@pybricks/ide-docs v2.1.0

This method was added in 30803fc.

.github/workflows/build.yml

@@ -3,19 +3,7 @@
 
 name: Build Python package and docs
 
-on: 
-  push:
-    tags-ignore:
-      - "*"
-  pull_request:
-    paths:
-      - doc/**
-      - src/**
-      - poetry.lock
-      - poetry.toml
-      - pyproject.toml
-      - setup.cfg
-
+on: [ push, pull_request ]
 
 jobs:
   build:
@@ -47,7 +35,7 @@ jobs:
       run: poetry run doc8
     - name: Build html docs for Read the Docs
       run: poetry run make -C doc html
-    - name: Install IDE docs dependencies
+    - name: Instal IDE docs dependencies
       run: |
         sudo apt-get update
         sudo apt-get install dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra

.github/workflows/jedi.yml

@@ -1,36 +0,0 @@
-name: pybricks_jedi
-
-on: [push, pull_request]
-
-jobs:
-  test:
-    if: github.ref_type != 'tag'
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
-      with:
-        python-version: "3.10"
-    - run: pipx install poetry
-    - run: poetry install
-      working-directory: ./jedi
-    - run: poetry run pytest -vv
-      working-directory: ./jedi
-
-  publish:
-    if: github.ref_type == 'tag' && startsWith(github.ref_name, 'pybricks_jedi/')
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
-      with:
-        python-version: "3.10"
-    - run: pipx install poetry
-    - run: poetry install
-      working-directory: ./jedi
-    - run: poetry build
-      working-directory: ./jedi
-    - run: poetry publish
-      working-directory: ./jedi
-      env:
-        POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_PYBRICKS_JEDI_TOKEN }}

.github/workflows/publish-jedi.yml

@@ -1,23 +0,0 @@
-name: Release @pybricks/jedi
-
-on:
-  push:
-    tags: 
-    - '@pybricks/jedi/**'
-
-jobs:
-  publish_ide_docs:
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v2
-    # 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/jedi
-    - run: yarn publish
-      working-directory: npm/jedi/build
-      env:
-        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.gitignore

@@ -26,9 +26,8 @@ build/
 build-*/
 _build/
 
-# Tests
+# Test failure outputs
 ######################
-.pytest_cache/
 tests/*.exp
 tests/*.out
 
@@ -58,4 +57,3 @@ genrst/
 # Virtual environment
 ######################
 .venv/
-.python-version

.vscode/settings.json

@@ -1,24 +1,10 @@
 {
-    "files.exclude": {
-      "**/__pycache__": true,
-    },
-
-    "python.autoComplete.extraPaths": ["jedi/src"],
+    "python.pythonPath": "${workspaceFolder}/.venv",
     "python.formatting.provider": "black",
-    "python.linting.pylintEnabled": false,
-    "python.linting.flake8Enabled": true,
     "python.linting.pycodestyleEnabled": false,
+    "python.linting.flake8Enabled": true,
     "python.linting.enabled": true,
-    "[python]": {
-        "editor.formatOnSave": true,
-        "editor.defaultFormatter": "ms-python.python"
-    },
     "python.languageServer": "Pylance",
-    "python.testing.pytestArgs": [
-        "jedi/tests"
-    ],
-    "python.testing.unittestEnabled": false,
-    "python.testing.pytestEnabled": true,
     "files.associations": {"*.inc": "restructuredtext"},
     "restructuredtext.confPath": "${workspaceFolder}/doc/main",
     "spellright.language": [
@@ -48,12 +34,5 @@
         "plaintext",
         "python",
         "restructuredtext",
-    ],
-    "rewrap.wrappingColumn": 78,
-    "python.analysis.extraPaths": [
-        "jedi/src"
-    ],
-    "yaml.schemas": {
-        "https://json.schemastore.org/github-workflow.json": "file:///home/david/work/pybricks/pybricks-api/.github/workflows/build.yml"
-    },
+    ]
 }

.vscode/spellright.dict

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

CHANGELOG.md

@@ -2,45 +2,6 @@
 
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 
-## Unreleased
-
-### Added
-- Code auto-completion for `EssentialHub`.
-
-### Fixed
-- Fixed some type hints in `parameters` submodule.
-
-## 3.2.0b1-r3 - 2022-06-26
-
-### Fixed
-- Fixed more type hints and improved compatibility with jedi.
-
-## 3.2.0b1-r2 - 2022-06-24
-
-### Changed
-- Moved remaining type hints from `.pyi` files to the python stub modules, and
-  fixed numerous errors in the type hints throughout.
-
-## 3.2.0b1-r1 - 2022-06-09
-
-## Added
-- Added `__init__.py` to `pybricks` package.
-
-## 3.2.0b1 - 2022-06-02
-
-### Added
-- Code auto-completion for `hub.charger`, `hub.imu` and `hub.system`.
-- Moved typing from several `.pyi` files to the actual python modules.
-
-### Fixed
-- Fixed code completion for `DCMotor` and `Motor` classes in MS Python VS Code extension.
-- Fixed missing `DCMotor` type in `ev3devices`.
-- Fixed type hint for `Motor.reset_angle()` in `pupdevices`.
-
-### Changed
-- Setter for acceleration can now also be used to set acceleration and
-  deceleration to different values, using a two-valued tuple.
-
 ## 3.1.0 - 2021-12-16
 
 ### Added

CONTRIBUTING.md

@@ -32,91 +32,14 @@ will actually be implemented.
      - pybricks.tools.wait: Add example of waiting.
      - pybricks.pupdevices: Fix all sensor class ports.
      - umath.sin: Fix spelling of Hypotenuse.
-  - If an import path makes no sense, just use the file path without
-    extensions:
+  - If an import path makes no sense, just use the file path without extensions:
      - .vscode/settings: Fix file associations.
-- The subject briefly describes _what_ was changed. Use a short full sentence
-  as in the examples above.
+- The subject briefly describes _what_ was changed. Use a short full sentence as in the examples above.
 - The body describes _why_ the change was made, e.g. `The word "sensor" was
   spelled incorrectly`.
 
 [commits]: https://github.com/pybricks/pybricks-api/commits/master
 
-**General docstring principles:**
-
-The stubs libraries in this repository have two different purposes:
-1. Auto-generating documentation with Sphinx. For this purpose, the
-   documentation should be concise and clear.
-2. Provide autocomplete and intellisense in code editors. For this purpose,
-   the code needs to be 100% correct. This way, computers can parse your code
-   correctly and tell you when something is wrong.
-
-Since these objectives don't always align, we address these separately in the
-stubs library:
-
-1. The first line(s) of the docstring contain the function or method signature
-   as it should be displayed in the human-readable documentation.
-2. The real function signature can be as complex as it needs to be to make it
-   correct for intellisense. Overloads can be uses if needed.
-
-In the rare case where the docstring signature is the same as the typed
-version, we'll still include it for consistency.
-
-**Docstring details:**
-
-Make sure to look at existing function signatures and docstrings for
-inspiration when documenting new functionality. As an example, consider:
-
-```python
-def run_until_stalled(
-    self,
-    speed: Number,
-    then: Stop = Stop.COAST,
-    duty_limit: Optional[Number] = None,
-) -> int:
-    """
-    run_until_stalled(speed, then=Stop.COAST, duty_limit=None) -> int: deg
-
-    Runs the motor at a constant speed until it stalls.
-
-    Arguments:
-        speed (Number, deg/s): Speed of the motor.
-        then (Stop): What to do after coming to a standstill.
-        duty_limit (Number, %): Duty cycle limit during this
-            command. This is useful to avoid applying the full motor
-            torque to a geared or lever mechanism. If it is ``None``, the
-            duty limit won't be changed during this command.
-
-    Returns:
-        Angle at which the motor becomes stalled.
-    """
-```
-The real method signature at the top contains the full detail, including the
-type of each argument and return value.
-
-The docstring starts with the signature. Use more than one signature if needed
-to represent overloaded methods. The signatures are written in the way they
-should be displayed in the docs:
-- Argument types are omitted because they are also shown with the argument
-  description below.
-- Default values should be given (``then=Stop.COAST``).
-- The return type should be given (``-> int``). When applicable, include
-  the unit of the return value, so it becomes ``-> int: deg``
-
-Then follows a concise description of what this method, function, or class
-does.
-
-Then follows a list of arguments:
-- For each argument, include the expected type and unit if applicable, e.g.
-  ``(int)`` or ``(Number, deg/s)``.
-- Use ``Number`` when ``int`` and ``float`` are both allowed.
-- If the description is long, use the indentation shown above.
-- Make it readable. Instead
-  of ``Union[float, SupportsFloat, complex, SupportsComplex]``,
-  just say _float or complex_.
-
-Then follows a description of the return value. The type is omitted here since
-it is already include in the docstring signature.
 
 **Development environment:**
 
@@ -126,8 +49,8 @@ Prerequisites:
 - [Python 3][python]
 - [Poetry][poetry]
 
-Information on installing prerequisites can be found on the
-[pybricks-micropython contributor's guide][contributing].
+Information on installing prerequisites can be found on the [pybricks-micropython
+wiki][wiki].
 
 Initial setup:
 
@@ -167,4 +90,4 @@ Linting:
 [git]: https://git-scm.com/
 [python]: https://www.python.org/
 [poetry]: https://python-poetry.org/
-[contributing]: https://github.com/pybricks/pybricks-micropython/blob/master/CONTRIBUTING.md
+[wiki]: https://github.com/pybricks-micropython/wiki

doc/Makefile

@@ -11,7 +11,7 @@ TAG           = main
 
 # Put it first so that "make" without argument is like "make help".
 help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(TAG) $(O)
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) -t $(TAG) $(O)
 
 .PHONY: help Makefile
 

doc/common/conf.py

@@ -27,20 +27,21 @@ from docutils import nodes
 from docutils.parsers.rst.directives import flag
 from docutils.parsers.rst import Directive
 from sphinx.application import Sphinx
-from sphinx.addnodes import pending_xref
-from sphinx.environment import BuildEnvironment
-from sphinx.util.nodes import make_refnode
 import toml
 
-TOP_DIR = os.path.abspath(os.path.join("..", ".."))
-sys.path.insert(0, os.path.join(TOP_DIR, "src"))
-sys.path.append(os.path.abspath("../common/extensions"))
+TOP_DIR = os.path.abspath(os.path.join('..', '..'))
+sys.path.insert(0, os.path.join(TOP_DIR, 'src'))
+sys.path.append(os.path.abspath('../common/extensions'))
+
+from pybricks.hubs import EV3Brick  # noqa E402
+from pybricks.media.ev3dev import Image  # noqa E402
+from pybricks._common import Speaker  # noqa E402
 
 # ON_RTD is whether we are on readthedocs.org
 # this line of code grabbed from docs.readthedocs.org
-ON_RTD = os.environ.get("READTHEDOCS", None) == "True"
+ON_RTD = os.environ.get('READTHEDOCS', None) == 'True'
 
-_pyproject = toml.load(os.path.join(TOP_DIR, "pyproject.toml"))
+_pyproject = toml.load(os.path.join(TOP_DIR, 'pyproject.toml'))
 
 # -- General configuration ------------------------------------------------
 
@@ -52,29 +53,27 @@ _pyproject = toml.load(os.path.join(TOP_DIR, "pyproject.toml"))
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
-    "sphinx.ext.autodoc",
-    "sphinx.ext.napoleon",
-    "sphinx.ext.todo",
-    "sphinx.ext.mathjax",
-    # Custom Pybricks extensions
-    "color",
-    "classlink",
-    "requirements",
-    "requirements-static",
-    "versionchanged",
+    'sphinx.ext.autodoc',
+    'sphinx.ext.napoleon',
+    'sphinx.ext.todo',
+    'sphinx.ext.mathjax',
+    'color',
+    'classlink',
+    'requirements',
+    'requirements-static',
 ]
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ["../common/_templates"]
+templates_path = ['../common/_templates']
 
 # The suffix(es) of source filenames.
 # You can specify multiple suffix as a list of string:
 #
 # source_suffix = ['.rst', '.md']
-source_suffix = ".rst"
+source_suffix = '.rst'
 
 # The master toctree document.
-master_doc = "index"
+master_doc = 'index'
 
 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
@@ -83,17 +82,17 @@ master_doc = "index"
 # The full version, including alpha/beta/rc tags.
 release = "v" + _pyproject["tool"]["poetry"]["version"]
 # The short X.Y version.
-version = re.match(r"(v\d+\.\d+)", release)[0]
+version = re.match(r'(v\d+\.\d+)', release)[0]
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
 #
 # This is also used if you do content translation via gettext catalogs.
 # Usually you set "language" from the command line for these cases.
-language = "en"
+language = None
 
 # The name of the Pygments (syntax highlighting) style to use.
-pygments_style = "xcode"
+pygments_style = 'xcode'
 
 # If true, `todo` and `todoList` produce output, else they produce nothing.
 todo_include_todos = True
@@ -101,10 +100,10 @@ todo_include_todos = True
 # Figure numbering
 numfig = True
 numfig_format = {
-    "figure": "Figure %s",
-    "table": "Table %s",
-    "code-block": "Listing %s",
-    "section": "Section %s",
+    'figure': 'Figure %s',
+    'table': 'Table %s',
+    'code-block': 'Listing %s',
+    'section': 'Section %s'
 }
 
