This module provides functions to efficiently wait for events on multiple streams.
-
-.. note:: This module is not available on the BOOST Move hub.
 """

 from typing import IO, Iterator, List, Tuple, overload
@@ -25,61 +23,58 @@ More data can be written.

 POLLERR: int
 """
-Error condition happened on the associated stream.
+Error condition happened on the associated stream. Should be handled explicitly
+or else further invocations of :meth:`poll` may return right away.
 """

 POLLHUP: int
 """
-Hang up happened on the associated stream.
+Hang up happened on the associated stream. Should be handled explicitly
+or else further invocations of :meth:`poll` may return right away.
 """


-def poll() -> "Poll":
-    """
-    Creates an instance of the Poll class.
-    """
-
-
-# skipping def select(...)
-
-
 class Poll:
-    @overload
-    def register(self, obj: IO) -> None:
-        ...
-
-    @overload
-    def register(self, obj: IO, eventmask: int) -> None:
-        ...
-
-    def register(self, obj: IO, eventmask: int) -> None:
+    def register(self, object: IO, eventmask: int) -> None:
        """
-        Register `stream` ``obj`` for polling. ``eventmask`` is logical OR of:
+        register(object, eventmask=POLLOUT | POLLOUT)

-        * :data:`POLLIN`
-        * :data:`POLLOUT`
+        Register a stream object for polling. The stream object will now be
+        monitored for events. If an event happens, it becomes part of the
+        return value of :meth:`poll`.

-        Note that flags like :data:`POLLHUP` and :data:`POLLERR` are
-        *not* valid as input eventmask (these are unsolicited events which
-        will be returned from :meth:`poll` regardless of whether they are asked
-        for). This semantics is per POSIX.
+        If this method is called again for the same stream object, the object
+        will not be registered again, but the ``eventmask`` flags will be
+        updated, as if calling :meth:`modify()`.

-        ``eventmask`` defaults to ``POLLIN | POLLOUT``.
-
-        It is OK to call this function multiple times for the same ``obj``.
-        Successive calls will update ``obj``'s eventmask to the value of
-        ``eventmask`` (i.e. will behave as :meth:`modify()`).
+        Arguments:
+            object (FileIO): Stream to be registered for polling.
+            eventmask (int): Which events to use. Should be ``POLLIN``,
+                ``POLLOUT``, or their logical disjunction: ``POLLIN | POLLOUT``.
        """

-    def unregister(self, obj: IO) -> None:
+    def unregister(self, object: IO) -> None:
        """
-        Unregister ``obj`` from polling.
+        unregister(poll)
+
+        Unregister an object from polling.
+
+        Arguments:
+            object (FileIO): Stream to be unregistered from polling.
        """

    def modify(self, obj: IO, eventmask: int) -> None:
        """
-        Modify the ``eventmask`` for ``obj``. If ``obj`` is not registered, ``OSError``
-        is raised with error of ``ENOENT``.
+        modify(object, eventmask)
+
+        Modifies the event mask for the stream object.
+
+        Arguments:
+            object (FileIO): Stream to be registered for polling.
+            eventmask (int): Which events to use.
+
+        Raises:
+            ``OSError``: If the object is not registered. The error is ``ENOENT``.
        """

    @overload
@@ -92,21 +87,21 @@ class Poll:

    def poll(self, timeout: int = -1, /) -> List[Tuple[IO, int]]:
        """
-        Wait for at least one of the registered objects to become ready or have an
-        exceptional condition, with optional timeout in milliseconds (if ``timeout``
-        arg is not specified or -1, there is no timeout).
+        poll(timeout=-1) -> List[Tuple[FileIO, int]]

-        Returns list of (``obj``, ``event``, ...) tuples. There may be other elements in
-        tuple, depending on a platform and version, so don't assume that its size is 2.
-        The ``event`` element specifies which events happened with a stream and
-        is a combination of ``POLL*`` constants described above. Note that
-        flags :data:`POLLHUP` and :data:`POLLERR` can be returned at any time
-        (even if were not asked for), and must be acted on accordingly (the
-        corresponding stream unregistered from poll and likely closed), because
-        otherwise all further invocations of :meth:`poll` may return immediately with
-        these flags set for this stream again.
+        Wait until at least one of the registered objects has a new event or
+        exceptional condition ready to be handled.

