v2.0.0.post2

The Microsoft Python extension for VS code doesn't include imports in
type hints, so the Motor type wasn't working properly. We can fix this
by wrapping the import type in a new, empty class definition.

The DCMotor class was also missing from ev3devices so this is fixed as well.

.github/FUNDING.yml

@@ -1,2 +0,0 @@
-
-github: [pybricks]

.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-ide-docs.yml

@@ -1,38 +0,0 @@
-name: Release @pybricks/ide-docs
-
-on:
-  push:
-    tags: 
-    - '@pybricks/ide-docs/**'
-
-jobs:
-  publish_ide_docs:
-    runs-on: ubuntu-20.04
-    steps:
-    - name: Ubuntu packages
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
-    - uses: actions/checkout@v2
-      with:
-        submodules: recursive
-    - name: Set up Python 3.8
-      uses: actions/setup-python@v1
-      with:
-        python-version: 3.8
-    - name: Install dependencies
-      run: |
-        pip install poetry
-        poetry run python -m pip install --upgrade pip
-        poetry run python -m pip install --upgrade setuptools
-        poetry install
-    - uses: actions/setup-node@v1
-      with:
-        node-version: '14.x'
-        registry-url: 'https://registry.npmjs.org'
-    - run: yarn build
-      working-directory: npm/ide-docs
-    - run: yarn publish
-      working-directory: npm/ide-docs
-      env:
-        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_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 }}

.github/workflows/pythonpackage.yml

@@ -1,26 +1,14 @@
 # This workflow will install Python dependencies, run tests and lint with a variety of Python versions
 # For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
 
-name: Build Python package and docs
-
-on: 
-  push:
-    tags-ignore:
-      - "*"
-  pull_request:
-    paths:
-      - doc/**
-      - src/**
-      - poetry.lock
-      - poetry.toml
-      - pyproject.toml
-      - setup.cfg
+name: Python package
 
+on: [ push, pull_request ]
 
 jobs:
   build:
 
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       matrix:
         python-version: [3.8, 3.9]
@@ -44,12 +32,6 @@ jobs:
     - name: Build package
       run: poetry build
     - name: Lint docs
-      run: poetry run doc8
-    - name: Build html docs for Read the Docs
+      run: poetry run doc8 --extension .inc
+    - name: Build html docs
       run: poetry run make -C doc html
-    - name: Install IDE docs dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
-    - name: Build html docs for Pybricks Code IDE
-      run: poetry run make -C doc html TAG=ide

.github/workflows/release-to-pypi.yml

@@ -1,22 +0,0 @@
-name: Release to PyPI
-
-on:
-  release:
-    types: [published]
-
-jobs:
-  build_and_publish:
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
-      with:
-        python-version: 3.8
-    - uses: abatilo/actions-poetry@v2.0.0
-      with:
-        poetry-version: 1.1.6
-    - run: poetry install
-    - run: poetry build
-    - run: poetry publish
-      env:
-        POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_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

.gitmodules

@@ -1,3 +1,6 @@
+[submodule "pybricks-projects"]
+	path = pybricks-projects
+	url = https://github.com/pybricks/pybricks-projects
 [submodule "media/ev3dev-media"]
 	path = media/ev3dev-media
 	url = https://github.com/ev3dev/ev3dev-media.git

.readthedocs.yaml

@@ -1,22 +0,0 @@
-# .readthedocs.yaml
-# Read the Docs configuration file
-# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
-#
-# Settings in the readthedocs online dashboard will be ignored.
-
-# Required
-version: 2
-
-# Build documentation in the doc/main directory with Sphinx
-sphinx:
-   configuration: doc/main/conf.py
-
-# Build your docs in additional formats such as PDF
-formats:
-   - pdf
-
-# Set the version of Python and requirements required to build the docs
-python:
-   version: 3.8
-   install:
-   - requirements: rtd-requirements.txt

.vscode/settings.json

@@ -1,26 +1,12 @@
 {
-    "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",
+    "restructuredtext.confPath": "${workspaceFolder}/doc/api",
     "spellright.language": [
         "en_US"
     ],
@@ -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

@@ -15,7 +15,7 @@ builtins
 cdot
 Celcius
 cityhub
-technichub
+cplushub
 de
 dev
 en
@@ -78,4 +78,3 @@ thermistor
 toctree
 TODO
 UART
-utf-8

CHANGELOG.md

@@ -2,131 +2,11 @@
 
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 
-## Unreleased
+## 2.0.0.post2
 