 # Find cross-reference errors
@@ -112,49 +111,59 @@ nitpicky = True
 
 # https://stackoverflow.com/a/30624034/1976323
 nitpick_ignore = [
-    ("py:class", "bool"),
-    ("py:class", "bytearray"),
-    ("py:class", "bytes"),
-    ("py:class", "callable"),
-    ("py:class", "dict"),
-    ("py:class", "float"),
-    ("py:class", "int"),
-    ("py:class", "iter"),
-    ("py:class", "list"),
-    ("py:class", "object"),
-    ("py:class", "str"),
-    ("py:class", "tuple"),
-    ("py:exc", "OSError"),
-    ("py:exc", "RuntimeError"),
-    ("py:exc", "TypeError"),
-    ("py:exc", "ValueError"),
+    ('py:class', 'bool'),
+    ('py:class', 'bytearray'),
+    ('py:class', 'bytes'),
+    ('py:class', 'callable'),
+    ('py:class', 'dict'),
+    ('py:class', 'float'),
+    ('py:class', 'int'),
+    ('py:class', 'iter'),
+    ('py:class', 'list'),
+    ('py:class', 'object'),
+    ('py:class', 'str'),
+    ('py:class', 'tuple'),
+    ('py:exc', 'OSError'),
+    ('py:exc', 'RuntimeError'),
+    ('py:exc', 'TypeError'),
+    ('py:exc', 'ValueError'),
 ]
 
 # not sure why, but this is needed for typing.IO in uselect
-nitpick_ignore.append(("py:obj", "typing.IO"))
+nitpick_ignore.append(('py:class', 'IO'))
+
+# Workaround until change below is released.
+# https://github.com/sphinx-doc/sphinx/commit/86091934db5ec593b4b0c982b7f08f3231ef995b
+nitpick_ignore.extend([
+    ('py:class', '0'),
+    ('py:class', '1'),
+    ('py:class', '2'),
+    ('py:class', '3'),
+    ('py:class', 'big'),
+    ('py:class', 'little'),
+])
 
 # -- Autodoc options ------------------------------------------------------
 
-autodoc_member_order = "bysource"
+autodoc_member_order = 'bysource'
 autodoc_default_options = {
-    "members": True,
-    "undoc-members": True,
+    'members': True,
+    'undoc-members': True,
 }
-autoclass_content = "both"  # This ensures init arguments are not ignored
+autoclass_content = 'both'  # This ensures init arguments are not ignored
 add_module_names = False  # Hide module name
 
 # -- Options for HTML output ----------------------------------------------
 
 if ON_RTD:
-    html_theme = "default"
+    html_theme = 'default'
 else:
     import sphinx_rtd_theme
-
-    html_theme = "sphinx_rtd_theme"
+    html_theme = 'sphinx_rtd_theme'
     html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
 
 html_context = {
-    "disclaimer": _DISCLAIMER,
+    'disclaimer': _DISCLAIMER,
 }
 
 # The theme to use for HTML and HTML Help pages.  See the documentation for
@@ -167,14 +176,14 @@ html_context = {
 # documentation.
 #
 html_theme_options = {
-    "style_external_links": True,
-    "logo_only": True,
+   'style_external_links': True,
+   'logo_only': True,
 }
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ["../common/_static"]
+html_static_path = ['../common/_static']
 
 # Custom sidebar templates, must be a dictionary that maps document names
 # to template names.
@@ -182,9 +191,9 @@ html_static_path = ["../common/_static"]
 # This is required for the alabaster theme
 # refs: http://alabaster.readthedocs.io/en/latest/installation.html#sidebars
 html_sidebars = {
-    "**": [
-        "relations.html",  # needs 'show_related': True theme option to display
-        "searchbox.html",
+    '**': [
+        'relations.html',  # needs 'show_related': True theme option to display
+        'searchbox.html',
     ]
 }
 
@@ -194,7 +203,7 @@ html_scaled_image_link = False
 # -- Options for HTMLHelp output ------------------------------------------
 
 # Output file base name for HTML help builder.
-htmlhelp_basename = "Pybricksdoc"
+htmlhelp_basename = 'Pybricksdoc'
 
 
 # -- Options for LaTeX output ---------------------------------------------
@@ -203,12 +212,14 @@ latex_elements = {
     # The paper size ('letterpaper' or 'a4paper').
     #
     # 'papersize': 'letterpaper',
+
     # The font size ('10pt', '11pt' or '12pt').
     #
     # 'pointsize': '10pt',
+
     # Additional stuff for the LaTeX preamble.
     #
-    "preamble": r"""
+    'preamble': r'''
     \usepackage{CJKutf8}
     \makeatletter
     \fancypagestyle{normal}{
@@ -228,46 +239,54 @@ latex_elements = {
         \renewcommand{\footrulewidth}{0.4pt}
     }
     \makeatother
-    """
-    % {
-        "disclaimer": " ".join((_DISCLAIMER, "©", copyright)),
+    ''' % {
+        'disclaimer': ' '.join((_DISCLAIMER, '©', copyright)),
     },
+
     # Latex figure (float) alignment
     #
     # 'figure_align': 'htbp',
-    "extraclassoptions": "openany,oneside",
-    "releasename": "Version",
+    'extraclassoptions': 'openany,oneside',
+
+    'releasename': 'Version',
 }
 
 # Grouping the document tree into LaTeX files. List of tuples
 # (source start file, target name, title,
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
-    (master_doc, "".join([project, "-v", version, ".tex"]), _TITLE, author, "manual"),
+    (master_doc, ''.join([project, '-v', version, '.tex']), _TITLE,
+     author, 'manual'),
 ]
 
 # -- Content control -----------------------------------------------------
 
 
 exclude_patterns = [
-    "ev3devices.rst",
-    "hubs/ev3brick.rst",
-    "iodevices/analogsensor.rst",
-    "iodevices/dcmotor.rst",
-    "iodevices/ev3devsensor.rst",
-    "iodevices/i2cdevice.rst",
-    "iodevices/lumpdevice.rst",
-    "iodevices/uartdevice.rst",
-    "media.rst",
-    "messaging.rst",
-    "nxtdevices.rst",
-    "tools/datalog.rst",
+    'ev3devices.rst',
+    'hubs/ev3brick.rst',
+    'hubs/primehub.rst',
+    'geometry.rst',
+    'iodevices/analogsensor.rst',
+    'iodevices/dcmotor.rst',
+    'iodevices/ev3devsensor.rst',
+    'iodevices/i2cdevice.rst',
+    'iodevices/lumpdevice.rst',
+    'iodevices/lwp3device.rst',
+    'iodevices/uartdevice.rst',
+    'media.rst',
+    'messaging.rst',
+    'nxtdevices.rst',
+    'tools/datalog.rst'
 ]
 
 
 # One entry per manual page. List of tuples
 # (source start file, name, description, authors, manual section).
-man_pages = [(master_doc, "pybricks", "Pybricks Documentation", [author], 1)]
+man_pages = [
+    (master_doc, 'pybricks', 'Pybricks Documentation',
+     [author], 1)
+]
 
 
 # -- Options for Texinfo output -------------------------------------------
@@ -276,96 +295,33 @@ man_pages = [(master_doc, "pybricks", "Pybricks Documentation", [author], 1)]
 # (source start file, target name, title, author,
 #  dir menu entry, description, category)
 texinfo_documents = [
-    (
-        master_doc,
-        "Pybricks",
-        "Pybricks Documentation",
-        author,
-        "Pybricks",
-        "One line description of project.",
-        "Miscellaneous",
-    ),
+    (master_doc, 'Pybricks', 'Pybricks Documentation',
+     author, 'Pybricks', 'One line description of project.',
+     'Miscellaneous'),
 ]
 
 
 # -- .. availability:: directive
 
-
 class AvailabilityDirective(Directive):
     has_content = True
     option_spec = {
-        "movehub": flag,
-        "cityhub": flag,
-        "technichub": flag,
-        "ev3dev-stretch": flag,
+        'movehub': flag,
+        'cityhub': flag,
+        'technichub': flag,
+        'ev3dev-stretch': flag,
     }
 
     def run(self):
         if not self.options:
-            raise self.error("Must specify at least one platform.")
+            raise self.error('Must specify at least one platform.')
         # TODO: make links to platform pages
-        return [
-            nodes.emphasis(text="Availability: "),
-            nodes.Text(", ".join(self.options)),
-        ]
-
-
-def on_missing_reference(
-    app: Sphinx, env: BuildEnvironment, node: pending_xref, contnode: nodes.Element
-) -> nodes.Element:
-    # The Number type alias is on the Signals and Units page instead of on the
-    # pybricks.parameters page so normal resolution doesn't work
-    if node["reftype"] == "class" and node["reftarget"] == "Number":
-        return make_refnode(
-            app.builder, node["refdoc"], "signaltypes", "numbers", contnode
-        )
-
-    # References with special characters can't exist, so we have to supress
-    # warnings when Sphinx tries to cross reference units like deg/s. For
-    # consistency, we also treat units without special characters this way.
-    for unit in [
-        "deg",
-        "deg/s",
-        "deg/s²",
-        "mm",
-        "mm/s",
-        "mm/s²",
-        "%",
-        "mV",
-        "mA",
-        "ms",
-        "mNm",
-        "Hz",
-        "°C",
-        "J",
-        "Ω",
-        "N",
-    ]:
-
-        # If they match on raw source, we are dealing with argument types.
-        if unit == contnode.rawsource:
-            # Return as-is to suppress missing cross reference warning. We
-            # could make this more fancy by returning an xref node that links
-            # to the signals page.
-            return contnode
-
-        # Return types are denoted as "int: deg"
-        try:
-            # Try to unpack the node.
-            ret_type, ret_unit = str(contnode).split(": ")
-        except ValueError:
-            # Not a valid format, so skip.
-            continue
-
-        # If it's a match, we could format the node so it looks a bit nicer.
-        # For now just keep the colon notation as is.
-        if unit == ret_unit:
-            return nodes.Text(f"{ret_type}: {ret_unit}")
+        return [nodes.emphasis(text='Availability: '),
+                nodes.Text(', '.join(self.options))]
 
 
 def setup(app: Sphinx):
-    app.add_directive("availability", AvailabilityDirective)
-    app.connect("missing-reference", on_missing_reference)
+    app.add_directive('availability', AvailabilityDirective)
 
 
 # -- Python domain hacks ---------------------------------------------------

doc/common/extensions/classlink.py

@@ -13,23 +13,21 @@ class PybricksClasslinkDirective(Directive):
         link = name if len(self.arguments) == 1 else self.arguments[1]
 
         html = (
-            '<a href="{0}.html">'.format(link.lower())
-            + '<dl class="py class">'
-            + "<dt>"
-            + '<em class="property">class </em>'
-            + '<code class="sig-name descname">'
-            + name
-            + "</code>"
-            + "</dt>"
-            + "<dd></dd>"
-            + "</dl>"
-            + "</a>"
+            '<a href="{0}.html">'.format(link.lower()) +
+            '<dl class="py class">' +
+            '<dt>' +
+            '<em class="property">class </em>' +
+            '<code class="sig-name descname">' + name + '</code>' +
+            '</dt>' +
+            '<dd></dd>' +
+            '</dl>' +
+            '</a>'
         )
 
         # Return the node
-        node = nodes.raw("", html, format="html")
+        node = nodes.raw('', html, format="html")
         return [node]
 
 
 def setup(app):
-    app.add_directive_to_domain("py", "pybricks-classlink", PybricksClasslinkDirective)
+    app.add_directive_to_domain('py', 'pybricks-classlink', PybricksClasslinkDirective)

doc/common/extensions/color.py

@@ -16,27 +16,28 @@ class PybricksColorDirective(Directive):
         color = getattr(Color, name)
 
         # Convert HSV to RGB
-        r, g, b = hsv_to_rgb(color.h / 360, color.s / 100, color.v / 100)
+        r, g, b = hsv_to_rgb(color.h/360, color.s/100, color.v/100)
 
         # Convert RGB to HEX
-        rgbhex = "#{0:02x}{1:02x}{2:02x}".format(
-            round(r * 255), round(g * 255), round(b * 255)
+        rgbhex = '#{0:02x}{1:02x}{2:02x}'.format(
+            round(r*255),
+            round(g*255),
+            round(b*255)
         )
 
         # Render a small block of the given color
         css = "background-color: {0}; color: {0}; width: 50px;".format(rgbhex)
 
         if name == "WHITE":
-            css += (
-                "border-style: solid; border-width: 0.5px;" + "border-color: #666666;"
-            )
+            css += "border-style: solid; border-width: 0.5px;" + \
+                   "border-color: #666666;"
 
         html = '<div id="test" style="{0}">_</div>'.format(css)
 
         # Return the node
-        node = nodes.raw("", html, format="html")
+        node = nodes.raw('', html, format="html")
         return [node]
 
 
 def setup(app):
-    app.add_directive_to_domain("py", "pybricks-color", PybricksColorDirective)
+    app.add_directive_to_domain('py', 'pybricks-color', PybricksColorDirective)

doc/common/extensions/requirements-static.py

@@ -10,10 +10,10 @@ FEATURES_SMALL = set()
 
