@pybricks/ide-docs v1.3.3

This is not officially supported yet, so drop from release docs.

.github/workflows/build.yml

@@ -3,28 +3,24 @@
 
 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:
 
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        python-version: [3.8, 3.9]
+
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v2
       with:
         submodules: recursive
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v1
+      with:
+        python-version: ${{ matrix.python-version }}
     - name: Install dependencies
       run: |
         pip install poetry
@@ -39,9 +35,9 @@ 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
     - name: Build html docs for Pybricks Code IDE
-      run: poetry run make -C doc html TAG=ide
+      run: poetry run make -C doc html SOURCEDIR=ide

.github/workflows/jedi.yml

@@ -1,30 +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@v3
-    - 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-22.04
-    steps:
-    - uses: actions/checkout@v3
-    - 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

@@ -7,17 +7,17 @@ on:
 
 jobs:
   publish_ide_docs:
-    runs-on: ubuntu-22.04
+    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@v3
+    - uses: actions/checkout@v2
       with:
         submodules: recursive
     - name: Set up Python 3.8
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v1
       with:
         python-version: 3.8
     - name: Install dependencies
@@ -25,14 +25,14 @@ jobs:
         pip install poetry
         poetry run python -m pip install --upgrade pip
         poetry run python -m pip install --upgrade setuptools
-        poetry install --only=doc
-    - uses: actions/setup-node@v3
+        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
+      working-directory: doc/ide
     - run: yarn publish
-      working-directory: npm/ide-docs
+      working-directory: doc/ide
       env:
         NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.github/workflows/publish-images.yml

@@ -1,23 +0,0 @@
-name: Release @pybricks/images
-
-on:
-  push:
-    tags: 
-    - '@pybricks/images/**'
-
-jobs:
-  publish_ide_docs:
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v3
-    # Setup .npmrc file to publish to npm
-    - uses: actions/setup-node@v3
-      with:
-        node-version: '16.x'
-        registry-url: 'https://registry.npmjs.org'
-    - run: ./build.py
-      working-directory: npm/images
-    - run: yarn publish
-      working-directory: npm/images/build
-      env:
-        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.github/workflows/publish-jedi.yml

@@ -1,23 +0,0 @@
-name: Release @pybricks/jedi
-
-on:
-  push:
-    tags: 
-    - '@pybricks/jedi/**'
-
-jobs:
-  publish_jedi:
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v3
-    # Setup .npmrc file to publish to npm
-    - uses: actions/setup-node@v3
-      with:
-        node-version: '16.x'
-        registry-url: 'https://registry.npmjs.org'
-    - run: ./build.py
-      working-directory: npm/jedi
-    - run: yarn publish
-      working-directory: npm/jedi/build
-      env:
-        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

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

@@ -6,10 +6,17 @@ on:
 
 jobs:
   build_and_publish:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
-    - run: pipx run poetry build
-    - run: pipx run poetry publish
+    - 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
 
@@ -58,10 +57,3 @@ genrst/
 # Virtual environment
 ######################
 .venv/
-.python-version
-
-# Generated LDRAW output
-######################
-stderr-ldview
-stdout-ldview
-LPub3D/

.readthedocs.yml

@@ -1,25 +0,0 @@
-# .readthedocs.yaml
-# Read the Docs configuration file
-# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
-
-# Required
-version: 2
-
-build:
-  os: "ubuntu-22.04"
-  tools:
-    python: "3.10"
-  jobs:
-    post_create_environment:
-      - pip install poetry
-      - poetry config virtualenvs.create false
-    post_install:
-      - poetry install --only=doc
-
-# Build documentation in the doc/main/ directory with Sphinx
-sphinx:
-  configuration: doc/main/conf.py
-
-# Optionally build your docs in additional formats such as PDF
-formats:
-   - pdf

.vscode/extensions.json

@@ -4,8 +4,7 @@
 
 	// List of extensions which should be recommended for users of this workspace.
 	"recommendations": [
-		"ms-python.python",
-		"ms-python.black-formatter"
+		"ms-python.python"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": [