 ### 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.
+- Added this changelog.
 
 ### Fixed
 - Fixed code completion for `DCMotor` and `Motor` classes in MS Python VS Code extension.
 - Fixed missing `DCMotor` type in `ev3devices`.
-- Fixed type hint for `Motor.reset_angle()` in `pupdevices`.
-
-### Changed
-- Setter for acceleration can now also be used to set acceleration and
-  deceleration to different values, using a two-valued tuple.
-
-## 3.1.0 - 2021-12-16
-
-### Added
-- Added maximum voltage setter for `DCMotor` and `Motor`.
-- Documented `DriveBase.curve()` method.
-
-### Changed
-- Removed `duty` setting from `Control.limits` method.
-- Removed `integral_range` setting from `Control.pid` method.
-
-### Fixed
-- Fixed link to Color Light Matrix page.
-- Fixed link to Inventor Hub page.
-
-## 3.1.0rc1 - 2021-11-19
-
-### Added
-- Added `ColorLightMatrix` class.
-- Added `LWP3Device` class.
-
-**NOTE: version number after this point were from JavaScript package and do
-not correspond to Pybricks firmware version numbers.**
-
-## 1.6.0 - 2021-08-30
-
-### Added
-- MicroPython module documentation.
-- Examples for hub system functions including stop button and shutdown.
-
-### Changed
-- Build IDE docs as main docs with minor changes, instead of a completely
-  separate build.
-- Moved motor control documentation to the motor page.
-
-## 1.5.0 - 2021-07-01
-
-### Added
-- Documentation for Powered Up Remote Control.
-
-## 1.4.0 - 2021-06-23
-
-### Added
-- Enabled beta content that was hidden for the 3.0 release.
-- Added notice about using the latest beta version.
-
-## 1.3.3 - 2021-05-21
-
-### Changed
-- Match example snippet styling to IDE.
-- Add more examples.
-
-## 1.3.2 - 2021-04-26
-
-## Changed
-- Theme style fixes.
-- Example code fixes
-- Match doc version to firmware version.
-
-## 1.3.1 - 2021-04-12
-
-### Changed
-- Upgrade sphinx and rtd-theme to fix style issues.
-
-## 1.3.0 - 2021-04-12
-
-### Removed
-- Removed features which not be in the official 3.0 release. These features
-  are still in beta. They'll come back in future releases once tested.
-
-## 1.2.0 - 2021-04-09
-
-### Changed
-- Moved installation guide to external site.
-
-## 1.1.1 - 2021-02-14
-
-### Added
-- Added installation guide.
-- Various documentation fixes.
-
-## 1.1.0 - 2021-01-28
-
-### Added
-- Scrollbar styling.
-
-## 1.0.0 - 2021-01-25
-
-### Added
-- Sphinx build output.

CONTRIBUTING.md

@@ -20,103 +20,23 @@ will actually be implemented.
 
 - Commit messages have a one-line subject, a blank line and a multiline body:
 
-        prefix: Subject of the change.
+        prefix: subject
 
         body...
 
-- Use a prefix to categorize the change:
-  - Use the import path as the prefix whenever possible. Examples:
-     - pybricks.tools: Add StopWatch class.
-     - pybricks.tools: Reorganize RST files.
-     - pybricks.tools.StopWatch: Fix return type.
-     - 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:
-     - .vscode/settings: Fix file associations.
-- The subject briefly describes _what_ was changed. Use a short full sentence
-  as in the examples above.
+- Use a prefix to categorize the change. Usually this is the path the the file
+  being changed. 
+  - If it is a documentation change, it can be shortened to `doc/<file>` (omit
+    `api` from the path).
+  - If it is an API change (in the `pybricks` folder), write `api/<file>` 
+    instead of `pybricks/<file>`.
+- The subject briefly describes _what_ was changed, e.g. `fix typo`.
 - The body describes _why_ the change was made, e.g. `The word "sensor" was
   spelled incorrectly`.
+- See the [commit history][commits] for more examples.
 