 # Medium feature set.
 FEATURES_MEDIUM = FEATURES_SMALL | {
-    "pybricks-geometry",
-    "pybricks-iodevices",
-    "stm32-extra",
-    "stm32-float",
+    'pybricks-geometry',
+    'pybricks-iodevices',
+    'stm32-extra',
+    'stm32-float',
 }
 
 # Large feature set.
@@ -21,12 +21,11 @@ FEATURES_LARGE = FEATURES_MEDIUM | set()
 
 # Features per hub.
 HUB_FEATURES = {
-    "movehub": {"movehub"} | FEATURES_SMALL,
-    "cityhub": {"cityhub"} | FEATURES_MEDIUM,
-    "technichub": {"technichub"} | FEATURES_MEDIUM,
-    "primehub": {"primehub", "inventorhub"} | FEATURES_LARGE,
-    "inventorhub": {"primehub", "inventorhub"} | FEATURES_LARGE,
-    "essentialhub": {"essentialhub"} | FEATURES_LARGE,
+    'movehub': {'movehub'} | FEATURES_SMALL,
+    'cityhub': {'cityhub'} | FEATURES_MEDIUM,
+    'technichub': {'technichub'} | FEATURES_MEDIUM,
+    'primehub':  {'primehub', 'inventorhub'} | FEATURES_LARGE,
+    'inventorhub':  {'primehub', 'inventorhub'} | FEATURES_LARGE,
 }
 
 
@@ -41,15 +40,15 @@ class PybricksRequirementsStaticDirective(Directive):
         # CC BY-SA 4.0 via https://stackoverflow.com/a/63728208
         env = self.state.document.settings.env
 
-        destdir = path.join(env.app.builder.outdir, "_images")
+        destdir = path.join(env.app.builder.outdir, '_images')
         if not path.exists(destdir):
             makedirs(destdir)
 
         for hub in HUB_FEATURES:
             for compat in ("true", "false"):
-                uri = "compat_{0}_{1}_label.png".format(hub, compat)
-                src_uri = path.join(env.app.builder.srcdir, "images", uri)
-                build_uri = path.join(env.app.builder.outdir, "_images", uri)
+                uri = 'compat_{0}_{1}_label.png'.format(hub, compat)
+                src_uri = path.join(env.app.builder.srcdir, 'images', uri)
+                build_uri = path.join(env.app.builder.outdir, '_images', uri)
                 copyfile(src_uri, build_uri)
 
         # Get requirements from sphinx-directive.
@@ -68,14 +67,13 @@ class PybricksRequirementsStaticDirective(Directive):
         depth_path = "../" * depth
 
         # Table row with hub images.
-        compat_row = "".join(
-            [
-                hub_cell.format(
-                    depth_path, hub, "true" if requirements <= features else "false"
-                )
-                for hub, features in HUB_FEATURES.items()
-            ]
-        )
+        compat_row = "".join([
+            hub_cell.format(
+                depth_path,
+                hub,
+                "true" if requirements <= features else "false")
+            for hub, features in HUB_FEATURES.items()
+        ])
 
         # Generate full table.
         html = """
@@ -88,16 +86,16 @@ class PybricksRequirementsStaticDirective(Directive):
                 </tbody>
             </table>
         </div>
-        """.format(
-            compat_row
-        )
+        """.format(compat_row)
 
         # Return the node.
-        node = nodes.raw("", html, format="html")
+        node = nodes.raw('', html, format="html")
         return [node]
 
 
 def setup(app):
     app.add_directive_to_domain(
-        "py", "pybricks-requirements-static", PybricksRequirementsStaticDirective
+        'py',
+        'pybricks-requirements-static',
+        PybricksRequirementsStaticDirective
     )

doc/common/extensions/requirements.py

@@ -29,25 +29,25 @@ from sphinx.util.osutil import copyfile
 from sphinx.util import logging
 
 
-CSS_FILE = "requirements.css"
-JS_FILE = "requirements.js"
+CSS_FILE = 'requirements.css'
+JS_FILE = 'requirements.js'
 
 
 class PybricksRequirementsDirective(Directive):
     has_content = True
-    option_spec = {"header": directives.unchanged}
+    option_spec = {'header': directives.unchanged}
 
     required_arguments = 0
     optional_arguments = 10
 
     def run(self):
         node = nodes.container()
-        node["classes"].append("toggle-content")
+        node['classes'].append('toggle-content')
 
         par = nodes.container()
-        par["classes"].append("toggle-header")
+        par['classes'].append('toggle-header')
 
-        content = ".. pybricks-requirements-static:: " + " ".join(self.arguments)
+        content = '.. pybricks-requirements-static:: ' + " ".join(self.arguments)
 
         self.state.nested_parse(StringList([content]), self.content_offset, node)
 
@@ -60,20 +60,20 @@ def add_assets(app):
 
 
 def copy_assets(app, exception):
-    if app.builder.name not in ["html", "readthedocs"] or exception:
+    if app.builder.name not in ['html', 'readthedocs'] or exception:
         return
     logger = logging.getLogger(__name__)
-    logger.info("Copying requirements stylesheet/javascript... ", nonl=True)
-    dest = os.path.join(app.builder.outdir, "_static", CSS_FILE)
+    logger.info('Copying requirements stylesheet/javascript... ', nonl=True)
+    dest = os.path.join(app.builder.outdir, '_static', CSS_FILE)
     source = os.path.join(os.path.abspath(os.path.dirname(__file__)), CSS_FILE)
     copyfile(source, dest)
-    dest = os.path.join(app.builder.outdir, "_static", JS_FILE)
+    dest = os.path.join(app.builder.outdir, '_static', JS_FILE)
     source = os.path.join(os.path.abspath(os.path.dirname(__file__)), JS_FILE)
     copyfile(source, dest)
-    logger.info("done")
+    logger.info('done')
 
 
 def setup(app):
-    app.add_directive("pybricks-requirements", PybricksRequirementsDirective)
-    app.connect("builder-inited", add_assets)
-    app.connect("build-finished", copy_assets)
+    app.add_directive('pybricks-requirements', PybricksRequirementsDirective)
+    app.connect('builder-inited', add_assets)
+    app.connect('build-finished', copy_assets)

doc/common/extensions/versionchanged.py

@@ -1,31 +0,0 @@
-"""This directive hides the builtin directives
-    * versionchanged
-    * versionadded
-    * deprecated
-when building documentation with the 'ide' tag.
-"""
-from docutils import nodes
-from docutils.parsers.rst import Directive
-
-
-class PybricksVersionDirective(Directive):
-
-    has_content = True
-
-    def run(self):
-        html = ""
-        node = nodes.raw("", html, format="html")
-        return [node]
-
-
-def setup(app):
-    if "ide" in app.tags.tags:
-        app.add_directive_to_domain(
-            "py", "deprecated", PybricksVersionDirective, override=True
-        )
-        app.add_directive_to_domain(
-            "py", "versionadded", PybricksVersionDirective, override=True
-        )
-        app.add_directive_to_domain(
-            "py", "versionchanged", PybricksVersionDirective, override=True
-        )

doc/main/conf.py

@@ -4,54 +4,47 @@
 # Pybricks documentation build configuration file
 #
 import os
-import sys
 
 # General information about the project.
-project = "pybricks"
-copyright = "2018-2021 The Pybricks Authors"
-author = ""
+project = 'pybricks'
+copyright = '2018-2021 The Pybricks Authors'
+author = ''
 
-_TITLE = "Pybricks Modules and Examples"
-_DISCLAIMER = "LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are\
+_TITLE = 'Pybricks Modules and Examples'
+_DISCLAIMER = 'LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are\
                trademarks and/or copyrights of the LEGO Group of companies \
-               which does not sponsor, authorize or endorse this site."
+               which does not sponsor, authorize or endorse this site.'
 
-html_favicon = "../common/images/favicon.ico"
-html_logo = "../common/images/pybricks-logo-rtd.png"
-latex_logo = "../common/images/pybricks-logo-large.png"
+html_favicon = '../common/images/favicon.ico'
+html_logo = '../common/images/pybricks-logo-rtd.png'
+latex_logo = '../common/images/pybricks-logo-large.png'
 
 # Build main docs for RTD by default.
 # Since tags cannot be passed via the TAG make variable on read the docs,
 # add it manually.
-if os.environ.get("READTHEDOCS", None) == "True":
-    tags.add("main")  # noqa F821
+if os.environ.get('READTHEDOCS', None) == 'True':
+    tags.add('main')  # noqa F821
 
-# HACK: this allows Number type alias to be imported by Sphinx
-os.environ["SPHINX_BUILD"] = "True"
 
 # Addtional configuration of the IDE docs
-if "ide" in tags.tags:  # noqa F821
-    _DISCLAIMER = ""
+if 'ide' in tags.tags:  # noqa F821
+    _DISCLAIMER = ''
     html_show_copyright = False
     html_show_sphinx = False
-    html_css_files = ["css/ide.css"]
-    html_js_files = ["js/ide.js"]
+    html_css_files = ['css/ide.css']
+    html_js_files = ['js/ide.js']
 
-    imgmath_image_format = "svg"
+    imgmath_image_format = 'svg'
     imgmath_use_preview = True  # requires Sphinx v3
-    imgmath_latex_preamble = r"""
+    imgmath_latex_preamble = r'''
     \usepackage{newtxsf}
-    """
+    '''
 
 exec(open(os.path.abspath("../common/conf.py")).read())
 
 # Addtional configuration of the IDE docs
-if "ide" in tags.tags:  # noqa F821
+if 'ide' in tags.tags:  # noqa F821
 
-    extensions.remove("sphinx.ext.mathjax")  # noqa F821
-    extensions.append("sphinx.ext.imgmath")  # noqa F821
-    html_theme_options["prev_next_buttons_location"] = None  # noqa F821
-
-# Build hub specific example scripts.
-sys.path.append(os.path.abspath("../../examples/pup/hub_common"))
-import make_examples  # noqa F401, E402
+    extensions.remove('sphinx.ext.mathjax')  # noqa F821
+    extensions.append('sphinx.ext.imgmath')  # noqa F821
+    html_theme_options['prev_next_buttons_location'] = None  # noqa F821

doc/main/ev3devices.rst

@@ -44,42 +44,17 @@ Motors
 
     .. automethod:: pybricks.ev3devices.Motor.run_target
 
-    .. automethod:: pybricks.ev3devices.Motor.track_target
-
     .. automethod:: pybricks.ev3devices.Motor.run_until_stalled
 
     .. automethod:: pybricks.ev3devices.Motor.dc
 
-    .. rubric:: Motor status
+    .. rubric:: Advanced motion control
 
-    .. attribute:: control.scale
+    .. automethod:: pybricks.ev3devices.Motor.track_target
 
-        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.
+    .. autoattribute:: pybricks.ev3devices.Motor.control
+        :annotation:
 
-    .. automethod:: pybricks.ev3devices.Motor.control.done
-
-    .. automethod:: pybricks.ev3devices.Motor.control.stalled
-
-    .. automethod:: pybricks.ev3devices.Motor.control.load
-
-    .. rubric:: Motor settings
-
-    You can only change these settings while the controller is stopped. For
-    example, you can change them at the start of your program. Alternatively,
-    first call :meth:`stop() <pybricks.ev3devices.Motor.stop>`, and then change
-    the settings.
-
-    .. automethod:: pybricks.ev3devices.Motor.settings
-
-    .. automethod:: pybricks.ev3devices.Motor.control.limits
-
-    .. automethod:: pybricks.ev3devices.Motor.control.pid
-
-    .. automethod:: pybricks.ev3devices.Motor.control.target_tolerances
-
-    .. automethod:: pybricks.ev3devices.Motor.control.stall_tolerances
 
 Touch Sensor
 ^^^^^^^^^^^^

doc/main/hubs/cityhub.rst

@@ -44,25 +44,25 @@ Turning the light on and off
 ****************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_off_cityhub.py
+    ../../../examples/pup/hub_cityhub/light_off.py
 
 Changing brightness and using custom colors
 *******************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_hsv_cityhub.py
+    ../../../examples/pup/hub_cityhub/light_hsv.py
 
 Making the light blink
 **********************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_blink_cityhub.py
+    ../../../examples/pup/hub_cityhub/light_blink.py
 
 Creating light animations
 *************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_animate_cityhub.py
+    ../../../examples/pup/hub_cityhub/light_animate.py
 
 Button and system examples
 ----------------------------------
@@ -71,10 +71,10 @@ Using the stop button during your program
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/button_single_cityhub.py
+    ../../../examples/pup/hub_cityhub/button_single.py
 