-        In case of timeout, an empty list is returned.
+        Arguments:
+            timeout (int): Timeout in milliseconds. Choose ``0`` to return
+                immediately or choose ``-1`` to wait indefinitely.
+
+        Returns:
+            A list of tuples. There is one (``object``, ``eventmask``, ...)
+            tuple for each object with an event, or no tuples if there are no
+            events to be handled. The ``eventmask`` value
+            is a combination of poll flags to indicate what happened. This may
+            include ``POLLERR`` and ``POLLHUP`` even if they were not registered.
        """

    @overload
@@ -123,13 +118,32 @@ class Poll:

    def ipoll(self, timeout: int = -1, flags: int = 0, /) -> Iterator[Tuple[IO, int]]:
        """
-        Like :meth:`poll`, but instead returns an iterator which yields a
-        `callee-owned tuple`. This function provides an efficient, allocation-free
-        way to poll on streams.
+        ipoll(timeout=-1, flags=1) -> Iterator[Tuple[FileIO, int]]

-        If ``flags`` is 1, one-shot behavior for events is employed: streams for
-        which events happened will have their event masks automatically reset
-        (equivalent to ``poll.modify(obj, 0)``), so new events for such a stream
-        won't be processed until new mask is set with :meth:`modify`. This
-        behavior is useful for asynchronous I/O schedulers.
+        First, just like :meth:`poll`, wait until at least one of the registered
+        objects has a new event or exceptional condition ready to be handled.
+
+        But instead of a list, this method returns an iterator for improved
+        efficiency. The iterator yields one (``object``, ``eventmask``, ...)
+        tuple at a time, and overwrites it when yielding the next value. If you
+        need the values later, make sure to copy them explicitly.
+
+        Arguments:
+            timeout (int): Timeout in milliseconds. Choose ``0`` to return
+                immediately or choose ``-1`` to wait indefinitely.
+            flags (int): If set to ``1``, one-shot behavior for events is
+                employed. This means that streams for which events happened
+                will have their event masks automatically reset using
+                ``poll.modify(obj, 0)``. This way, new events for such a stream
+                won't be processed until a new mask is set with :meth:`modify`,
+                which is useful for asynchronous I/O schedulers.
        """
+
+
+def poll() -> Poll:
+    """
+    Creates an instance of the :class:`Poll` class.
+
+    Returns:
+        The :class:`Poll` instance.
+    """
@@ -0,0 +1,85 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2021 The Pybricks Authors
+#
+# Portions of documentation copied from:
+# https://raw.githubusercontent.com/micropython/micropython/1e6d18c915ccea0b6a19ffec9710d33dd7e5f866/docs/library/ustruct.rst
+# Copyright (c) 2014-2021, Damien P. George, Paul Sokolovsky, and contributors
+
+"""
+This module provides functions to convert between Python values and C-like
+data structs.
+"""
+
+from typing import Union, Tuple
+
+
+def calcsize(format: str) -> int:
+    """
+    Gets the data size corresponding to a format string
+
+    Arguments:
+        format (str): Data format string.
+
+    Returns:
+        The number of bytes needed to represent this format.
+    """
+
+
+def pack(format: str, *values) -> bytes:
+    """
+    pack(format, value1, value2, ...)
+
+    Packs the values using the given format.
+
+    Arguments:
+        format (str): Data format string.
+
+    Returns:
+        The data encoded as bytes.
+    """
+
+
+def pack_into(format: str, buffer: bytearray, offset: int, *values) -> bytes:
+    """
+    pack_into(format, buffer, offset, value1, value2, ...)
+
+    Encode the values using the given format and write them to a given buffer.
+
+    Arguments:
+        format (str): Data format string.
+        buffer (bytearray): Buffer to store the encoded data.
+        offset (int): Offset from the start of the buffer. Use a negative value
+            to count from the end of the buffer.
+    """
+
+
+def unpack(format: str, data: Union[bytes, bytearray]) -> Tuple:
+    """
+    unpack(format, data) -> Tuple
+
+    Decodes the binary data using the given format.
+
+    Arguments:
+        format (str): Data format string.
+        data (bytes or bytearray): Data to unpack.
+
+    Returns:
+        The decoded data as a tuple of values.
+    """
+
+
+def unpack_from(format: str, data: Union[bytes, bytearray], offset: int) -> Tuple:
+    """
+    unpack_from(format, data, offset) -> Tuple
+
+    Decodes binary data from a buffer using the given format.
+
+    Arguments:
+        format (str): Data format string.
+        data (bytes or bytearray): Data buffer to unpack.
+        offset (int): Offset from the start of the data. Use a negative value
+            to count from the end of the data.
+
+    Returns:
+        The decoded data as a tuple of values.
+    """
@@ -9,32 +9,45 @@
 This module provides a subset of the standard Python ``sys`` module.
 """