 [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 +46,8 @@ 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:
 
@@ -139,24 +59,15 @@ Build docs:
 
     # Linux
     poetry run make -C doc html
-    xdg-open doc/main/build/html/index.html
+    xdg-open doc/api/build/html/index.html
 
     # macOS
     poetry run make -C doc html
-    open doc/main/build/html/index.html
+    open doc/api/build/html/index.html
 
     # Windows (PowerShell)
     poetry run doc\make.bat html
-    Invoke-Item doc\main\build\html\index.html
-
-Building IDE docs variant:
-
-    # Linux/macOS
-    poetry run make -C doc html TAG=ide
-
-    # Windows (PowerShell)
-    $env:TAG="ide"
-    poetry run doc\make.bat html
+    Invoke-Item doc\api\build\html\index.html
 
 Linting:
 
@@ -167,4 +78,4 @@ 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

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2018-2021 The Pybricks Authors
+Copyright (c) 2018-2020 The Pybricks Authors
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

doc/Makefile

@@ -5,13 +5,12 @@
 SPHINXOPTS    = -W
 SPHINXBUILD   = sphinx-build
 SPHINXPROJ    = Pybricks
-SOURCEDIR     = main
+SOURCEDIR     = api
 BUILDDIR      = "$(SOURCEDIR)"/build
-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) $(O)
 
 .PHONY: help Makefile
 
@@ -22,4 +21,4 @@ diagrams:
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) -t $(TAG) $(O)
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

doc/api/conf.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Pybricks documentation build configuration file
+#
+import os
+
+# General information about the project.
+project = 'pybricks-micropython'
+copyright = '2018-2020 The Pybricks Authors'
+author = ''
+
+_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.'
+
+html_logo = '../common/images/pybricks-logo-rtd.png'
+latex_logo = '../common/images/pybricks-logo-large.png'
+
+exec(open(os.path.abspath("../common/conf.py")).read())

doc/api/diagram_source/hubs.ldr

@@ -0,0 +1,11 @@
+0 Name: pupmotors
+0 Author: Pybricks {laurens@pybricks.com}
+0 !LICENSE MIT
+1 15 -420 -56 -250 1 0 0 0 1 0 0 0 1 26910.dat
+1 15 10 -80 140 1 0 0 0 1 0 0 0 1 28738.dat
+1 71 -270 -40 630 1 0 0 0 1 0 0 0 1 22127.dat
+1 15 200 -96 600 -1 0 0 0 1 0 0 0 -1 28739.dat
+1 15 470 -16 -90 1 0 0 0 1 0 0 0 1 45601p02.dat
+1 15 -800 -40 360 1 0 0 0 1 0 0 0 1 95646c01.dat
+1 15 -1160 32 -310 1 0 0 0 1 0 0 0 1 53788c01.dat
+1 71 -1340 -40 430 1 0 0 0 1 0 0 0 1 87576c01.dat

doc/api/diagram_source/pupmotors.ldr

@@ -0,0 +1,8 @@
+0 Name: pupmotors
+0 Author: Pybricks {laurens@pybricks.com}
+0 !LICENSE MIT
+1 15 430 -96 190 0 0 1 1 0 0 0 1 0 54675c01.dat
+1 15 410 -72 30 0 0 1 1 0 0 0 1 0 54696c01.dat
+1 71 230 -144 0 1 0 0 0 1 0 0 0 1 22169c01.dat
+1 71 40 -216 0 1 0 0 0 1 0 0 0 1 22172c01.dat
+1 15 -140 -320 80 1 0 0 0 1 0 0 0 1 26913c01.dat

doc/api/diagram_source/pupmotors.svg

@@ -11,8 +11,8 @@
    xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
    xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    width="2000"
-   height="1126"
-   viewBox="0 0 529.16666 297.92083"
+   height="610"
+   viewBox="0 0 529.16666 161.39583"
    version="1.1"
    id="svg8"
    inkscape:version="0.92.3 (2405546, 2018-03-11)"
@@ -57,9 +57,9 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.35"
-     inkscape:cx="930.75599"
-     inkscape:cy="703.45816"
+     inkscape:zoom="0.49497475"
+     inkscape:cx="899.69341"
+     inkscape:cy="449.26412"
      inkscape:document-units="mm"
      inkscape:current-layer="layer1"
      showgrid="false"
@@ -87,18 +87,18 @@
      inkscape:label="Layer 1"
      inkscape:groupmode="layer"
      id="layer1"
-     transform="translate(0,0.92084997)">
+     transform="translate(0,-135.60415)">
     <image
        sodipodi:absref="pupmotors.png"
        xlink:href="pupmotors.png"
-       y="-0.92085403"
-       x="0"
-       id="image876"
+       y="135.60416"
+       x="-2.220446e-16"
+       id="image853"
        preserveAspectRatio="none"
-       height="297.92084"
+       height="161.39583"
        width="529.16669" />
     <g
-       transform="matrix(1.9732825,0,0,1.9732825,94.897251,-184.86922)"
+       transform="matrix(1.9732825,0,0,1.9732825,-10.059646,-179.85595)"
        id="g2717">
       <g
          transform="matrix(1,-0.27773651,0,1,59.387949,102.27922)"
@@ -123,7 +123,7 @@
     </g>
     <g
        id="g2727"
-       transform="matrix(1.7059944,0,0,1.7059944,-93.696445,-190.67567)">
+       transform="matrix(1.7059944,0,0,1.7059944,79.305221,-182.52003)">
       <g
          style="fill:#2980b9;fill-opacity:1;stroke:#fffbfb;stroke-width:0.13229167;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
          id="g2721"
@@ -147,7 +147,7 @@
          sodipodi:nodetypes="ccccsc" />
     </g>
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doc/api/diagram_source/pupsensors.ldr