.vscode/settings.json

@@ -1,26 +1,12 @@
 {
-    "files.exclude": {
-      "**/__pycache__": true,
-    },
-    "python.defaultInterpreterPath": ".venv/bin/python",
-    "python.autoComplete.extraPaths": ["jedi/src"],
-    "python.formatting.provider": "none",
-    "python.linting.pylintEnabled": false,
-    "python.linting.flake8Enabled": true,
+    "python.pythonPath": "${workspaceFolder}/.venv",
+    "python.formatting.provider": "black",
     "python.linting.pycodestyleEnabled": false,
+    "python.linting.flake8Enabled": true,
     "python.linting.enabled": true,
-    "[python]": {
-        "editor.formatOnSave": true,
-        "editor.defaultFormatter": "ms-python.black-formatter"
-    },
     "python.languageServer": "Pylance",
-    "python.testing.pytestArgs": [
-        "jedi/tests"
-    ],
-    "python.testing.unittestEnabled": false,
-    "python.testing.pytestEnabled": true,
     "files.associations": {"*.inc": "restructuredtext"},
-    "restructuredtext.confPath": "${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

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

CHANGELOG.md

@@ -1,202 +0,0 @@
-# Changelog
-
-<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
-
-## Unreleased
-
-## 3.3.0b9 - 2023-10-26
-
-### Changed
-- Changed the beta feature for using the hub's gyro. Gyro control can now be
-  toggled using `use_gyro` instead of using a separate `GyroDriveBase` class.
-- Documentation updates to match firmware 3.3.0b5--3.3.0b9 updates.
-
-## Added
-- Added `set` to `ubuiltins` module.
-- Basic multitasking docs.
-- Awaitable keyword for awaitable methods and functions.
-
-## 3.3.0b5 - 2023-05-16
-
-### Added
-- Documented new `hub.ble` methods.
-
-## 3.3.0b4 - 2023-04-21
-
-### Added
-- Documented `integral_deadzone` in `Control.pid()`.
-- Documented `Motor.model`. This can be used to view the estimated motor
-  state and change its settings.
-- Added `rotation`, `orientation`, `ready`, `stationary` and `settings` methods
-  to `IMU` class.
-- Added `GyroDriveBase` class to `pybricks.robotics`.
-
-### Changed
-- Change implementation status of `IMU.heading` and `IMU.reset_heading`. They
-  are now implemented, with some limitations as noted in a note box.
-- Moved `Matrix` and `vector` from `pybricks.geometry` to `pybricks.tools`.
-- Moved `Axis` from `pybricks.geometry` to `pybricks.parameters`.
-
-### Removed
-- Removed `pybricks.geometry` module.
-
-## 3.2.0 - 2022-12-20
-
-### Changed
-- Changed module TOC headings to make it easier to find things.
-
-## 3.2.0c1 - 2022-12-09
-
-### Changed
-- Updated "front" side of the Technic Hub to be consistent with
-  the Prime Hub.
-
-## 3.2.0b6 - 2022-12-02
-
-### Added
-- Documented ``Stop.NONE`` and ``Stop.COAST_SMART``.
-- Documented ``ujson`` module.
-- Added `done` and `stalled` methods for `DriveBase`.
-
-### Changed
-- Changed `PrimeHub.display.image()` to `PrimeHub.display.icon()` and renamed
-  its kwarg from `image` to `icon`.
-- Improved presentation and docstrings of the ``ubuiltins`` and other
-  MicroPython modules
-- Moved the random numbers example for Move Hub to the Move Hub page.
-- Moved `done()`, `stalled()`, `load()` from `Control` to `Motor` object.
-
-## 3.2.0b5 - 2022-11-11
-
-### Fixed
-- Fixed Jedi code completion for `Color` and `Icon` classes in `pybricks.parameters`.
-
-## 3.2.0b4 - 2022-10-21
-
-### Added
-- Code auto-completion for `EssentialHub`.
-- Added `System.storage` method.
-
-### 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
-- 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) 2018-2022 The Pybricks Authors
+Copyright (c) 2018-2021 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

README.rst

@@ -12,11 +12,6 @@ used to generate the `official documentation`_.
 See the `contributor's guide <CONTRIBUTING.md>`_ for acceptable changes and
 instructions to build the documentation locally.
 
-You can use the API stubs in this repository for syntax highlighting and code
-completion when programming the EV3 with VS Code. To enable, remove the
-``"python.languageServer"="None"`` line in the ``.vscode/settings.json`` file
-generated by the *LEGO® MINDSTORMS® EV3 MicroPython* extension.
-
 For general discussion, please visit the `support`_ issue tracker.
 