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

-# REVISIT: most functions are excluded since they aren't useful for Pybricks
+from uio import FileIO as _FileIO

 stdin: _FileIO = _FileIO()
 """
-Stream object (:class:`uio.FileIO`) that receives input from a connected
-terminal, if any.
+This is a stream object (:class:`uio.FileIO`) that receives input from a
+connected terminal, if any.

-Writing may modify newline characters. Use ``usys.stdin.buffer`` instead if
-this is undesirable.
-
-Also see :func:`micropython.kbd_intr` to disable ``KeyboardInterrupt`` if you
-are passing binary data via ``stdin``.
+Also see :func:`kbd_intr <micropython.kbd_intr>` to disable
+``KeyboardInterrupt`` when passing binary data via ``stdin``.
 """

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

 stderr: _FileIO = _FileIO()
 """
 Alias for :data:`stdout`.
 """
+
+implementation: Tuple[str, Tuple[int, int, int], str, int] = (
+    "micropython",
+    (1, 19, 1),
+    "NAME Hub with PROCESSOR",
+    6,
+)
+"""
+MicroPython version tuple. See format and example below.
+"""
+
+version: str = "3.4.0; Pybricks MicroPython v3.2.0b5 on 2022-11-11"
+"""
+Python compatibility version, Pybricks version, and build date.
+See format and example below.
+"""
+
+version_info: Tuple[int, int, int] = (3, 4, 0)
+"""Python compatibility version. See format and example below."""
Author	SHA1	Message	Date
Laurens Valk	5535da5b38	pyproject: v3.2.0b6 Update version for pybricks Python package release.	2022-12-02 14:29:33 +01:00
Laurens Valk	ab4d4cc848	pybricks.pupdevices.Motor: Add versionchanged. Document moving stalled, load, done.	2022-12-02 14:20:51 +01:00
Laurens Valk	82340c3eec	jedi: Update tests for stalled, done.	2022-12-02 12:43:24 +01:00
Laurens Valk	14a4fc0d74	pybricks.robotics: Document behavior on shared resources. Fixes https://github.com/pybricks/pybricks-api/issues/105.	2022-12-02 12:43:24 +01:00
Laurens Valk	99d5210313	pybricks.robotics.DriveBase: Add stalled, done.	2022-12-02 12:43:24 +01:00
Laurens Valk	e6d2ce7f62	examples: Update use of done().	2022-12-02 12:43:24 +01:00
Laurens Valk	c3802d38c2	pybricks.ev3devices: Keep motor class in sync. Let's make sure we keep EV3 pages building.	2022-12-02 12:43:24 +01:00
Laurens Valk	ac23a9bb59	pybricks.common.Motor: Document compatibility. Control methods are not available on Move Hub. Fixes: https://github.com/pybricks/pybricks-api/issues/106	2022-12-02 12:15:25 +01:00
Laurens Valk	631cf31a07	pybricks.common.Motor: Document when settings take effect. This updates how and when settings take effect. In this release, you can change them even while the motor is moving. Some settings do not take effect right away, as now indicated in the relevant methods. See also https://github.com/pybricks/pybricks-api/issues/105	2022-12-02 12:10:31 +01:00