@@ -0,0 +1,12 @@
+0 Name: pupmotors
+0 Author: Pybricks {laurens@pybricks.com}
+0 !LICENSE MIT
+1 15 600 -280 240 -1 0 0 0 -1 0 0 0 1 37316c01.dat
+1 15 60 -272 160 -1 0 0 0 -1 0 0 0 1 37312c01.dat
+1 15 -400 -280 240 -1 0 0 0 -1 0 0 0 1 37308c01.dat
+1 0 -400 -310 -374 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
+1 15 -400 -320 -410 0 0 1 0 1 0 -1 0 0 20841.dat
+1 15 630 -320 -420 1 0 0 0 1 0 0 0 1 26912.dat
+1 0 630 -310 -384 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
+1 15 60 -320 -430 0 0 1 0 1 0 -1 0 0 20844.dat
+1 0 60 -310 -394 -1 0 0 0 -1 0 0 0 1 u9218c01.dat

doc/api/diagram_source/terminal.svg

@@ -76,7 +76,7 @@
      inkscape:current-layer="svg2"
      showguides="false" />
   <image
-     sodipodi:absref="terminal.png"
+     sodipodi:absref="/home/laurens/pybricks/git/pybricks-api/doc/api/diagram_source/terminal.png"
      xlink:href="terminal.png"
      width="967.99994"
      height="402"

doc/api/ev3devices.rst

@@ -1,4 +1,4 @@
-:mod:`ev3devices <pybricks.ev3devices>` -- EV3 devices
+:mod:`ev3devices <pybricks.ev3devices>` -- EV3 Devices
 ======================================================
 
 .. automodule:: pybricks.ev3devices
@@ -9,13 +9,12 @@ Motors
 
 .. _fig_ev3motors:
 
-.. figure:: ../main/images/ev3motors_label.png
+.. figure:: ../api/images/ev3motors_label.png
    :width: 100 %
 
    EV3-compatible motors. The arrows indicate the default positive direction.
 
 .. autoclass:: pybricks.ev3devices.Motor
-    :noindex:
     :no-members:
 
     .. rubric:: Measuring
@@ -44,47 +43,22 @@ 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
 ^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_ev3_touch.png
+.. figure:: ../api/images/sensor_ev3_touch.png
    :width: 18 %
 
 .. autoclass:: pybricks.ev3devices.TouchSensor
@@ -92,7 +66,7 @@ Touch Sensor
 Color Sensor
 ^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_ev3_color.png
+.. figure:: ../api/images/sensor_ev3_color.png
    :width: 18 %
 
 .. autoclass:: pybricks.ev3devices.ColorSensor
@@ -100,11 +74,7 @@ Color Sensor
 Infrared Sensor and Beacon
 ^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Each method of this class puts the sensor in a different *mode*. Switching
-modes takes about one second on this sensor. To make sure that your program
-runs quickly, use only of these methods in your program.
-
-.. figure:: ../main/images/sensor_ev3_ir.png
+.. figure:: ../api/images/sensor_ev3_ir.png
    :width: 60 %
 
 .. autoclass:: pybricks.ev3devices.InfraredSensor
@@ -112,7 +82,7 @@ runs quickly, use only of these methods in your program.
 Ultrasonic Sensor
 ^^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_ev3_ultrasonic.png
+.. figure:: ../api/images/sensor_ev3_ultrasonic.png
    :width: 22 %
 
 .. autoclass:: pybricks.ev3devices.UltrasonicSensor
@@ -120,7 +90,7 @@ Ultrasonic Sensor
 Gyroscopic Sensor
 ^^^^^^^^^^^^^^^^^
 