 .. _Pybricks package: pybricks

doc/Makefile

@@ -5,21 +5,20 @@
 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
 
 diagrams:
-	@$(MAKE) -C "$(SOURCEDIR)"/diagrams_source clean
-	@$(MAKE) -C "$(SOURCEDIR)"/diagrams_source
+	@$(MAKE) -C "$(SOURCEDIR)"/diagram_source clean
+	@$(MAKE) -C "$(SOURCEDIR)"/diagram_source
 
 # 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 +1,22 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Pybricks documentation build configuration file
+#
+import os
+
+# General information about the project.
+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\
+               trademarks and/or copyrights of the LEGO Group of companies \
+               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'
+
+exec(open(os.path.abspath("../common/conf.py")).read())

doc/api/diagram_source/Makefile

@@ -0,0 +1,25 @@
+
+SRC_DIR = .
+OUT_DIR = ../images
+
+POSTFIX := _label
+SVG := $(wildcard $(SRC_DIR)/*.svg)
+DIAGRAMS := $(patsubst $(SRC_DIR)/%.svg,$(OUT_DIR)/%$(POSTFIX).png,$(SVG))
+DIR := ${CURDIR}
+
+all: $(DIAGRAMS)
+
+clean:
+	rm -f $(DIAGRAMS)
+
+$(OUT_DIR)/%$(POSTFIX).png: $(SRC_DIR)/%.svg
+	if inkscape --version | grep -q "Inkscape 0"; then \
+		inkscape --file=$(DIR)/$< --export-area-drawing --export-png=$(DIR)/$@; \
+	else \
+		inkscape \
+			--export-area-drawing \
+			--export-background=white \
+			--export-background-opacity=1.0 \
+			--export-file=$(DIR)/$@ \
+			$(DIR)/$<; \
+	fi

doc/api/diagram_source/ev3motors.ldr

@@ -0,0 +1,6 @@
+0 Name: pupmotors
+0 Author: Pybricks {laurens@pybricks.com}
+0 !LICENSE MIT
+1 15 370 -296 -430 0 0 1 0 1 0 -1 0 0 95658.dat
+1 15 90 -296 -340 1 0 0 0 1 0 0 0 1 99455.dat
+1 15 610 -296 -580 0 0 1 0 -1 0 1 0 0 53787.dat