Laurens Valk	115ae0d856	pybricks.common.Motor: Add done, stalled, load. These used to be implemented as part of the Control object, but now they are available directly on the motor. This way they: - Also give useful values when control is passive, via dc(). - Can be supported on Move Hub - Give useful values for drive bases (see next commits). Fixes https://github.com/pybricks/pybricks-api/issues/115	2022-12-02 12:02:22 +01:00
Laurens Valk	eec6d2ff85	pybricks.parameters: Delete TODO on hue. This should be an issue, not a mark in the released docs.	2022-12-01 16:59:54 +01:00
Laurens Valk	4d360d2b01	pybricks.parameters: Reduce floating warning to note. This is a good case of a box. But nothing blows up if you try it, so a note suffices.	2022-12-01 16:59:08 +01:00
Laurens Valk	52cb0fe81e	ubuiltins: Fix missing types on print args.	2022-12-01 16:49:45 +01:00
Laurens Valk	961cebe48b	ustruct: Document modules.	2022-12-01 16:48:20 +01:00
Laurens Valk	87c2802b17	jedi/tests: Fix order for Poll/poll. Poll needs to come first for correct typing of poll.	2022-12-01 15:06:31 +01:00
Laurens Valk	3c0aaea207	usys: Add version info. Fixes https://github.com/pybricks/pybricks-api/issues/119	2022-12-01 15:02:25 +01:00
Laurens Valk	553490874b	usys: Add examples.	2022-12-01 14:21:12 +01:00
Laurens Valk	31d3872405	uselect: Rewrite the docs.	2022-12-01 14:11:41 +01:00
Laurens Valk	6f55e90365	urandom: Update remaining functions. Also modify the categories given implicitly in the Python file and make them explicit in the docs. Most users are going to want to use `randint` or `random`, so that basic category comes first.	2022-12-01 11:19:42 +01:00
Laurens Valk	76f129f6d1	urandom: Update docstring style. Also remove the tip boxes. The entire documentation consist of tips of one form or another. Boxes should only be used when necessary such as safety reasons (warnings) or to prevent costly/time consuming mistakes (notes/tips).	2022-12-01 10:48:06 +01:00
Laurens Valk	d4d7971a56	pybricks.hubs: Update storage documentation. This moves the per-hub storage size to the respective page. This also clarifies that data is cleared when updating Powered Up hubs. Also flip docstring signatures around to work around https://github.com/pybricks/pybricks-api/issues/117	2022-12-01 10:17:41 +01:00
Laurens Valk	64b0489a73	urandom: Move example to Move Hub. Move it do a dedicated example instead of hardcoding it in the module docstring. Also update changelog for missing previous changes while we are at it.	2022-12-01 09:55:40 +01:00
Laurens Valk	87ed7353b4	ujson, urandom, uselect: Document compatibility.	2022-11-29 20:32:53 +01:00
Laurens Valk	aca23197a1	micropython: Document compatibility. Fixes https://github.com/pybricks/pybricks-api/issues/118	2022-11-29 20:32:09 +01:00
Laurens Valk	69a2a2b8a2	uio: Don't use alloc_size. Follows the upstream MicroPython guidance.	2022-11-29 20:30:08 +01:00
Laurens Valk	f5d9a4f1c6	uio: Document getvalue.	2022-11-29 20:28:08 +01:00
Laurens Valk	71ce165a46	uio: Update style. Also fix compatibility information.	2022-11-29 20:23:23 +01:00
Laurens Valk	56ab509630	ujson: Document module.	2022-11-29 16:00:00 +01:00