 Turning the hub off
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/system_shutdown_cityhub.py
+    ../../../examples/pup/hub_cityhub/system_shutdown.py

doc/main/hubs/essentialhub.rst

@@ -1,146 +0,0 @@
-.. pybricks-requirements:: essentialhub
-
-Essential Hub
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. figure:: ../../main/images/essentialhub.png
-    :height: 15 em
-
-
-.. note:: Pybricks support for this hub is in beta.
-            Check the `installation instructions`_ to try it out.
-            The following functions may change before the final release.
-
-.. _installation instructions: https://pybricks.com/install/
-
-
-.. autoclass:: pybricks.hubs.EssentialHub
-    :no-members:
-
-    .. rubric:: Using the hub status light
-
-    .. automethod:: pybricks.hubs::EssentialHub.light.on
-
-    .. automethod:: pybricks.hubs::EssentialHub.light.off
-
-    .. automethod:: pybricks.hubs::EssentialHub.light.blink
-
-    .. automethod:: pybricks.hubs::EssentialHub.light.animate
-
-    .. rubric:: Using the button
-
-    .. automethod:: pybricks.hubs::EssentialHub.button.pressed
-
-    .. rubric:: Using the IMU
-
-    .. automethod:: pybricks.hubs::EssentialHub.imu.up
-
-    .. automethod:: pybricks.hubs::EssentialHub.imu.tilt
-
-    .. automethod:: pybricks.hubs::EssentialHub.imu.acceleration
-
-    .. automethod:: pybricks.hubs::EssentialHub.imu.angular_velocity
-
-    .. automethod:: pybricks.hubs::EssentialHub.imu.heading
-
-    .. automethod:: pybricks.hubs::EssentialHub.imu.reset_heading
-
-    .. rubric:: Using the battery
-
-    .. automethod:: pybricks.hubs::EssentialHub.battery.voltage
-
-    .. automethod:: pybricks.hubs::EssentialHub.battery.current
-
-    .. rubric:: Getting the charger status
-
-    .. automethod:: pybricks.hubs::EssentialHub.charger.connected
-
-    .. automethod:: pybricks.hubs::EssentialHub.charger.current
-
-    .. automethod:: pybricks.hubs::EssentialHub.charger.status
-
-    .. rubric:: System control
-
-    .. automethod:: pybricks.hubs::EssentialHub.system.set_stop_button
-
-    .. automethod:: pybricks.hubs::EssentialHub.system.name
-
-    .. automethod:: pybricks.hubs::EssentialHub.system.shutdown
-
-    .. automethod:: pybricks.hubs::EssentialHub.system.reset_reason
-
-Status light examples
----------------------
-
-Turning the light on and off
-****************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/light_off_essentialhub.py
-
-Changing brightness and using custom colors
-*******************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/light_hsv_essentialhub.py
-
-Making the light blink
-**********************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/light_blink_essentialhub.py
-
-Creating light animations
-*************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/light_animate_essentialhub.py
-
-IMU examples
----------------
-
-Testing which way is up
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_up_essentialhub.py
-
-
-Reading the tilt value
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_tilt_essentialhub.py
-
-Using a custom hub orientation
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_tilt_blast_essentialhub.py
-
-Reading acceleration and angular velocity vectors
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_read_vector_essentialhub.py
-
-Reading acceleration and angular velocity on one axis
-*****************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_read_scalar_essentialhub.py
-
-System examples
-----------------------------------
-
-Using the stop button during your program
-*****************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/button_single_essentialhub.py
-
-Turning the hub off
-*****************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/system_shutdown_essentialhub.py

doc/main/hubs/ev3brick.rst

@@ -38,18 +38,14 @@ MINDSTORMS EV3 Brick
     .. automethod:: pybricks.hubs::EV3Brick.screen.clear
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.draw_text
-        :noindex:
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.print
-        :noindex:
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.set_font
-        :noindex:
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.load_image
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.draw_image
-        :noindex:
 
     .. automethod:: pybricks.hubs::EV3Brick.screen.draw_pixel
 

doc/main/hubs/index.rst

@@ -12,8 +12,6 @@
    movehub
    cityhub
    technichub
-   primehub
-   essentialhub
 
 .. pybricks-classlink:: MoveHub
 
@@ -32,21 +30,3 @@
 .. figure:: ../../main/images/technichub.png
     :height: 10 em
     :target: technichub.html
-
-.. pybricks-classlink:: PrimeHub
-
-.. figure:: ../../main/images/primehub.png
-    :height: 10 em
-    :target: primehub.html
-
-.. pybricks-classlink:: InventorHub PrimeHub
-
-.. figure:: ../../main/images/inventorhub.png
-    :height: 10 em
-    :target: primehub.html
-
-.. pybricks-classlink:: EssentialHub
-
-.. figure:: ../../main/images/essentialhub.png
-    :height: 10 em
-    :target: essentialhub.html

doc/main/hubs/movehub.rst

@@ -27,10 +27,6 @@ Move Hub
 
     .. automethod:: pybricks.hubs::MoveHub.imu.acceleration
 
-        .. versionchanged:: 3.2
-
-            Changed acceleration units from m/s² to mm/s².
-
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::MoveHub.battery.voltage
@@ -56,13 +52,13 @@ Turning the light on and off
 ******************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_off_movehub.py
+    ../../../examples/pup/hub_movehub/light_off.py
 
 Making the light blink
 ******************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_blink_movehub.py
+    ../../../examples/pup/hub_movehub/light_blink.py
 
 IMU examples
 ---------------
@@ -71,7 +67,7 @@ Testing which way is up
 ********************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_up_movehub.py
+    ../../../examples/pup/hub_movehub/imu_up.py
 
 Reading acceleration
 **************************************************
@@ -86,10 +82,10 @@ Using the stop button during your program
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/button_single_movehub.py
+    ../../../examples/pup/hub_movehub/button_single.py
 
 Turning the hub off
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/system_shutdown_movehub.py
+    ../../../examples/pup/hub_movehub/system_shutdown.py

doc/main/hubs/primehub.rst

@@ -6,11 +6,6 @@ Prime Hub / Inventor Hub
 .. figure:: ../../main/images/primeinventorhub.png
     :height: 15 em
 
-
-.. note:: Pybricks support for these hubs is in beta.
-            Check the `installation instructions`_ to try it out.
-            The following functions may change before the final release.
-
 .. class:: InventorHub
 
     This class is the same as the ``PrimeHub`` class, shown below. Both classes
@@ -78,8 +73,6 @@ Prime Hub / Inventor Hub
 
     .. rubric:: Using the speaker
 
-    .. automethod:: pybricks.hubs::PrimeHub.speaker.volume
-
     .. automethod:: pybricks.hubs::PrimeHub.speaker.beep
 
     .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes
@@ -90,14 +83,6 @@ Prime Hub / Inventor Hub
 
     .. automethod:: pybricks.hubs::PrimeHub.battery.current
 
-    .. rubric:: Getting the charger status
-
-    .. automethod:: pybricks.hubs::PrimeHub.charger.connected
-
-    .. automethod:: pybricks.hubs::PrimeHub.charger.current
-
-    .. automethod:: pybricks.hubs::PrimeHub.charger.status
-
     .. rubric:: System control
 
     .. automethod:: pybricks.hubs::PrimeHub.system.set_stop_button
@@ -109,8 +94,8 @@ Prime Hub / Inventor Hub
     .. automethod:: pybricks.hubs::PrimeHub.system.reset_reason
 
 .. note:: The examples below use the ``PrimeHub`` class. The examples work fine
-        on both hubs because they are the identical. If you prefer, you can
-        change this to ``InventorHub``.
+          on both hubs because they are the identical. If you prefer, you can
+          change this to ``InventorHub``.
 
 Status light examples
 ---------------------
@@ -119,25 +104,25 @@ Turning the light on and off
 ****************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_off_primehub.py
+    ../../../examples/pup/hub_primehub/light_off.py
 
 Changing brightness and using custom colors
 *******************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_hsv_primehub.py
+    ../../../examples/pup/hub_primehub/light_hsv.py
 
 Making the light blink
 **********************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_blink_primehub.py
+    ../../../examples/pup/hub_primehub/light_blink.py
 
 Creating light animations
 *************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_animate_primehub.py
+    ../../../examples/pup/hub_primehub/light_animate.py
 
 Matrix display examples
 -----------------------
@@ -209,32 +194,32 @@ Testing which way is up
 ********************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_up_primehub.py
+    ../../../examples/pup/hub_primehub/imu_up.py
 
 
 Reading the tilt value
 ********************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_tilt_primehub.py
+    ../../../examples/pup/hub_primehub/imu_tilt.py
 
 Using a custom hub orientation
 **************************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_tilt_blast_primehub.py
+    ../../../examples/pup/hub_primehub/imu_tilt_blast.py
 
 Reading acceleration and angular velocity vectors
 **************************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_read_vector_primehub.py
+    ../../../examples/pup/hub_primehub/imu_read_vector.py
 
 Reading acceleration and angular velocity on one axis
 *****************************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_read_scalar_primehub.py
+    ../../../examples/pup/hub_primehub/imu_read_scalar.py
 
 System examples
 ----------------------------------
@@ -249,7 +234,4 @@ Turning the hub off
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/system_shutdown_primehub.py
-
-.. _installation instructions: https://pybricks.com/install/
-
+    ../../../examples/pup/hub_primehub/system_shutdown.py

doc/main/hubs/technichub.rst

@@ -6,8 +6,9 @@ Technic Hub
 .. figure:: ../../main/images/technichub.png
     :height: 15 em
 
-.. autoclass:: pybricks.hubs.TechnicHub
-    :no-members:
+.. class:: TechnicHub
+
+    LEGO® Technic Hub.
 
     .. rubric:: Using the hub status light
 
@@ -19,20 +20,6 @@ Technic Hub
 
     .. automethod:: pybricks.hubs::TechnicHub.light.animate
 
-    .. rubric:: Using the IMU
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.up
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.tilt
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.acceleration
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.angular_velocity
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.heading
-
-    .. automethod:: pybricks.hubs::TechnicHub.imu.reset_heading
-
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::TechnicHub.battery.voltage
@@ -58,59 +45,25 @@ Turning the light on and off
 ****************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_off_technichub.py
+    ../../../examples/pup/hub_technichub/light_off.py
 
 Changing brightness and using custom colors
 *******************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_hsv_technichub.py
+    ../../../examples/pup/hub_technichub/light_hsv.py
 
 Making the light blink
 **********************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_blink_technichub.py
+    ../../../examples/pup/hub_technichub/light_blink.py
 
 Creating light animations
 *************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/light_animate_technichub.py
-
-IMU examples
----------------
-
-Testing which way is up
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_up_technichub.py
-
-
-Reading the tilt value
-********************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_tilt_technichub.py
-
-Using a custom hub orientation
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_tilt_blast_technichub.py
-
-Reading acceleration and angular velocity vectors
-**************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_read_vector_technichub.py
-
-Reading acceleration and angular velocity on one axis
-*****************************************************
-
-.. literalinclude::
-    ../../../examples/pup/hub_common/build/imu_read_scalar_technichub.py
+    ../../../examples/pup/hub_technichub/light_animate.py
 
 Button and system examples
 ----------------------------------
@@ -119,10 +72,10 @@ Using the stop button during your program
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/button_single_technichub.py
+    ../../../examples/pup/hub_technichub/button_single.py
 
 Turning the hub off
 *****************************************
 
 .. literalinclude::
-    ../../../examples/pup/hub_common/build/system_shutdown_technichub.py
+    ../../../examples/pup/hub_technichub/system_shutdown.py

doc/main/index.rst

@@ -28,8 +28,8 @@ Pybricks Documentation
 
    .. list-table::
 
-      * - **Technic, City, and BOOST Move Hubs**
-        - **SPIKE Essential/Prime, and MINDSTORMS Inventor Hubs**
+      * - **Technic Hub, City Hub, BOOST Move Hub**
+        - **SPIKE Prime Hub / MINDSTORMS Inventor Hub**
 
       * - .. figure:: ../main/images/powereduphubs.png
             :target: https://pybricks.com/install/technic-boost-city/
@@ -49,16 +49,6 @@ Pybricks Documentation
 
 .. only:: ide
 
-   .. note::
-
-      **You are using a new beta version of Pybricks!**
-
-      This is great for trying the very latest features, but some things
-      might not work.
-
-      If in doubt, use the `latest stable release`_. Please report any
-      issues via our `support page`_. Thanks!
-
    To begin, install the Pybricks firmware on your hub. Check
    `pybricks.com/install`_ to learn how.
 
@@ -67,7 +57,7 @@ Pybricks Documentation
 
    .. rubric:: Programmable hubs
 
-   .. figure:: ../main/images/hubsoverview.png
+   .. figure:: ../main/images/powereduphubs.png
       :width: 100 %
       :target: hubs/index.html
 
@@ -110,7 +100,6 @@ Pybricks Documentation
    parameters/index
    tools/index
    robotics
-   geometry
    signaltypes
 
 .. toctree::

doc/main/iodevices/dcmotor.rst

@@ -9,12 +9,12 @@ EV3 DC Motor
 .. figure:: ../../main/images/rcxmotor.png
    :width: 40 %
 
-.. autoclass:: pybricks.iodevices.DCMotor
+.. autoclass:: pybricks._common.DCMotor
     :noindex:
     :no-members:
 
-    .. automethod:: pybricks.iodevices.DCMotor.dc
+    .. automethod:: pybricks._common.DCMotor.dc
         :noindex:
 
-    .. automethod:: pybricks.iodevices.DCMotor.stop
+    .. automethod:: pybricks._common.DCMotor.stop
         :noindex:

doc/main/iodevices/index.rst

@@ -10,7 +10,6 @@
    :hidden:
 
    pupdevice
-   lwp3device
 
 This module has classes for generic input/output devices.
 