doc/api/diagram_source/ev3motors.svg

@@ -2,21 +2,21 @@
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 <svg
-   width="1700"
-   height="333"
-   viewBox="0 0 449.79165 88.106245"
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="2100"
+   height="416"
+   viewBox="0 0 555.62498 110.06666"
    version="1.1"
    id="svg8"
-   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
-   sodipodi:docname="ev3motors.svg"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:xlink="http://www.w3.org/1999/xlink"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:dc="http://purl.org/dc/elements/1.1/">
+   inkscape:version="0.92.3 (2405546, 2018-03-11)"
+   sodipodi:docname="ev3motors.svg">
   <defs
      id="defs2">
     <marker
@@ -57,17 +57,17 @@
      borderopacity="1.0"
      inkscape:pageopacity="1"
      inkscape:pageshadow="2"
-     inkscape:zoom="0.38248899"
-     inkscape:cx="870.61329"
-     inkscape:cy="254.9093"
+     inkscape:zoom="1.4"
+     inkscape:cx="1237.9403"
+     inkscape:cy="45.433141"
      inkscape:document-units="mm"
      inkscape:current-layer="layer1"
      showgrid="false"
      units="px"
-     inkscape:window-width="1856"
-     inkscape:window-height="1136"
-     inkscape:window-x="64"
-     inkscape:window-y="27"
+     inkscape:window-width="1920"
+     inkscape:window-height="1172"
+     inkscape:window-x="1920"
+     inkscape:window-y="0"
      inkscape:window-maximized="1"
      showguides="false"
      inkscape:snap-global="false"
@@ -80,6 +80,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -89,17 +90,19 @@
      id="layer1"
      transform="translate(0,-186.93332)">
     <image
-       width="424.92084"
-       height="88.106247"
+       sodipodi:absref="ev3motors.png"
+       xlink:href="ev3motors.png"
+       style="fill:#fcfcfc;fill-opacity:1;stroke-width:0.995543"
+       y="186.9333"
+       x="0"
+       id="image45"
        preserveAspectRatio="none"
-       xlink:href="../cad/output/ev3device-motors.png"
-       id="image862"
-       x="-7.1054274e-15"
-       y="186.93332" />
+       height="110.06667"
+       width="529.16669" />
     <g
        id="g2757"
-       transform="matrix(1.7955775,0,0,1.7960207,-25.218891,-181.51285)"
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+       style="stroke-width:0.87959427">
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+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;font-variant-ligatures:normal;font-variant-position:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-alternates:normal;font-feature-settings:normal;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;writing-mode:lr-tb;direction:ltr;text-orientation:mixed;dominant-baseline:auto;baseline-shift:baseline;text-anchor:start;white-space:normal;shape-padding:0;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;vector-effect:none;fill:#2980b9;fill-opacity:1;fill-rule:nonzero;stroke:#ffffff;stroke-width:0.08795943;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate" />
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-         style="fill:#2980b9;fill-opacity:1;stroke:none;stroke-width:0.232726px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
+         style="fill:#2980b9;fill-opacity:1;stroke:none;stroke-width:0.23272598px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
     </g>
     <g
-       style="stroke-width:0.879594"
-       transform="matrix(1.7955775,0,0,1.7960207,139.61063,-188.53445)"
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        id="g876">
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+         style="color:#000000;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:medium;line-height:normal;font-family:sans-serif;font-variant-ligatures:normal;font-variant-position:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-alternates:normal;font-feature-settings:normal;text-indent:0;text-align:start;text-decoration:none;text-decoration-line:none;text-decoration-style:solid;text-decoration-color:#000000;letter-spacing:normal;word-spacing:normal;text-transform:none;writing-mode:lr-tb;direction:ltr;text-orientation:mixed;dominant-baseline:auto;baseline-shift:baseline;text-anchor:start;white-space:normal;shape-padding:0;clip-rule:nonzero;display:inline;overflow:visible;visibility:visible;opacity:1;isolation:auto;mix-blend-mode:normal;color-interpolation:sRGB;color-interpolation-filters:linearRGB;solid-color:#000000;solid-opacity:1;vector-effect:none;fill:#2980b9;fill-opacity:1;fill-rule:nonzero;stroke:#ffffff;stroke-width:0.08795943;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;color-rendering:auto;image-rendering:auto;shape-rendering:auto;text-rendering:auto;enable-background:accumulate"
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+       transform="matrix(2.0696648,0,0,2.2436776,-220.61347,-245.26373)"
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       <g
-         style="fill:#2980b9;fill-opacity:1;stroke:#fffbfb;stroke-width:0.121141;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
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doc/api/diagram_source/ev3sensors.ldr

@@ -0,0 +1,16 @@
+0 Name: ev3sensors
+0 Author: Pybricks {laurens@pybricks.com}
+0 !LICENSE MIT
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doc/api/diagram_source/hubs.ldr

@@ -0,0 +1,14 @@
+0 Name: hubs.ldr
+0 Author: Pybricks {laurens@pybricks.com}
+0 !LICENSE MIT
+0 ROTATION CENTER 0 0 0 1 "Custom" 
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doc/api/diagram_source/hubsoverview.ldr

@@ -0,0 +1,11 @@
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doc/api/diagram_source/imu.ldr

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doc/api/diagram_source/imuexamples.svg

@@ -2,29 +2,31 @@
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doc/api/diagram_source/iodevices.ldr