Laurens Valk	9608a16d95	micropython: Update style. This makes it consistent with our other modules. Follows https://github.com/pybricks/pybricks-api/issues/82	2022-11-29 15:59:32 +01:00
Laurens Valk	9b314777e0	micropython: Document heap_lock, heap_unlock. Fixes https://github.com/pybricks/pybricks-api/issues/116	2022-11-29 13:51:34 +01:00
Laurens Valk	1ae0a9005f	pybricks.parameters.Stop: Document NONE. Fixes https://github.com/pybricks/pybricks-api/issues/104	2022-11-28 17:10:53 +01:00
Laurens Valk	1d5956a58a	pybricks.parameters.Stop: Document COAST_SMART. See https://github.com/pybricks/pybricks-api/issues/104	2022-11-28 17:01:06 +01:00
Laurens Valk	73c4a449ab	ubuiltins: Document super.	2022-11-28 16:17:36 +01:00
Laurens Valk	aeeed159d7	ubuiltins: Document isinstance, issubclass.	2022-11-28 16:13:59 +01:00
Laurens Valk	104fd7d70f	ubuiltins: Document setattr.	2022-11-28 16:07:10 +01:00
Laurens Valk	e9e5f48756	ubuiltins: Document getattr, hasattr.	2022-11-28 16:04:25 +01:00
Laurens Valk	8260d71cd7	ubuiltins: Document dir.	2022-11-28 15:51:44 +01:00
Laurens Valk	ac43f8a29f	ubuiltins: Document callable.	2022-11-28 15:45:30 +01:00
Laurens Valk	f6f87fec95	ubuiltins: Document help.	2022-11-28 15:37:20 +01:00
Laurens Valk	d1081229b3	ubuiltins: Document id.	2022-11-28 15:32:54 +01:00
Laurens Valk	8a73e916e7	ubuiltins: Fix id.	2022-11-28 15:31:25 +01:00
Laurens Valk	17c45c3245	ubuiltins: Document hash.	2022-11-28 15:30:55 +01:00
Laurens Valk	0ecf1cabde	ubuiltins: Document globals.	2022-11-28 15:27:47 +01:00
Laurens Valk	ba8d9806f7	ubuiltins: Document exec.	2022-11-28 15:25:12 +01:00
Laurens Valk	99b289aa58	ubuiltins: Document eval.	2022-11-28 15:19:43 +01:00
Laurens Valk	334b91f128	ubuiltins: Document sum.	2022-11-28 15:07:44 +01:00
Laurens Valk	f7380b8bb0	ubuiltins: Remove set. This is not enabled.	2022-11-28 15:03:18 +01:00
Laurens Valk	6ad229c7c0	ubuiltins: Document round.	2022-11-28 15:02:03 +01:00
Laurens Valk	94dfbbf7c1	ubuiltins: Document pow.	2022-11-28 14:54:11 +01:00
Laurens Valk	88b2502eb3	ubuiltins: Fix pow. MICROPY_PY_BUILTINS_POW3 is not enabled. And floats are accepted.	2022-11-28 14:50:59 +01:00
Laurens Valk	cd2e53f70b	ubuiltins: Document max, min.	2022-11-28 14:41:29 +01:00
Laurens Valk	e009ff2cbc	ubuiltins: Document divmod.	2022-11-28 14:36:02 +01:00
Laurens Valk	4816b58914	ubuiltins: Document zip.	2022-11-28 14:23:55 +01:00
Laurens Valk	875a433182	ubuiltins: Document sorted.	2022-11-28 14:16:51 +01:00
Laurens Valk	dc8d029e96	ubuiltins: Document reversed.	2022-11-28 14:05:48 +01:00
Laurens Valk	af80c4770e	ubuiltins: Document range.	2022-11-28 14:01:40 +01:00
Laurens Valk	ddcdc6f745	ubuiltins: Document next.	2022-11-28 13:50:36 +01:00
Laurens Valk	81ac996deb	ubuiltins: Fix next. MICROPY_PY_BUILTINS_NEXT2 is not enabled.	2022-11-28 13:45:48 +01:00
Laurens Valk	84d1d7bf3b	ubuiltins: Document iter, enumerate, map.	2022-11-28 12:36:32 +01:00
Laurens Valk	9578fc1035	ubuiltins: Document str.	2022-11-28 11:37:24 +01:00
Laurens Valk	25f427d8bf	ubuiltins: Slice instances are not supported.	2022-11-28 11:24:51 +01:00