@@ -19,9 +18,3 @@ This module has classes for generic input/output devices.
 .. figure:: ../../main/images/sensor_pup.png
    :width: 70 %
    :target: pupdevice.html
-
-.. pybricks-classlink:: LWP3Device
-
-.. figure:: ../../main/images/powereduphubs.png
-   :width: 70 %
-   :target: lwp3device.html

doc/main/micropython/builtins.rst

@@ -36,12 +36,26 @@ Basic types
 
 .. pybricks-requirements::
 
+..
+   _comment: The int class is defined manually because otherwise the classmethod is hidden, see https://github.com/pybricks/pybricks-api/issues/86
+
 .. autoclass:: ubuiltins.int
     :no-members:
 
     .. automethod:: ubuiltins.int.to_bytes
 
-    .. automethod:: ubuiltins.int.from_bytes
+    .. classmethod:: from_bytes(bytes: Union[bytes, bytearray], byteorder: Literal["little", "big"]) -> int
+
+        Returns the integer represented by the given bytes.
+
+        :param bytes: The bytes to convert.
+        :param byteorder: Determines the byte order used to represent the
+            integer. If byteorder is ``"big"``, the most significant byte is at
+            the beginning of the byte sequence. If byteorder is ``"little"``,
+            the most significant byte is at the end of the byte sequence.
+
+        :returns: The integer represented by the bytes.
+
 
 .. pybricks-requirements::
 

doc/main/nxtdevices.rst

@@ -45,12 +45,6 @@ NXT Color Sensor
 
     .. automethod:: pybricks.nxtdevices.ColorSensor.rgb
 
-    .. rubric:: Advanced color sensing
-
-    .. automethod:: pybricks.nxtdevices.ColorSensor.hsv
-
-    .. automethod:: pybricks.nxtdevices.ColorSensor.detectable_colors
-
     .. rubric:: Built-in light
 
     This sensor has a built-in light. You can make it red, green, blue, or turn

doc/main/parameters/side.rst

@@ -26,26 +26,6 @@ Side
     .. autoattribute:: pybricks.parameters.Side.RIGHT
         :annotation:
 
-
-    Screens or light matrices have only four sides. For those,
-    ``TOP`` is treated the same as ``FRONT``, and ``BOTTOM`` is treated the
-    same as ``BACK``. The diagrams below define the sides for relevant devices.
-
-    **Prime Hub**
-
-    .. figure:: ../../main/images/orientation_primehub_label.png
-        :height: 17 em
-
-    **Inventor Hub**
-
-    .. figure:: ../../main/images/orientation_inventorhub_label.png
-        :height: 17 em
-
-    **Essential Hub**
-
-    .. figure:: ../../main/images/orientation_essentialhub_label.png
-        :height: 17 em
-
     **Move Hub**
 
     .. figure:: ../../main/images/orientation_movehub_label.png

doc/main/pupdevices/colorsensor.rst

@@ -82,9 +82,3 @@ Blinking the built-in lights
 
 .. literalinclude::
     ../../../examples/pup/sensor_color/lights_blink.py
-
-Turning off the lights when the program ends
-**********************************************
-
-.. literalinclude::
-    ../../../examples/pup/sensor_color/cleanup.py

doc/main/pupdevices/motor.rst

@@ -122,12 +122,6 @@ Resetting the measured angle
 .. literalinclude::
     ../../../examples/pup/motor/motor_reset_angle.py
 
-Getting the absolute angle
-*******************************************************
-
-.. literalinclude::
-    ../../../examples/pup/motor/motor_absolute.py
-
 
 Movement examples
 -----------------------

doc/main/signaltypes.rst

@@ -4,12 +4,6 @@ Signals and Units
 Many commands allow you to specify arguments in terms of well-known physical
 quantities. This page gives an overview of each quantity and its unit.
 