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+0 FILE main.ldr
+0 Name: ev3sensors
+0 Author: Pybricks {laurens@pybricks.com}
+0 !LICENSE MIT
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+0 !LDCAD GROUP_DEF [topLevel=true] [LID=3] [GID=37IHSsFLUIW] [name=Group 4] [center=0 0 0]
+0 !LDCAD GROUP_DEF [topLevel=true] [LID=4] [GID=78T5iMUZhPB] [name=Group 5] [center=0 0 0]
+0 !LDCAD GROUP_DEF [topLevel=true] [LID=5] [GID=6l6RjlBcxBO] [name=Group 6] [center=0 0 0]
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+0 FILE elecCable2Brick-1.ldr
+0 Author: LDCad
+0 !LICENSE MIT
+0 !CATEGORY electric
+0 !KEYWORDS flexible, cable, 9V
+0 !LDCAD CONTENT [type=path] [addFallBack=default] [looped=false] [displayKind=mm] [curveStep=0] [displayLenCor=0]
+
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+
+0 !LDCAD GENERATED [generator=LDCad 1.6c]
+0 //This is the fallback LDraw content for above PATH configuration.
+0 // Do not edit, any changes will be lost upon regeneration.
+0 // The path is approx 50.00 mm (125.00) and exists out of 4 segments.
+
+0 //Some general hints about the document.
+0 UNOFFICIAL PART
+0 BFC CERTIFY CCW
+
+0 //Some of this content has been generated from other LDraw files, many thanks to all involved.
+0 // Credits for "ldcElecWire2Seg.dat":
+0 //  Author: LDCad
+0 // Credits for "7-8cyli.dat":
+0 //  Author: Guy Vivan
+0 //  History:
+0 //   2009-05-02 [PTadmin] Official Update 2009-01
+0 // Credits for "ldcConRing-7-8.dat":
+0 //  Author: LDCad
+
+0 //End cap reference(s)
+1 0 0 0 155 0 0 1 0 1 0 -1 0 0 6625c01.dat
+1 0 0 16 155 0 0 1 0 1 0 -1 0 0 2727ac01.dat
+
+0 //Segments
+0 // Segment 1, this block is (recursively) generated from "ldcElecWire2Seg.dat"
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+
+0 // Segment 2, this block is (recursively) generated from "ldcElecWire2Seg.dat"
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+
+0 // Segment 3, this block is (recursively) generated from "ldcElecWire2Seg.dat"
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+
+0 // Segment 4, this block is (recursively) generated from "ldcElecWire2Seg.dat"
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doc/api/diagram_source/messaging.svg