Laurens Valk	725b6d672c	ubuiltins: Document list, tuple.	2022-11-28 11:17:18 +01:00
Laurens Valk	4bc53b17f4	ubuiltins: Document len().	2022-11-28 11:11:15 +01:00
Laurens Valk	666f2a6b52	.vscode/settings: Set interpreter path. This way vscode will pick up all the right tools and not complain about linters not being installed.	2022-11-28 11:07:50 +01:00
Laurens Valk	cbf6eb9578	ubuiltins: Document bytes, bytearray, type.	2022-11-28 10:53:53 +01:00
Laurens Valk	7dd3edaee4	jedi/tests: Make PrimeHub the same as InventorHub.	2022-11-22 14:26:25 +01:00
Laurens Valk	ef57dbf4a1	pybricks.common.LightMatrix: Rename image() to icon(). Fixes https://github.com/pybricks/support/issues/409	2022-11-22 14:26:15 +01:00
David Lechner	3a60d40bac	@pybricks/ide-docs v2.4.0	2022-11-11 11:39:47 -06:00
David Lechner	cb0dee3e99	npm/jedi: v1.3.0 Update `pybricks_jedi` Python package to v1.3.0.	2022-11-11 11:36:31 -06:00
David Lechner	19673da32e	jedi/pyproject: v1.3.0	2022-11-11 11:31:02 -06:00
David Lechner	b8b5652cb6	jedi: update pybricks package to v3.2.0b5	2022-11-11 11:30:01 -06:00
David Lechner	7b4953bc5f	pyproject: v3.2.0b5 Update version for `pybricks` Python package release.	2022-11-11 11:24:57 -06:00
David Lechner	62f6fc85a5	jedi: fix code completion for Color and Icon The pybricks.parameters.Color and Icon types were not working with Jedi for code completion since the constants were never assigned a value.	2022-11-10 12:23:24 -06:00
Laurens Valk	d2b1b2183b	pybricks.parameters.Icon: Document it. Fixes https://github.com/pybricks/pybricks-api/issues/107	2022-11-10 16:38:44 +01:00
David Lechner	a236609ebf	npm/icons: v1.2.1	2022-11-08 15:06:55 -06:00
Laurens Valk	6c893c136e	doc/main/diagrams: Fix City Hub position. It was accidentally moved to a non-integer position. This causes the PNG to re-render. This increases the file size and makes it looks less crisp.	2022-11-08 19:55:48 +01:00
Laurens Valk	f4212f232e	doc/main/diagrams: Adjust Move Hub icon scale. Fixes https://github.com/pybricks/support/issues/773	2022-11-08 19:52:51 +01:00
David Lechner	3a805b0ca9	npm/images: v1.2.0	2022-11-03 13:03:19 -05:00
Laurens Valk	c52627cc8f	doc/main/diagrams: Add hub icon variants. This re-exports all hub images in a square format for use as icons while getting correct relative scaling.	2022-11-03 17:07:41 +01:00
David Lechner	b84fed1de9	npm/images: add hub-inventor.png file to package	2022-10-28 12:38:07 -05:00
David Lechner	d49bc548c7	npm/images: new @pybricks/images package v1.0.0	2022-10-28 12:21:27 -05:00
Barry-Williams	492d6cd2d4	pybricks.robotics.DriveBase: Add basic example.	2022-10-28 08:23:14 +02:00
Laurens Valk	be3558167e	doc/common/extensions: Fix compatibility labels. Fixes https://github.com/pybricks/support/issues/754	2022-10-27 15:41:42 +02:00
David Lechner	4573fd2760	LICENSE: update copyright year	2022-10-21 13:14:13 -05:00
David Lechner	2a23c2e81d	npm/jedi: v1.1.0 - Update pybricks_jedi Python package dependency. - Bump JavaScript package version for release.	2022-10-21 13:08:14 -05:00