-Numbers
-~~~~~~~
-
-.. autodata:: pybricks.parameters.Number
-  :noindex:
-
 Time
 ~~~~~~
 
@@ -62,12 +56,12 @@ use the following table to convert between commonly used units.
 
 .. _acceleration:
 
-rotational acceleration: deg/s²
+rotational acceleration: deg/s/s
 --------------------------------
 
 Rotational acceleration, or *angular acceleration* describes how fast the
 rotational speed changes. This is expressed as the change of the number of
-degrees per second, during one second (deg/s²). This is also commonly written
+degrees per second, during one second (deg/s/s). This is also commonly written
 as  :math:`deg/s^2`.
 
 For example, you can adjust the rotational acceleration setting of a ``Motor``
@@ -120,17 +114,26 @@ For example, the speed of a robotic vehicle is expressed in mm/s.
 
 .. _linacceleration:
 
-linear acceleration: mm/s²
+linear acceleration: mm/s/s
 --------------------------------
 
 Linear acceleration describes how fast the speed changes. This is expressed as
-the change of the millimeters per second, during one second (mm/s²).
+the change of the millimeters per second, during one second (deg/s/s).
 This is also commonly written as  :math:`mm/s^2`.
 
 For example, you can adjust the acceleration setting of a
 :class:`DriveBase <.robotics.DriveBase>` to change how
 smoothly or how quickly it reaches the constant speed set point.
 
+.. _linacceleration_m:
+
+linear acceleration: m/s/s
+--------------------------------
+
+As above, but expressed in meters per second squared: :math:`m/s^2`.
+This is a more practical unit for large values such as those given by an
+accelerometer.
+
 Approximate and relative units
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 

examples/ev3/bluetooth_client/client.py

@@ -9,17 +9,17 @@
 from pybricks.messaging import BluetoothMailboxClient, TextMailbox
 
 # This is the name of the remote EV3 or PC we are connecting to.
-SERVER = "ev3dev"
+SERVER = 'ev3dev'
 
 client = BluetoothMailboxClient()
-mbox = TextMailbox("greeting", client)
+mbox = TextMailbox('greeting', client)
 
-print("establishing connection...")
+print('establishing connection...')
 client.connect(SERVER)
-print("connected!")
+print('connected!')
 
 # In this program, the client sends the first message and then waits for the
 # server to reply.
-mbox.send("hello!")
+mbox.send('hello!')
 mbox.wait()
 print(mbox.read())

examples/ev3/bluetooth_pc/pcclient.py

@@ -17,17 +17,17 @@ from pybricks.messaging import BluetoothMailboxClient, TextMailbox
 # visible on the EV3. You can skip pairing if you already know the EV3 address.
 
 # This is the address of the server EV3 we are connecting to.
-SERVER = "CC:78:AB:D8:4E:F6"
+SERVER = 'CC:78:AB:D8:4E:F6'
 
 client = BluetoothMailboxClient()
-mbox = TextMailbox("greeting", client)
+mbox = TextMailbox('greeting', client)
 
-print("establishing connection...")
+print('establishing connection...')
 client.connect(SERVER)
-print("connected!")
+print('connected!')
 
 # In this program, the client sends the first message and then waits for the
 # server to reply.
-mbox.send("hello!")
+mbox.send('hello!')
 mbox.wait()
 print(mbox.read())

examples/ev3/bluetooth_pc/pybricks/bluetooth.py

@@ -18,17 +18,17 @@ BDADDR_ANY = ""
 
 def str2ba(string, ba):
     """Convert string to Bluetooth address"""
-    for i, v in enumerate(string.split(":")):
-        ba.b[5 - i] = int(v, 16)
+    for i, v in enumerate(string.split(':')):
+        ba.b[5-i] = int(v, 16)
 
 
 def ba2str(ba):
     """Convert Bluetooth address to string"""
     string = []
     for b in ba.b:
-        string.append("{:02X}".format(b))
+        string.append('{:02X}'.format(b))
     string.reverse()
-    return ":".join(string).upper()
+    return ':'.join(string).upper()
 
 
 class RFCOMMServer:
@@ -37,7 +37,6 @@ class RFCOMMServer:
     This is based on the ``socketserver.SocketServer`` class in the Python
     standard library.
     """
-
     request_queue_size = 1
 
     def __init__(self, server_address, RequestHandlerClass):
@@ -89,7 +88,6 @@ class StreamRequestHandler:
     This is based on ``socketserver.StreamRequestHandler`` from the Python
     standard library.
     """
-
     def __init__(self, request, client_address, server):
         self.request = request
         self.client_address = client_address
@@ -115,7 +113,6 @@ class ThreadingRFCOMMServer(ThreadingMixIn, RFCOMMServer):
     """Version of :class:`RFCOMMServer` that handles connections in a new
     thread.
     """
-
     pass
 
 

examples/ev3/bluetooth_pc/pybricks/messaging.py

@@ -5,12 +5,8 @@ from _thread import allocate_lock
 from errno import ECONNRESET
 from struct import pack, unpack
 
-from .bluetooth import (
-    BDADDR_ANY,
-    ThreadingRFCOMMServer,
-    ThreadingRFCOMMClient,
-    StreamRequestHandler,
-)
+from .bluetooth import (BDADDR_ANY, ThreadingRFCOMMServer,
+                        ThreadingRFCOMMClient, StreamRequestHandler)
 
 
 def resolve(brick):
@@ -103,7 +99,7 @@ class LogicMailbox(Mailbox):
     """
 
     def encode(self, value):
-        return b"\x01" if value else b"\x00"
+        return b'\x01' if value else b'\x00'
 
     def decode(self, payload):
         return bool(payload[0])
@@ -117,10 +113,10 @@ class NumericMailbox(Mailbox):
     """
 
     def encode(self, value):
-        return pack("<f", value)
+        return pack('<f', value)
 
     def decode(self, payload):
-        return unpack("<f", payload)[0]
+        return unpack('<f', payload)[0]
 
 
 class TextMailbox(Mailbox):
@@ -131,10 +127,10 @@ class TextMailbox(Mailbox):
     """
 
     def encode(self, value):
-        return ("{}\0".format(value)).encode("utf-8")
+        return ('{}\0'.format(value)).encode('utf-8')
 
     def decode(self, payload):
-        return payload.decode().strip("\0")
+        return payload.decode().strip('\0')
 
 
 # EV3 standard firmware is hard-coded to use channel 1
@@ -159,16 +155,16 @@ class MailboxHandler(StreamRequestHandler):
                 if ex.args[0] == ECONNRESET:
                     break
                 raise
-            (size,) = unpack("<H", buf)
+            size, = unpack('<H', buf)
             buf = self.rfile.recv(size)
-            msg_count, cmd_type, cmd, name_size = unpack("<HBBB", buf[0:5])
+            msg_count, cmd_type, cmd, name_size = unpack('<HBBB', buf[0:5])
             if cmd_type != SYSTEM_COMMAND_NO_REPLY:
-                raise ValueError("Bad message type")
+                raise ValueError('Bad message type')
             if cmd != WRITEMAILBOX:
-                raise ValueError("Bad command")
-            mbox = buf[5 : 5 + name_size].decode().strip("\0")
-            (data_size,) = unpack("<H", buf[5 + name_size : 7 + name_size])
-            data = buf[7 + name_size : 7 + name_size + data_size]
+                raise ValueError('Bad command')
+            mbox = buf[5:5+name_size].decode().strip('\0')
+            data_size, = unpack('<H', buf[5+name_size:7+name_size])
+            data = buf[7+name_size:7+name_size+data_size]
 
             with self.server._lock:
                 self.server._mailboxes[mbox] = data
@@ -220,18 +216,9 @@ class MailboxHandlerMixIn:
         mbox_len = len(mbox) + 1
         payload_len = len(payload)
         send_len = 7 + mbox_len + payload_len
-        fmt = "<HHBBB{}sH{}s".format(mbox_len, payload_len)
-        data = pack(
-            fmt,
-            send_len,
-            1,
-            SYSTEM_COMMAND_NO_REPLY,
-            WRITEMAILBOX,
-            mbox_len,
-            mbox.encode("utf-8"),
-            payload_len,
-            payload,
-        )
+        fmt = '<HHBBB{}sH{}s'.format(mbox_len, payload_len)
+        data = pack(fmt, send_len, 1, SYSTEM_COMMAND_NO_REPLY, WRITEMAILBOX,
+                    mbox_len, mbox.encode('utf-8'), payload_len, payload)
         with self._lock:
             if brick is None:
                 for client in self._clients.values():
@@ -268,8 +255,7 @@ class BluetoothMailboxServer(MailboxHandlerMixIn, ThreadingRFCOMMServer):
         """
         super().__init__()
         super(ThreadingRFCOMMServer, self).__init__(
-            (BDADDR_ANY, EV3_RFCOMM_CHANNEL), MailboxHandler
-        )
+            (BDADDR_ANY, EV3_RFCOMM_CHANNEL), MailboxHandler)
 
     def wait_for_connection(self, count=1):
         """Waits for a :class:`BluetoothMailboxClient` on a remote device to
@@ -340,7 +326,7 @@ class BluetoothMailboxClient(MailboxHandlerMixIn):
             raise ValueError('no paired devices matching "{}"'.format(brick))
         client = MailboxRFCOMMClient(self, addr)
         if self._clients.setdefault(addr, client) is not client:
-            raise ValueError("connection with this address already exists")
+            raise ValueError('connection with this address already exists')
         try:
             client.handle_request()
         except Exception:

examples/ev3/bluetooth_read_spike/connection.py

@@ -1,9 +1,15 @@
+
 from uctypes import addressof, sizeof, struct
 from usocket import socket, SOCK_STREAM
 
 from _thread import start_new_thread
 
-from pybricks.bluetooth import str2ba, sockaddr_rc, AF_BLUETOOTH, BTPROTO_RFCOMM
+from pybricks.bluetooth import (
+    str2ba,
+    sockaddr_rc,
+    AF_BLUETOOTH,
+    BTPROTO_RFCOMM
+)
 from pybricks.tools import wait, StopWatch
 
 
@@ -19,7 +25,7 @@ def get_bluetooth_rfcomm_socket(address, channel):
     return sock
 
 
-class SpikePrimeStreamReader:
+class SpikePrimeStreamReader():
     def __init__(self, address):
 
         try:
@@ -50,8 +56,8 @@ class SpikePrimeStreamReader:
                 break
             try:
                 data = eval(raw)
-                if data["m"] == 0:
-                    self._values = data["p"]
+                if data['m'] == 0:
+                    self._values = data['p']
             except (SyntaxError, KeyError):
                 pass
 
@@ -59,8 +65,8 @@ class SpikePrimeStreamReader:
         return self._values
 
     def device(self, port):
-        if "A" <= port <= "F":
-            return self.values()[ord(port) - ord("A")][1]
+        if 'A' <= port <= 'F':
+            return self.values()[ord(port)-ord('A')][1]
         else:
             raise ValueError
 

examples/ev3/bluetooth_read_spike/main.py

@@ -9,7 +9,7 @@ ev3 = EV3Brick()
 ev3.speaker.beep()
 
 # Create the connection. See README.md to find the address for your SPIKE hub.
-spike = SpikePrimeStreamReader("F4:84:4C:AA:C8:A4")
+spike = SpikePrimeStreamReader('F4:84:4C:AA:C8:A4')
 
 # Now you can simply read values!
 for i in range(100):

examples/ev3/bluetooth_read_spike/rover.py

@@ -12,7 +12,7 @@ ev3 = EV3Brick()
 ev3.speaker.beep()
 
 # Create the connection. See README.md to find the address for your SPIKE hub.
-spike = SpikePrimeStreamReader("F4:84:4C:AA:C8:A4")
+spike = SpikePrimeStreamReader('F4:84:4C:AA:C8:A4')
 
 # Initialize the motors and drive base
 left_motor = Motor(Port.B)
@@ -24,5 +24,5 @@ while True:
     yaw, pitch, roll = spike.orientation()
 
     # Set speed and turn rate based on orientation
-    robot.drive(-pitch * 6, roll * 2)
+    robot.drive(-pitch*6, roll*2)
     wait(20)

examples/ev3/bluetooth_server/server.py

@@ -9,15 +9,15 @@
 from pybricks.messaging import BluetoothMailboxServer, TextMailbox
 
 server = BluetoothMailboxServer()
-mbox = TextMailbox("greeting", server)
+mbox = TextMailbox('greeting', server)
 
 # The server must be started before the client!
-print("waiting for connection...")
+print('waiting for connection...')
 server.wait_for_connection()
-print("connected!")
+print('connected!')
 
 # In this program, the server waits for the client to send the first message
 # and then sends a reply.
 mbox.wait()
 print(mbox.read())
-mbox.send("hello to you!")
+mbox.send('hello to you!')

examples/ev3/buttons_quickstart/menu.py

@@ -8,7 +8,7 @@ def wait_for_button(ev3):
     """
 
     # Show a picture of the buttons on the screen.
-    ev3.screen.load_image("buttons.png")
+    ev3.screen.load_image('buttons.png')
 
     # Tip: add text or icons to the image to help you
     # remember what each button will do in your program.

examples/ev3/datalog/main.py

@@ -8,7 +8,7 @@ from pybricks.tools import DataLog, StopWatch, wait
 #   log_2020_02_13_10_07_44_431260.csv
 # * You can optionally specify the titles of your data columns. For example,
 #   if you want to record the motor angles at a given time, you could do:
-data = DataLog("time", "angle")
+data = DataLog('time', 'angle')
 
 # Initialize a motor and make it move
 wheel = Motor(Port.B)

examples/ev3/datalog_extra/main.py

@@ -3,13 +3,13 @@ from pybricks.parameters import Color
 from pybricks.tools import DataLog
 
 # Create a data log file called my_file.txt
-data = DataLog("time", "angle", name="my_file", timestamp=False, extension="txt")
+data = DataLog('time', 'angle', name='my_file', timestamp=False, extension='txt')
 
 # The log method uses the print() method to add a line of text.
 # So, you can do much more than saving numbers. For example:
-data.log("Temperature", 25)
-data.log("Sunday", "Monday", "Tuesday")
-data.log({"Kiwi": Color.GREEN}, {"Banana": Color.YELLOW})
+data.log('Temperature', 25)
+data.log('Sunday', 'Monday', 'Tuesday')
+data.log({'Kiwi': Color.GREEN}, {'Banana': Color.YELLOW})
 
 # You can upload the file to your computer, but you can also print the data:
 print(data)

examples/ev3/ev3devsensor/class_example.py

@@ -13,22 +13,22 @@ class MySensor(Ev3devSensor):
         super().__init__(port)
 
         # Get the sysfs path.
-        self.path = "/sys/class/lego-sensor/sensor" + str(self.sensor_index)
+        self.path = '/sys/class/lego-sensor/sensor' + str(self.sensor_index)
 
     def get_modes(self):
         """Get a list of mode strings so we don't have to look them up."""
 
         # The path of the modes file.
-        modes_path = self.path + "/modes"
+        modes_path = self.path + '/modes'
 
         # Open the modes file.
-        with open(modes_path, "r") as m:
+        with open(modes_path, 'r') as m:
 
             # Read the contents.
             contents = m.read()
 
             # Strip the newline symbol, and split at every space symbol.
-            return contents.strip().split(" ")
+            return contents.strip().split(' ')
 
 
 # Initialize the sensor

examples/ev3/ev3devsensor/main.py

@@ -10,10 +10,10 @@ sensor = Ev3devSensor(Port.S3)
 
 while True:
     # Read the raw RGB values
-    r, g, b = sensor.read("RGB-RAW")
+    r, g, b = sensor.read('RGB-RAW')
 
     # Print results
-    print("R: {0}\t G: {1}\t B: {2}".format(r, g, b))