@@ -2,21 +2,21 @@
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 <svg
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+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    version="1.1"
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    viewBox="0 0 899.99999 600"
    sodipodi:docname="messaging.svg"
-   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
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-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:xlink="http://www.w3.org/1999/xlink"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:dc="http://purl.org/dc/elements/1.1/">
+   inkscape:version="0.92.3 (2405546, 2018-03-11)">
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      id="metadata8">
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@@ -25,6 +25,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -246,14 +247,14 @@
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      inkscape:pageopacity="1"
      inkscape:pageshadow="2"
-     inkscape:window-width="1856"
-     inkscape:window-height="1136"
+     inkscape:window-width="1853"
+     inkscape:window-height="1145"
      id="namedview4"
      showgrid="false"
      inkscape:zoom="1"
-     inkscape:cx="405"
-     inkscape:cy="374.5"
-     inkscape:window-x="64"
+     inkscape:cx="270.88803"
+     inkscape:cy="394.52384"
+     inkscape:window-x="67"
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      inkscape:window-maximized="1"
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@@ -265,13 +266,13 @@
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      inkscape:snap-bbox-edge-midpoints="true"
-     inkscape:snap-bbox-midpoints="true"
-     inkscape:pagecheckerboard="0" />
+     inkscape:snap-bbox-midpoints="true" />
   <image
-     xlink:href="../cad/output/ev3device-ev3.png"
+     sodipodi:absref="../images/ev3brick.png"
+     xlink:href="../images/ev3brick.png"
      style="fill:#fcfcfc;fill-opacity:1"
      width="212.79999"
-     height="189.70542"
+     height="190"
      preserveAspectRatio="none"
      id="image1072"
      x="122.18381"
@@ -294,9 +295,9 @@
      id="text877"
      y="35.509838"
      x="482.39746"
-     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
+     style="font-style:normal;font-weight:normal;font-size:24.19441986px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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@@ -310,7 +311,7 @@
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   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:15.7957px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
+     style="font-style:normal;font-weight:normal;font-size:15.79568195px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
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      id="text7989"><tspan
@@ -318,36 +319,38 @@
        id="tspan7987"
        x="482.98624"
        y="77.266083"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861">server = BluetoothMailboxServer()</tspan><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054">server = BluetoothMailboxServer()</tspan><tspan
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-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan2601">mbox = TextMailbox(<tspan
    style="fill:#4671a1;fill-opacity:1"
    id="tspan2677">'greeting'</tspan>, server)</tspan><tspan
        sodipodi:role="line"
        x="482.98624"
        y="116.75529"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan7991">server.wait_for_connection()</tspan><tspan
        sodipodi:role="line"
        x="482.98624"
        y="156.24449"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan2605" /><tspan
        sodipodi:role="line"
        x="482.98624"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan2609">mbox.wait()</tspan><tspan
        sodipodi:role="line"
        x="482.98624"
        y="195.7337"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan1999">mbox.send(<tspan
    style="fill:#4671a1;fill-opacity:1"
    id="tspan2679">'hello to you!'</tspan>)</tspan></text>
@@ -367,14 +370,19 @@
      style="opacity:1;fill:#6ab0de;fill-opacity:1;stroke:none;stroke-width:2.13333321;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1" />
   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:24.1944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
+     style="font-style:normal;font-weight:normal;font-size:24.19441986px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
      x="482.98816"
-     y="405.94217"
+     y="353.45187"
      id="text9727"><tspan
+       sodipodi:role="line"
+       id="tspan9723"
+       x="482.98816"
+       y="374.85828"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.60486054" /><tspan
        sodipodi:role="line"
        x="482.98816"
        y="405.94217"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.604861"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan9725">Client </tspan></text>
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@@ -385,7 +393,7 @@
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   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:15.7957px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.604861"
+     style="font-style:normal;font-weight:normal;font-size:15.79568195px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
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@@ -393,43 +401,46 @@
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        x="482.98624"
        y="448.22952"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054">client = BluetoothMailboxClient()</tspan><tspan
        sodipodi:role="line"
        x="482.98624"
        y="467.97412"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan2655">mbox = TextMailbox(<tspan
    style="fill:#4671a1;fill-opacity:1"
    id="tspan2675">'greeting'</tspan>, client)</tspan><tspan
        sodipodi:role="line"
        x="482.98624"
        y="487.71872"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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        sodipodi:role="line"
        x="482.98624"
        y="507.46332"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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    style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
    id="tspan1136">'ev3dev'</tspan>)</tspan><tspan
        id="tspan11699"
        sodipodi:role="line"
        x="482.98624"
-       y="527.20795" /><tspan
+       y="527.20795"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054" /><tspan
        sodipodi:role="line"
        x="482.98624"
        y="546.95251"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan2003">mbox.send(<tspan
    style="fill:#4671a1;fill-opacity:1"
    id="tspan2673">'hello!'</tspan>)</tspan></text>
   <image
-     xlink:href="../cad/output/ev3device-ev3.png"
+     sodipodi:absref="../images/ev3brick.png"
+     xlink:href="../images/ev3brick.png"
      y="25.149244"
      x="122.18381"
      id="image1089"
      preserveAspectRatio="none"
-     height="189.70542"
+     height="190"
      width="212.79999"
      style="fill:#fcfcfc;fill-opacity:1" />
   <path
@@ -461,7 +472,7 @@
   </g>
   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:24.4155px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
+     style="font-style:normal;font-weight:normal;font-size:24.4154644px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
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      y="312.11832"
      id="text2581"><tspan
@@ -469,14 +480,14 @@
        id="tspan2579"
        x="287.89365"
        y="312.11832"
-       style="font-size:16px;stroke-width:1">'Hello to you!'</tspan></text>
+       style="font-size:16px;stroke-width:0.99999994">'Hello to you!'</tspan></text>
   <text
      id="text2585"
      y="268.67685"
      x="310.78723"
-     style="font-style:normal;font-weight:normal;font-size:13.6025px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
+     style="font-style:normal;font-weight:normal;font-size:13.60246944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
      xml:space="preserve"><tspan
-       style="font-size:13.3333px;stroke-width:1"
+       style="font-size:13.33333302px;stroke-width:0.99999994"
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        x="310.78723"
        id="tspan2583"
@@ -502,16 +513,16 @@
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      y="312.11832"
      x="87.259087"
-     style="font-style:normal;font-weight:normal;font-size:24.4155px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
+     style="font-style:normal;font-weight:normal;font-size:24.4154644px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
      xml:space="preserve"><tspan
-       style="font-size:16px;stroke-width:1"
+       style="font-size:16px;stroke-width:0.99999994"
        y="312.11832"
        x="87.259087"
        id="tspan2593"
        sodipodi:role="line">'Hello!'</tspan></text>
   <text
      xml:space="preserve"
-     style="font-style:normal;font-weight:normal;font-size:13.6025px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
+     style="font-style:normal;font-weight:normal;font-size:13.60246944px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
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      id="text2599"><tspan
@@ -519,5 +530,5 @@
        id="tspan2597"
        x="84.92907"
        y="268.67685"
-       style="font-size:13.3333px;stroke-width:1">'greeting'</tspan></text>
+       style="font-size:13.33333302px;stroke-width:0.99999994">'greeting'</tspan></text>
 </svg>