-.. figure:: ../main/images/sensor_ev3_gyro.png
+.. figure:: ../api/images/sensor_ev3_gyro.png
    :width: 18 %
 
 .. autoclass:: pybricks.ev3devices.GyroSensor

doc/api/frames.inc

@@ -0,0 +1,32 @@
+Working with vectors
+====================
+
+Scalars and Vectors
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. _scalar:
+
+scalar
+--------------
+
+TODO
+
+.. _vector:
+
+vector
+--------------
+
+TODO
+
+Robot reference frame
+~~~~~~~~~~~~~~~~~~~~~~~
+
+.. _robotframe:
+
+Robot reference frame
+----------------------
+
+TODO (explanation, diagram, etc)::
+    * X: To the right
+    * Y: forward
+    * Z: upward

doc/api/hubs.rst

@@ -0,0 +1,18 @@
+:mod:`hubs <pybricks.hubs>` -- Programmable Hubs
+================================================
+
+.. module:: pybricks.hubs
+
+.. _fig_hubs:
+
+Select your programmable hub using the buttons below.
+
+.. content-tabs::
+
+    .. tab-container:: ev3brick
+        :title: EV3 Brick
+
+        .. figure:: ../api/images/ev3brick.png
+            :height: 15 em
+
+        .. include:: hubs_ev3brick.inc