+    print('R: {0}\t G: {1}\t B: {2}'.format(r, g, b))
 
     # Wait
     wait(200)

examples/ev3/i2c_extra/main.py

@@ -10,7 +10,7 @@ ev3 = EV3Brick()
 device = I2CDevice(Port.S2, 0xD2 >> 1)
 
 # Recommended for reading
-(result,) = device.read(reg=0x0F, length=1)
+result, = device.read(reg=0x0F, length=1)
 
 # Read 1 byte from no particular register:
 device.read(reg=None, length=1)
@@ -23,10 +23,10 @@ device.read(reg=None, length=0)
 # can choose to skip the register or data as follows:
 
 # Recommended for writing:
-device.write(reg=0x22, data=b"\x08")
+device.write(reg=0x22, data=b'\x08')
 
 # Write 1 byte to no particular register:
-device.write(reg=None, data=b"\x08")
+device.write(reg=None, data=b'\x08')
 
 # Write 0 bytes to a particular register:
 device.write(reg=0x08, data=None)

examples/ev3/ps4/main.py

@@ -21,7 +21,7 @@ in_file = open(infile_path, "rb")
 
 # Define the format the event data will be read.
 # https://docs.python.org/3/library/struct.html#format-characters
-FORMAT = "llHHi"
+FORMAT = 'llHHi'
 EVENT_SIZE = struct.calcsize(FORMAT)
 event = in_file.read(EVENT_SIZE)
 
@@ -30,11 +30,10 @@ event = in_file.read(EVENT_SIZE)
 # numbers (-100 to 100)
 def scale(val, src, dst):
 
-    result = float(val - src[0]) / (src[1] - src[0])
+    result = (float(val - src[0]) / (src[1] - src[0]))
     result = result * (dst[1] - dst[0]) + dst[0]
     return result
 
-
 # Create a loop to react to events
 # This loop reacte to all main PS4 button and stick events. I have left out
 # buttons like share and options, but can easily be added in by referring

examples/ev3/rcx_touch/main.py

@@ -7,7 +7,7 @@ from pybricks.tools import wait
 
 class RCXTouchSensor(AnalogSensor):
     def pressed(self):
-        return self.resistance() < 50 * 1000
+        return self.resistance() < 50*1000
 
 
 ev3 = EV3Brick()

examples/ev3/screen_extra/main.py

@@ -15,24 +15,12 @@ ev3 = EV3Brick()
 # SPLIT SCREEN ################################################################
 
 # Make a sub-image for the left half of the screen
-left = Image(
-    ev3.screen,
-    sub=True,
-    x1=0,
-    y1=0,
-    x2=ev3.screen.width // 2 - 1,
-    y2=ev3.screen.height - 1,
-)
+left = Image(ev3.screen, sub=True, x1=0, y1=0,
+             x2=ev3.screen.width // 2 - 1, y2=ev3.screen.height - 1)
 
 # Make a sub-image for the right half of the screen
-right = Image(
-    ev3.screen,
-    sub=True,
-    x1=ev3.screen.width // 2,
-    y1=0,
-    x2=ev3.screen.width - 1,
-    y2=ev3.screen.height - 1,
-)
+right = Image(ev3.screen, sub=True, x1=ev3.screen.width // 2, y1=0,
+              x2=ev3.screen.width - 1, y2=ev3.screen.height - 1)
 
 # Use a monospaced font so that text is vertically aligned when we print
 right.set_font(Font(size=8, monospace=True))
@@ -65,7 +53,7 @@ for t in range(200):
 
     # Print every 10th value on right side
     if t % 10 == 0:
-        right.print("{:10.2f}{:10.2f}".format(x1, y1))
+        right.print('{:10.2f}{:10.2f}'.format(x1, y1))
 
     wait(100)
 
@@ -76,8 +64,8 @@ for t in range(200):
 buf = Image(ev3.screen)
 
 # Load images from file
-bg = Image("background.png")
-sprite = Image("sprite.png")
+bg = Image('background.png')
+sprite = Image('sprite.png')
 
 # Number of cells in each sprite animation
 NUM_CELLS = 8
@@ -87,28 +75,12 @@ CELL_WIDTH, CELL_HEIGHT = 75, 100
 
 # Get sub-images for each individual cell
 # This is more efficient that loading individual images
-walk_right = [
-    Image(
-        sprite,
-        sub=True,
-        x1=x * CELL_WIDTH,
-        y1=0,
-        x2=(x + 1) * CELL_WIDTH - 1,
-        y2=CELL_HEIGHT - 1,
-    )
-    for x in range(NUM_CELLS)
-]
-walk_left = [
-    Image(
-        sprite,
-        sub=True,
-        x1=x * CELL_WIDTH,
-        y1=CELL_HEIGHT,
-        x2=(x + 1) * CELL_WIDTH - 1,
-        y2=2 * CELL_HEIGHT - 1,
-    )
-    for x in range(NUM_CELLS)
-]
+walk_right = [Image(sprite, sub=True, x1=x * CELL_WIDTH, y1=0,
+                    x2=(x + 1) * CELL_WIDTH - 1, y2=CELL_HEIGHT - 1)
+              for x in range(NUM_CELLS)]
+walk_left = [Image(sprite, sub=True, x1=x * CELL_WIDTH, y1=CELL_HEIGHT,
+                   x2=(x + 1) * CELL_WIDTH - 1, y2=2 * CELL_HEIGHT - 1)
+             for x in range(NUM_CELLS)]
 
 
 # Walk from left to right

examples/ev3/screen_print/main.py

@@ -8,7 +8,7 @@ from pybricks.media.ev3dev import Font
 # load them once at the beginning of the program like this:
 tiny_font = Font(size=6)
 big_font = Font(size=24, bold=True)
-chinese_font = Font(size=24, lang="zh-cn")
+chinese_font = Font(size=24, lang='zh-cn')
 
 
 # Initialize the EV3
@@ -16,19 +16,19 @@ ev3 = EV3Brick()
 
 
 # Say hello
-ev3.screen.print("Hello!")
+ev3.screen.print('Hello!')
 
 # Say tiny hello
 ev3.screen.set_font(tiny_font)
-ev3.screen.print("hello")
+ev3.screen.print('hello')
 
 # Say big hello
 ev3.screen.set_font(big_font)
-ev3.screen.print("HELLO")
+ev3.screen.print('HELLO')
 
 # Say Chinese hello
 ev3.screen.set_font(chinese_font)
-ev3.screen.print("你好")
+ev3.screen.print('你好')
 
 # Wait some time to look at the screen
 wait(5000)

examples/ev3/speaker_basics/main.py

@@ -26,23 +26,9 @@ wait(1000)
 # PLAY NOTES ##################################################################
 
 # Twinkle, Twinkle Little Star
-A = [
-    "C4/4",
-    "C4/4",
-    "G4/4",
-    "G4/4",
-    "A4/4",
-    "A4/4",
-    "G4/2",
-    "F4/4",
-    "F4/4",
-    "E4/4",
-    "E4/4",
-    "D4/4",
-    "D4/4",
-    "C4/2",
-]
-B = ["G4/4", "G4/4", "F4/4", "F4/4", "E4/4", "E4/4", "D4/2"] * 2
+A = ['C4/4', 'C4/4', 'G4/4', 'G4/4', 'A4/4', 'A4/4', 'G4/2',
+     'F4/4', 'F4/4', 'E4/4', 'E4/4', 'D4/4', 'D4/4', 'C4/2']
+B = ['G4/4', 'G4/4', 'F4/4', 'F4/4', 'E4/4', 'E4/4', 'D4/2'] * 2
 TWINKLE = A + B + A
 
 ev3.speaker.play_notes(TWINKLE)
@@ -60,10 +46,10 @@ wait(1000)
 # TEXT TO SPEECH ##############################################################
 
 # Say something in English
-ev3.speaker.say("I am am E V 3. Pleased to meet you.")
+ev3.speaker.say('I am am E V 3. Pleased to meet you.')
 
 # Say something in Danish + female
-ev3.speaker.set_speech_options(voice="da+f5")
-ev3.speaker.say("Leg godt!")
+ev3.speaker.set_speech_options(voice='da+f5')
+ev3.speaker.say('Leg godt!')
 
 wait(1000)

examples/ev3/uart_basics/main.py

@@ -11,7 +11,7 @@ ev3 = EV3Brick()
 ser = UARTDevice(Port.S2, baudrate=115200)
 
 # Write some data
-ser.write(b"\r\nHello, world!\r\n")
+ser.write(b'\r\nHello, world!\r\n')
 
 # Play a sound while we wait for some data
 for i in range(3):

examples/ev3/vernier_surface_temperature/main.py

@@ -10,8 +10,8 @@ def convert_raw_to_temperature(voltage):
 
     # Convert the raw voltage to the NTC resistance
     # according to the Vernier Adapter EV3 block.
-    counts = voltage / 5000 * 4096
-    ntc = 15000 * (counts) / (4130 - counts)
+    counts = voltage/5000*4096
+    ntc = 15000*(counts)/(4130-counts)
 
     # Handle log(0) safely: make sure that ntc value is positive.
     if ntc <= 0:
@@ -21,7 +21,7 @@ def convert_raw_to_temperature(voltage):
     K0 = 1.02119e-3
     K1 = 2.22468e-4
     K2 = 1.33342e-7
-    return 1 / (K0 + K1 * log(ntc) + K2 * log(ntc) ** 3)
+    return 1/(K0 + K1*log(ntc) + K2*log(ntc)**3)
 
 
 # Initialize the adapter on port 1

examples/pup/hub_cityhub/button_single.py

@@ -1,10 +1,9 @@
-# ThisHub = MoveHub CityHub TechnicHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import CityHub
 from pybricks.parameters import Color, Button
 from pybricks.tools import wait, StopWatch
 
 # Initialize the hub.
-hub = ThisHub()
+hub = CityHub()
 
 # Disable the stop button.
 hub.system.set_stop_button(None)

examples/pup/hub_cityhub/light_animate.py

@@ -1,11 +1,10 @@
-# ThisHub = CityHub TechnicHub PrimeHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import CityHub
 from pybricks.parameters import Color
 from pybricks.tools import wait
 from umath import sin, pi
 
 # Initialize the hub.
-hub = ThisHub()
+hub = CityHub()
 
 # Make an animation with multiple colors.
 hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
@@ -13,11 +12,12 @@ hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
 wait(10000)
 
 # Make the color RED grow faint and bright using a sine pattern.
-hub.light.animate([Color.RED * (0.5 * sin(i / 15 * pi) + 0.5) for i in range(30)], 40)
+hub.light.animate(
+    [Color.RED * (0.5 * sin(i / 15 * pi) + 0.5) for i in range(30)], 40)
 
 wait(10000)
 
 # Cycle through a rainbow of colors.
-hub.light.animate([Color(h=i * 8) for i in range(45)], interval=40)
+hub.light.animate([Color(h=i*8) for i in range(45)], interval=40)
 
 wait(10000)

examples/pup/hub_cityhub/light_blink.py

@@ -1,10 +1,9 @@
-# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import CityHub
 from pybricks.parameters import Color
 from pybricks.tools import wait
 
 # Initialize the hub
-hub = ThisHub()
+hub = CityHub()
 
 # Keep blinking red on and off.
 hub.light.blink(Color.RED, [500, 500])

examples/pup/hub_cityhub/light_hsv.py

@@ -1,10 +1,9 @@
-# ThisHub = CityHub TechnicHub PrimeHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import CityHub
 from pybricks.parameters import Color
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = ThisHub()
+hub = CityHub()
 
 # Show the color at 30% brightness.
 hub.light.on(Color.RED * 0.3)

examples/pup/hub_cityhub/light_off.py

@@ -1,10 +1,9 @@
-# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import CityHub
 from pybricks.parameters import Color
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = ThisHub()
+hub = CityHub()
 
 # Turn the light on and off 5 times.
 for i in range(5):

examples/pup/hub_cityhub/system_shutdown.py

@@ -1,9 +1,8 @@
-# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import CityHub
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = ThisHub()
+hub = CityHub()
 
 # Say goodbye and give some time to send it.
 print("Goodbye!")

examples/pup/hub_common/make_examples.py

@@ -1,39 +0,0 @@
-#!/usr/bin/env python3
-"""Generates hub-specific examples from common template script."""
-
-import pathlib
-
-# Make build directory.
-dir_path = pathlib.Path(__file__).parent
-build_path = dir_path / "build"
-build_path.mkdir(exist_ok=True)
-
-# Get list of scripts to be parsed.
-file_paths = [f for f in dir_path.glob("*.py") if f.stem != "make_examples"]
-
-# Go through all template scripts
-for file_path in file_paths:
-
-    with open(file_path) as template:
-
-        # First line contains hub info
-        hubs = template.readline().strip().split()[3:]
-
-        print("Converting", template.name, "to", hubs)
-
-        for hub in hubs:
-            # Path to hub-specific output script.
-            gen_path = build_path / (file_path.stem + "_" + hub.lower() + ".py")
-
-            # Reset source script and skip over header.
-            template.seek(0)
-            template.readline()
-
-            # Open destination script:
-            with open(gen_path, "w") as dest_file:
-
-                # Read script line by line.
-                for line in template.readlines():
-
-                    # Replace hub name if present.
-                    dest_file.writelines(line.replace("ThisHub", hub))

examples/pup/hub_movehub/button_single.py

@@ -0,0 +1,25 @@
+from pybricks.hubs import MoveHub
+from pybricks.parameters import Color, Button
+from pybricks.tools import wait, StopWatch
+
+# Initialize the hub.
+hub = MoveHub()
+
+# Disable the stop button.
+hub.system.set_stop_button(None)
+
+# Check the button for 5 seconds.
+watch = StopWatch()
+while watch.time() < 5000:
+
+    # Set light to green if pressed, else red.
+    if hub.button.pressed():
+        hub.light.on(Color.GREEN)
+    else:
+        hub.light.on(Color.RED)
+
+# Enable the stop button again.
+hub.system.set_stop_button(Button.CENTER)
+
+# Now you can press the stop button as usual.
+wait(5000)

examples/pup/hub_movehub/imu_up.py

@@ -1,10 +1,9 @@
-# ThisHub = TechnicHub PrimeHub MoveHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import MoveHub
 from pybricks.parameters import Color, Side
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = ThisHub()
+hub = MoveHub()
 
 # Define colors for each side in a dictionary.
 SIDE_COLORS = {

examples/pup/hub_movehub/light_blink.py

@@ -0,0 +1,16 @@
+from pybricks.hubs import MoveHub
+from pybricks.parameters import Color
+from pybricks.tools import wait
+
+# Initialize the hub
+hub = MoveHub()
+
+# Keep blinking red on and off.
+hub.light.blink(Color.RED, [500, 500])
+
+wait(10000)
+
+# Keep blinking green slowly and then quickly.
+hub.light.blink(Color.GREEN, [500, 500, 50, 900])
+
+wait(10000)

examples/pup/hub_movehub/light_off.py

@@ -0,0 +1,15 @@
+from pybricks.hubs import MoveHub
+from pybricks.parameters import Color
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = MoveHub()
+
+# Turn the light on and off 5 times.
+for i in range(5):
+
+    hub.light.on(Color.RED)
+    wait(1000)
+
+    hub.light.off()
+    wait(500)

examples/pup/hub_movehub/system_shutdown.py

@@ -0,0 +1,12 @@
+from pybricks.hubs import MoveHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = MoveHub()
+
+# Say goodbye and give some time to send it.
+print("Goodbye!")
+wait(100)
+
+# Shut the hub down.
+hub.system.shutdown()

examples/pup/hub_primehub/display_animate.py

@@ -12,7 +12,7 @@ hub.light.off()
 brightness = list(range(0, 100, 4)) + list(range(100, 0, -4))
 
 # Create an animation of the heart icon with changing brightness.
-hub.display.animate([Icon.HEART * i / 100 for i in brightness], 30)
+hub.display.animate([Icon.HEART * i/100 for i in brightness], 30)
 
 # The animation repeats in the background. Here we just wait.
 while True:

examples/pup/hub_primehub/display_expression.py

@@ -12,15 +12,15 @@ while True:
 
     # Start with random left brow: up or down.
     if randint(0, 100) < 70:
-        brows = Icon.EYE_LEFT_BROW * 0.5
+        brows = Icon.EYE_LEFT_BROW*0.5
     else:
-        brows = Icon.EYE_LEFT_BROW_UP * 0.5
+        brows = Icon.EYE_LEFT_BROW_UP*0.5
 
     # Add random right brow: up or down.
     if randint(0, 100) < 70:
-        brows += Icon.EYE_RIGHT_BROW * 0.5
+        brows += Icon.EYE_RIGHT_BROW*0.5
     else:
-        brows += Icon.EYE_RIGHT_BROW_UP * 0.5
+        brows += Icon.EYE_RIGHT_BROW_UP*0.5
 
     for i in range(3):
         # Display eyes open plus the random brows.
@@ -28,7 +28,5 @@ while True:
         wait(2000)
 
         # Display eyes blinked plus the random brows.
-        hub.display.image(
-            Icon.EYE_LEFT_BLINK * 0.7 + Icon.EYE_RIGHT_BLINK * 0.7 + brows
-        )
+        hub.display.image(Icon.EYE_LEFT_BLINK*0.7 + Icon.EYE_RIGHT_BLINK*0.7 + brows)