doc/api/diagram_source/messaging_network.svg

@@ -2,21 +2,21 @@
 <!-- Created with Inkscape (http://www.inkscape.org/) -->
 
 <svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
    version="1.1"
    id="svg2"
    width="900"
    height="750"
    viewBox="0 0 899.99999 750"
-   sodipodi:docname="messaging_network.svg"
-   inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:xlink="http://www.w3.org/1999/xlink"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:dc="http://purl.org/dc/elements/1.1/">
+   sodipodi:docname="messaging.svg"
+   inkscape:version="0.92.3 (2405546, 2018-03-11)">
   <metadata
      id="metadata8">
     <rdf:RDF>
@@ -25,6 +25,7 @@
         <dc:format>image/svg+xml</dc:format>
         <dc:type
            rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
       </cc:Work>
     </rdf:RDF>
   </metadata>
@@ -246,14 +247,14 @@
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      inkscape:pageopacity="1"
      inkscape:pageshadow="2"
-     inkscape:window-width="1856"
-     inkscape:window-height="1136"
+     inkscape:window-width="1853"
+     inkscape:window-height="1145"
      id="namedview4"
      showgrid="false"
-     inkscape:zoom="0.16357187"
-     inkscape:cx="1503.926"
-     inkscape:cy="473.79784"
-     inkscape:window-x="64"
+     inkscape:zoom="1"
+     inkscape:cx="436.75623"
+     inkscape:cy="478.53312"
+     inkscape:window-x="67"
      inkscape:window-y="27"
      inkscape:window-maximized="1"
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@@ -265,32 +266,37 @@
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      inkscape:bbox-nodes="true"
      inkscape:snap-bbox-edge-midpoints="true"
-     inkscape:snap-bbox-midpoints="true"
-     inkscape:pagecheckerboard="0" />
+     inkscape:snap-bbox-midpoints="true" />
   <image
-     width="207.70872"
-     height="185.16669"
+     sodipodi:absref="../images/ev3brick.png"
+     xlink:href="../images/ev3brick.png"
+     style="fill:#fcfcfc;fill-opacity:1"
+     width="212.79999"
+     height="190"
      preserveAspectRatio="none"
-     xlink:href="../cad/output/ev3device-ev3.png"
-     id="image1189"
-     x="98.735443"
-     y="371.40686" />
+     id="image1076"
+     x="408.05026"
+     y="101.87006" />
   <image
-     width="207.70872"
-     height="185.16669"
+     sodipodi:absref="../images/ev3brick.png"
+     xlink:href="../images/ev3brick.png"
+     y="359.87003"
+     x="598.05029"
+     id="image1070"
      preserveAspectRatio="none"
-     xlink:href="../cad/output/ev3device-ev3.png"
-     id="image1107"
-     x="601.39569"
-     y="360.5351" />
+     height="190"
+     width="212.79999"
+     style="fill:#fcfcfc;fill-opacity:1" />
   <image
-     width="207.70872"
-     height="185.16669"
+     sodipodi:absref="../images/ev3brick.png"
+     xlink:href="../images/ev3brick.png"
+     style="fill:#fcfcfc;fill-opacity:1"
+     width="212.79999"
+     height="190"
      preserveAspectRatio="none"
-     xlink:href="../cad/output/ev3device-ev3.png"
-     id="image1023"
-     x="410.03784"
-     y="103.51874" />
+     id="image1072"
+     x="95.786835"
+     y="369.87003" />
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+     style="font-style:normal;font-weight:normal;font-size:24.19441986px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:'Roboto Slab';-inkscape-font-specification:'Roboto Slab';fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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@@ -341,7 +347,7 @@
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+     style="font-style:normal;font-weight:normal;font-size:16.64243126px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
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@@ -354,9 +360,9 @@
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+     style="font-style:normal;font-weight:normal;font-size:24.4154644px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
      xml:space="preserve"><tspan
-       style="font-size:18.6667px;stroke-width:1"
+       style="font-size:18.66666603px;stroke-width:0.99999994"
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@@ -382,7 +388,7 @@
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+     style="font-style:normal;font-weight:normal;font-size:16.64243126px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
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@@ -391,7 +397,7 @@
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   <text
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+     style="font-style:normal;font-weight:normal;font-size:24.4154644px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
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@@ -399,7 +405,7 @@
        id="tspan7695"
        x="221.79655"
        y="276.91803"
-       style="font-size:18.6667px;stroke-width:1">'Sunny'</tspan></text>
+       style="font-size:18.66666603px;stroke-width:0.99999994">'Sunny'</tspan></text>
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@@ -421,7 +427,7 @@
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+     style="font-style:normal;font-weight:normal;font-size:16.64243126px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1"
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@@ -430,7 +436,7 @@
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+     style="font-style:normal;font-weight:normal;font-size:24.4154644px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.99999994"
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@@ -438,7 +444,7 @@
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        y="309.16498"