doc/api/hubs_ev3brick.inc

@@ -0,0 +1,230 @@
+.. autoclass:: pybricks.hubs.EV3Brick
+    :no-members:
+
+    .. rubric:: Using the buttons
+
+    .. automethod:: pybricks.hubs::EV3Brick.buttons.pressed
+
+    .. rubric:: Using the brick status light
+
+    .. automethod:: pybricks.hubs::EV3Brick.light.on
+
+        .. toggle-header::
+            :header: **Show/hide example**
+
+            **Example: Turn the light on and change the color.**
+
+            .. literalinclude::
+              ../../pybricks-projects/snippets/ev3/light_color/main.py
+
+    .. automethod:: pybricks.hubs::EV3Brick.light.off
+
+    .. rubric:: Using the speaker
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.beep
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.play_notes
+
+        .. toggle-header::
+            :header: **Show/hide musical note format**
+
+            Each note is a string with the following format:
+
+                - The first character is the name of the note, ``A`` to ``G``
+                  or ``R`` for a rest.
+                - Note names can also include an accidental ``#`` (sharp) or
+                  ``b`` (flat). ``B#``/``Cb`` and ``E#``/``Fb`` are not
+                  allowed.
+                - The note name is followed by the octave number ``2``
+                  to ``8``. For example ``C4`` is middle C. The octave changes
+                  to the next number at the note C, for example, ``B3`` is the
+                  note below middle C (``C4``).
+                - The octave is followed by ``/`` and a number that indicates
+                  the size of the note. For example ``/4`` is a quarter note,
+                  ``/8`` is an eighth note and so on.
+                - This can optionally followed by a ``.`` to make a dotted
+                  note. Dotted notes are 1-1/2 times as long as notes without a
+                  dot.
+                - The note can optionally end with a ``_`` which is a tie or a
+                  slur. This causes there to be no pause between this note and
+                  the next note.
+
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.play_file
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.say
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.set_speech_options
+
+        .. toggle-header::
+            :header: **Show/hide available languages and voices**
+
+            You can choose the following languages:
+
+                - ``'af'``: Afrikaans
+                - ``'an'``: Aragonese
+                - ``'bg'``: Bulgarian
+                - ``'bs'``: Bosnian
+                - ``'ca'``: Catalan
+                - ``'cs'``: Czech
+                - ``'cy'``: Welsh
+                - ``'da'``: Danish
+                - ``'de'``: German
+                - ``'el'``: Greek
+                - ``'en'``: English (default)
+                - ``'en-gb'``: English (United Kingdom)
+                - ``'en-sc'``: English (Scotland)
+                - ``'en-uk-north'``: English (United Kingdom, Northern)
+                - ``'en-uk-rp'``:
+                  English (United Kingdom, Received Pronunciation)
+                - ``'en-uk-wmids'``: English (United Kingdom, West Midlands)
+                - ``'en-us'``: English (United States)
+                - ``'en-wi'``: English (West Indies)
+                - ``'eo'``: Esperanto
+                - ``'es'``: Spanish
+                - ``'es-la'``: Spanish (Latin America)
+                - ``'et'``: Estonian
+                - ``'fa'``: Persian
+                - ``'fa-pin'``: Persian
+                - ``'fi'``: Finnish
+                - ``'fr-be'``: French (Belgium)
+                - ``'fr-fr'``: French (France)
+                - ``'ga'``: Irish
+                - ``'grc'``: Greek
+                - ``'hi'``: Hindi
+                - ``'hr'``: Croatian
+                - ``'hu'``: Hungarian
+                - ``'hy'``: Armenian
+                - ``'hy-west'``: Armenian (Western)
+                - ``'id'``: Indonesian
+                - ``'is'``: Icelandic
+                - ``'it'``: Italian
+                - ``'jbo'``: Lojban
+                - ``'ka'``: Georgian
+                - ``'kn'``: Kannada
+                - ``'ku'``: Kurdish
+                - ``'la'``: Latin
+                - ``'lfn'``: Lingua Franca Nova
+                - ``'lt'``: Lithuanian
+                - ``'lv'``: Latvian
+                - ``'mk'``: Macedonian
+                - ``'ml'``: Malayalam
+                - ``'ms'``: Malay
+                - ``'ne'``: Nepali
+                - ``'nl'``: Dutch
+                - ``'no'``: Norwegian
+                - ``'pa'``: Punjabi
+                - ``'pl'``: Polish
+                - ``'pt-br'``: Portuguese (Brazil)
+                - ``'pt-pt'``: Portuguese (Portugal)
+                - ``'ro'``: Romanian
+                - ``'ru'``: Russian
+                - ``'sk'``: Slovak
+                - ``'sq'``: Albanian
+                - ``'sr'``: Serbian
+                - ``'sv'``: Swedish
+                - ``'sw'``: Swahili
+                - ``'ta'``: Tamil
+                - ``'tr'``: Turkish
+                - ``'vi'``: Vietnamese
+                - ``'vi-hue'``: Vietnamese (Hue)
+                - ``'vi-sgn'``: Vietnamese (Saigon)
+                - ``'zh'``: Mandarin Chinese
+                - ``'zh-yue'``: Cantonese Chinese
+
+                You can choose the following voices:
+
+                - ``'f1'``: female variant 1
+                - ``'f2'``: female variant 2
+                - ``'f3'``: female variant 3
+                - ``'f4'``: female variant 4
+                - ``'f5'``: female variant 5
+                - ``'m1'``: male variant 1
+                - ``'m2'``: male variant 2
+                - ``'m3'``: male variant 3
+                - ``'m4'``: male variant 4
+                - ``'m5'``: male variant 5
+                - ``'m6'``: male variant 6
+                - ``'m7'``: male variant 7
+                - ``'croak'``: croak
+                - ``'whisper'``: whisper
+                - ``'whisperf'``: female whisper
+
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.set_volume
+
+
+    .. rubric:: Using the screen
+
+    .. |this image| replace:: the screen
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.clear
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_text
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.print
+
+        .. toggle-header::
+            :header: **Show/hide example**
+
+            **Example: Say hello... in several ways.**
+
+            .. raw:: latex
+
+               \begin{CJK}{UTF8}{gbsn}
+
+            .. literalinclude::
+              ../../pybricks-projects/snippets/ev3/screen_print/main.py
+
+            .. raw:: latex
+
+               \end{CJK}
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.set_font
+
+        **Example:** See example in :meth:`print`.
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.load_image
+
+        .. toggle-header::
+            :header: **Show/hide example**
+
+            **Example: Show an image on the screen.**
+
+            .. literalinclude::
+              ../../pybricks-projects/snippets/ev3/screen_image/main.py
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_image
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_pixel
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_line
+
+        .. toggle-header::
+            :header: **Show/hide example**
+
+            **Example: Draw some shapes on the screen.**
+
+            .. literalinclude::
+              ../../pybricks-projects/snippets/ev3/screen_draw/main.py
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_box
+
+        **Example:** See example in :meth:`draw_line`.
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_circle
+
+        **Example:** See example in :meth:`draw_line`.
+
+    .. autoattribute:: pybricks.hubs::EV3Brick.screen.width
+
+    .. autoattribute:: pybricks.hubs::EV3Brick.screen.height
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.save
+
+
+    .. rubric:: Using the battery
+
+    .. automethod:: pybricks.hubs::EV3Brick.battery.voltage
+
+    .. automethod:: pybricks.hubs::EV3Brick.battery.current