         wait(200)

examples/pup/hub_primehub/display_matrix.py

@@ -6,15 +6,13 @@ from pybricks.geometry import Matrix
 hub = PrimeHub()
 
 # Make a square that is bright on the outside and faint in the middle.
-SQUARE = Matrix(
-    [
-        [100, 100, 100, 100, 100],
-        [100, 50, 50, 50, 100],
-        [100, 50, 0, 50, 100],
-        [100, 50, 50, 50, 100],
-        [100, 100, 100, 100, 100],
-    ]
-)
+SQUARE = Matrix([
+    [100, 100, 100, 100, 100],
+    [100, 50,  50,  50,  100],
+    [100, 50,  0,   50,  100],
+    [100, 50,  50,  50,  100],
+    [100, 100, 100, 100, 100],
+])
 
 # Display the square.
 hub.display.image(SQUARE)

examples/pup/hub_primehub/display_text.py

@@ -5,8 +5,8 @@ from pybricks.tools import wait
 hub = PrimeHub()
 
 # Display the letter A for two seconds.
-hub.display.char("A")
+hub.display.char('A')
 wait(2000)
 
 # Display text, one letter at a time.
-hub.display.text("Hello, world!")
+hub.display.text('Hello, world!')

examples/pup/hub_primehub/imu_read_scalar.py

@@ -1,10 +1,9 @@
-# ThisHub = TechnicHub PrimeHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import PrimeHub
 from pybricks.tools import wait
 from pybricks.geometry import Axis
 
 # Initialize the hub.
-hub = ThisHub()
+hub = PrimeHub()
 
 # Get the acceleration or angular_velocity along a single axis.
 # If you need only one value, this is more memory efficient.

examples/pup/hub_primehub/imu_read_vector.py

@@ -1,12 +1,11 @@
-# ThisHub = TechnicHub PrimeHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import PrimeHub
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = ThisHub()
+hub = PrimeHub()
 
-# Get the acceleration vector in g's.
-print(hub.imu.acceleration() / 9810)
+# Get the acceleration vector.
+print(hub.imu.acceleration())
 
 # Get the angular velocity vector.
 print(hub.imu.angular_velocity())

examples/pup/hub_primehub/imu_tilt.py

@@ -1,9 +1,8 @@
-# ThisHub = TechnicHub PrimeHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import PrimeHub
 from pybricks.tools import wait
 
 # Initialize the hub.
-hub = ThisHub()
+hub = PrimeHub()
 
 while True:
     # Read the tilt values.

examples/pup/hub_primehub/imu_tilt_blast.py

@@ -1,12 +1,11 @@
-# ThisHub = TechnicHub PrimeHub EssentialHub
-from pybricks.hubs import ThisHub
+from pybricks.hubs import PrimeHub
 from pybricks.tools import wait
 from pybricks.geometry import Axis
 
 # Initialize the hub. In this case, specify that the hub is mounted with the
 # top side facing forward and the front side facing to the right.
 # For example, this is how the hub is mounted in BLAST in the 51515 set.
-hub = ThisHub(top_side=Axis.X, front_side=-Axis.Y)
+hub = PrimeHub(top_side=Axis.X, front_side=-Axis.Y)
 
 while True:
     # Read the tilt values. Now, the values are 0 when BLAST stands upright.

examples/pup/hub_primehub/imu_up.py

@@ -0,0 +1,29 @@
+from pybricks.hubs import PrimeHub
+from pybricks.parameters import Color, Side
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = PrimeHub()
+
+# Define colors for each side in a dictionary.
+SIDE_COLORS = {
+    Side.TOP: Color.RED,
+    Side.BOTTOM: Color.BLUE,
+    Side.LEFT: Color.GREEN,
+    Side.RIGHT: Color.YELLOW,
+    Side.FRONT: Color.MAGENTA,
+    Side.BACK: Color.BLACK,
+}
+
+# Keep updating the color based on detected up side.
+while True:
+
+    # Check which side of the hub is up.
+    up_side = hub.imu.up()
+
+    # Change the color based on the side.
+    hub.light.on(SIDE_COLORS[up_side])
+
+    # Also print the result.
+    print(up_side)
+    wait(50)

examples/pup/hub_primehub/light_animate.py

@@ -0,0 +1,23 @@
+from pybricks.hubs import PrimeHub
+from pybricks.parameters import Color
+from pybricks.tools import wait
+from umath import sin, pi
+
+# Initialize the hub.
+hub = PrimeHub()
+
+# Make an animation with multiple colors.
+hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
+
+wait(10000)
+
+# Make the color RED grow faint and bright using a sine pattern.
+hub.light.animate(
+    [Color.RED * (0.5 * sin(i / 15 * pi) + 0.5) for i in range(30)], 40)
+
+wait(10000)
+
+# Cycle through a rainbow of colors.
+hub.light.animate([Color(h=i*8) for i in range(45)], interval=40)
+
+wait(10000)

examples/pup/hub_primehub/light_blink.py

@@ -0,0 +1,16 @@
+from pybricks.hubs import PrimeHub
+from pybricks.parameters import Color
+from pybricks.tools import wait
+
+# Initialize the hub
+hub = PrimeHub()
+
+# Keep blinking red on and off.
+hub.light.blink(Color.RED, [500, 500])
+
+wait(10000)
+
+# Keep blinking green slowly and then quickly.
+hub.light.blink(Color.GREEN, [500, 500, 50, 900])
+
+wait(10000)

examples/pup/hub_primehub/light_hsv.py

@@ -0,0 +1,21 @@
+from pybricks.hubs import PrimeHub
+from pybricks.parameters import Color
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = PrimeHub()
+
+# Show the color at 30% brightness.
+hub.light.on(Color.RED * 0.3)
+
+wait(2000)
+
+# Use your own custom color.
+hub.light.on(Color(h=30, s=100, v=50))
+
+wait(2000)
+
+# Go through all the colors.
+for hue in range(360):
+    hub.light.on(Color(hue))
+    wait(10)

examples/pup/hub_primehub/light_off.py

@@ -0,0 +1,15 @@
+from pybricks.hubs import PrimeHub
+from pybricks.parameters import Color
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = PrimeHub()
+
+# Turn the light on and off 5 times.
+for i in range(5):
+
+    hub.light.on(Color.RED)
+    wait(1000)
+
+    hub.light.off()
+    wait(500)

examples/pup/hub_primehub/system_shutdown.py

@@ -0,0 +1,12 @@
+from pybricks.hubs import PrimeHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = PrimeHub()
+
+# Say goodbye and give some time to send it.
+print("Goodbye!")
+wait(100)
+
+# Shut the hub down.
+hub.system.shutdown()

examples/pup/hub_shared/button_single.py

@@ -0,0 +1,26 @@
+# ExampleHub = MoveHub CityHub TechnicHub
+from pybricks.hubs import ExampleHub
+from pybricks.parameters import Color, Button
+from pybricks.tools import wait, StopWatch
+
+# Initialize the hub.
+hub = ExampleHub()
+
+# Disable the stop button.
+hub.system.set_stop_button(None)
+
+# Check the button for 5 seconds.
+watch = StopWatch()
+while watch.time() < 5000:
+
+    # Set light to green if pressed, else red.
+    if hub.button.pressed():
+        hub.light.on(Color.GREEN)
+    else:
+        hub.light.on(Color.RED)
+
+# Enable the stop button again.
+hub.system.set_stop_button(Button.CENTER)
+
+# Now you can press the stop button as usual.
+wait(5000)

examples/pup/hub_shared/imu_read_scalar.py

@@ -0,0 +1,21 @@
+# ExampleHub = TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.tools import wait
+from pybricks.geometry import Axis
+
+# Initialize the hub.
+hub = ExampleHub()
+
+# Get the acceleration or angular_velocity along a single axis.
+# If you need only one value, this is more memory efficient.
+while True:
+
+    # Read the forward acceleration.
+    forward_acceleration = hub.imu.acceleration(Axis.X)
+
+    # Read the yaw rate.
+    yaw_rate = hub.imu.angular_velocity(Axis.Z)
+
+    # Print the yaw rate.
+    print(yaw_rate)
+    wait(100)

examples/pup/hub_shared/imu_read_vector.py

@@ -0,0 +1,15 @@
+# ExampleHub = TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ExampleHub()
+
+# Get the acceleration vector.
+print(hub.imu.acceleration())
+
+# Get the angular velocity vector.
+print(hub.imu.angular_velocity())
+
+# Wait so we can see what we printed
+wait(5000)

examples/pup/hub_shared/imu_tilt.py

@@ -0,0 +1,14 @@
+# ExampleHub = TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ExampleHub()
+
+while True:
+    # Read the tilt values.
+    pitch, roll = hub.imu.tilt()
+
+    # Print the result.
+    print(pitch, roll)
+    wait(200)

examples/pup/hub_shared/imu_tilt_blast.py

@@ -0,0 +1,18 @@
+# ExampleHub = TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.tools import wait
+from pybricks.geometry import Axis
+
+# Initialize the hub. In this case, specify that the hub is mounted with the
+# top side facing forward and the front side facing to the right.
+# For example, this is how the hub is mounted in BLAST in the 51515 set.
+hub = ExampleHub(top_side=Axis.X, front_side=-Axis.Y)
+
+while True:
+    # Read the tilt values. Now, the values are 0 when BLAST stands upright.
+    # Leaning forward gives positive pitch. Leaning right gives positive roll.
+    pitch, roll = hub.imu.tilt()
+
+    # Print the result.
+    print(pitch, roll)
+    wait(200)

examples/pup/hub_shared/imu_up.py

@@ -0,0 +1,30 @@
+# ExampleHub = TechnicHub PrimeHub MoveHub
+from pybricks.hubs import ExampleHub
+from pybricks.parameters import Color, Side
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ExampleHub()
+
+# Define colors for each side in a dictionary.
+SIDE_COLORS = {
+    Side.TOP: Color.RED,
+    Side.BOTTOM: Color.BLUE,
+    Side.LEFT: Color.GREEN,
+    Side.RIGHT: Color.YELLOW,
+    Side.FRONT: Color.MAGENTA,
+    Side.BACK: Color.BLACK,
+}
+
+# Keep updating the color based on detected up side.
+while True:
+
+    # Check which side of the hub is up.
+    up_side = hub.imu.up()
+
+    # Change the color based on the side.
+    hub.light.on(SIDE_COLORS[up_side])
+
+    # Also print the result.
+    print(up_side)
+    wait(50)

examples/pup/hub_shared/light_animate.py

@@ -0,0 +1,24 @@
+# ExampleHub = CityHub TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.parameters import Color
+from pybricks.tools import wait
+from umath import sin, pi
+
+# Initialize the hub.
+hub = ExampleHub()
+
+# Make an animation with multiple colors.
+hub.light.animate([Color.RED, Color.GREEN, Color.NONE], interval=500)
+
+wait(10000)
+
+# Make the color RED grow faint and bright using a sine pattern.
+hub.light.animate(
+    [Color.RED * (0.5 * sin(i / 15 * pi) + 0.5) for i in range(30)], 40)
+
+wait(10000)
+
+# Cycle through a rainbow of colors.
+hub.light.animate([Color(h=i*8) for i in range(45)], interval=40)
+
+wait(10000)

examples/pup/hub_shared/light_blink.py

@@ -0,0 +1,17 @@
+# ExampleHub = MoveHub CityHub TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.parameters import Color
+from pybricks.tools import wait
+
+# Initialize the hub
+hub = ExampleHub()
+
+# Keep blinking red on and off.
+hub.light.blink(Color.RED, [500, 500])
+
+wait(10000)
+
+# Keep blinking green slowly and then quickly.
+hub.light.blink(Color.GREEN, [500, 500, 50, 900])
+
+wait(10000)

examples/pup/hub_shared/light_hsv.py

@@ -0,0 +1,22 @@
+# ExampleHub = CityHub TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.parameters import Color
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ExampleHub()
+
+# Show the color at 30% brightness.
+hub.light.on(Color.RED * 0.3)
+
+wait(2000)
+
+# Use your own custom color.
+hub.light.on(Color(h=30, s=100, v=50))
+
+wait(2000)
+
+# Go through all the colors.
+for hue in range(360):
+    hub.light.on(Color(hue))
+    wait(10)

examples/pup/hub_shared/light_off.py

@@ -0,0 +1,16 @@
+# ExampleHub = MoveHub CityHub TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.parameters import Color
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ExampleHub()
+
+# Turn the light on and off 5 times.
+for i in range(5):
+
+    hub.light.on(Color.RED)
+    wait(1000)
+
+    hub.light.off()
+    wait(500)

examples/pup/hub_shared/make_shared_examples.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+"""Replaces all instances of ExampleHub in template with actual hub names."""
+import os
+
+# Get list of scripts to be parsed
+script_names = [f for f in os.listdir('.') if f != 'make_shared_examples.py']
+
+# Go through all template scripts
+for script in (open(f, 'r') for f in script_names):
+
+    # First line contains hub info
+    hubs = script.readline().strip().split()[3:]
+
+    print("Converting", script.name, "for", hubs)
+
+    for hub in hubs:
+        # Determine path to the hub
+        hub_path = os.path.join('..', 'hub_' + hub.lower())
+
+        # Reset source script
+        script.seek(0)
+        script.readline()
+
+        # Open destination script:
+        with open(os.path.join(hub_path, script.name), 'w') as dest_file:
+
+            # Read script line by line
+            for line in script.readlines():
+
+                # Replace hub name if present
+                dest_file.writelines(line.replace('ExampleHub', hub))

examples/pup/hub_shared/system_shutdown.py

@@ -0,0 +1,13 @@
+# ExampleHub = MoveHub CityHub TechnicHub PrimeHub
+from pybricks.hubs import ExampleHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ExampleHub()
+
+# Say goodbye and give some time to send it.
+print("Goodbye!")
+wait(100)
+
+# Shut the hub down.
+hub.system.shutdown()

examples/pup/hub_technichub/button_single.py

@@ -0,0 +1,25 @@
+from pybricks.hubs import TechnicHub
+from pybricks.parameters import Color, Button
+from pybricks.tools import wait, StopWatch
+
+# Initialize the hub.
+hub = TechnicHub()
+
+# Disable the stop button.
+hub.system.set_stop_button(None)
+
+# Check the button for 5 seconds.
+watch = StopWatch()
+while watch.time() < 5000:
+
+    # Set light to green if pressed, else red.
+    if hub.button.pressed():
+        hub.light.on(Color.GREEN)
+    else:
+        hub.light.on(Color.RED)
+
+# Enable the stop button again.
+hub.system.set_stop_button(Button.CENTER)
+
+# Now you can press the stop button as usual.
+wait(5000)

examples/pup/hub_technichub/imu_read_scalar.py

@@ -0,0 +1,20 @@
+from pybricks.hubs import TechnicHub
+from pybricks.tools import wait
+from pybricks.geometry import Axis
+
+# Initialize the hub.
+hub = TechnicHub()
+
+# Get the acceleration or angular_velocity along a single axis.
+# If you need only one value, this is more memory efficient.
+while True:
+
+    # Read the forward acceleration.
+    forward_acceleration = hub.imu.acceleration(Axis.X)
+
+    # Read the yaw rate.
+    yaw_rate = hub.imu.angular_velocity(Axis.Z)
+
+    # Print the yaw rate.
+    print(yaw_rate)
+    wait(100)

examples/pup/hub_technichub/imu_read_vector.py

@@ -0,0 +1,14 @@
+from pybricks.hubs import TechnicHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = TechnicHub()
+
+# Get the acceleration vector.
+print(hub.imu.acceleration())
+
+# Get the angular velocity vector.
+print(hub.imu.angular_velocity())
+
+# Wait so we can see what we printed
+wait(5000)

examples/pup/hub_technichub/imu_tilt.py

@@ -0,0 +1,13 @@
+from pybricks.hubs import TechnicHub
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = TechnicHub()
+
+while True:
+    # Read the tilt values.
+    pitch, roll = hub.imu.tilt()
+
+    # Print the result.
+    print(pitch, roll)
+    wait(200)