-       style="font-size:18.6667px;stroke-width:1">35</tspan></text>
+       style="font-size:18.66666603px;stroke-width:0.99999994">35</tspan></text>
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@@ -448,7 +454,7 @@
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+     style="font-style:normal;font-weight:normal;font-size:15.79568195px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
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-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861">server = BluetoothMailboxServer()</tspan><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054">server = BluetoothMailboxServer()</tspan><tspan
        sodipodi:role="line"
        x="21.244511"
        y="52.363941"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan7991">server.wait_for_connection(<tspan
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    id="tspan1152">2</tspan>)</tspan><tspan
        sodipodi:role="line"
        x="21.244511"
        y="72.108543"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan11709" /><tspan
        sodipodi:role="line"
        x="21.244511"
        y="91.853149"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan11719">temp = NumericMailbox(<tspan
    style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#4671a1;fill-opacity:1"
    id="tspan1126">'temp'</tspan>, server)</tspan><tspan
        sodipodi:role="line"
        x="21.244511"
        y="111.59775"
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        id="tspan11721">condition = TextMailbox(<tspan
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    id="tspan1130">'cond'</tspan>, server)</tspan><tspan
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        x="21.244511"
        y="131.34236"
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        id="tspan11713">ambient = NumericMailbox(<tspan
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    id="tspan1132">'amb'</tspan>, server)</tspan><tspan
        sodipodi:role="line"
        x="21.244511"
        y="151.08696"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan1997" /><tspan
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        y="170.83156"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
        id="tspan1999">condition.send(<tspan
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    id="tspan1134">'Sunny'</tspan>)</tspan></text>
@@ -511,36 +519,38 @@
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      y="611.47217"
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+     style="font-style:normal;font-weight:normal;font-size:15.79568195px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#404140;fill-opacity:1;stroke:none;stroke-width:0.60486054"
      xml:space="preserve"><tspan
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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        sodipodi:role="line">client = BluetoothMailboxClient()</tspan><tspan
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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    id="tspan1148">'ev3dev'</tspan>)</tspan><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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        x="509.414"
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    id="tspan1146">'amb'</tspan>, client)</tspan><tspan
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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        x="509.414"
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@@ -581,7 +596,7 @@
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@@ -589,40 +604,42 @@
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        x="20.150545"
        y="611.47217"
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+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054">client = BluetoothMailboxClient()</tspan><tspan
        sodipodi:role="line"
        x="20.150545"
        y="631.2168"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
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        id="tspan11699"
        sodipodi:role="line"
        x="20.150545"
-       y="650.96136" /><tspan
+       y="650.96136"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054" /><tspan
        sodipodi:role="line"
        x="20.150545"
        y="670.70599"
-       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.604861"
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    id="tspan1142">'temp'</tspan>, client)</tspan><tspan
        sodipodi:role="line"
        x="20.150545"
        y="690.45056"
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    id="tspan1144">'cond'</tspan>, client)</tspan><tspan
        sodipodi:role="line"
        x="20.150545"
        y="710.19519"
+       style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-family:monospace;-inkscape-font-specification:monospace;fill:#404140;fill-opacity:1;stroke-width:0.60486054"
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        sodipodi:role="line"
        x="20.150545"
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    id="tspan1154">25.3</tspan>)</tspan></text>
@@ -642,12 +659,17 @@
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   <text
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doc/api/diagram_source/movehub.ldr

@@ -0,0 +1,3 @@
+0 Author: Pybricks {laurens@pybricks.com}
+0 !LICENSE MIT
+1 15 0 -48 -20 1 0 0 0 1 0 0 0 1 26910.dat

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+       ry="1.1623898"
+       transform="matrix(0.89702138,0.44198716,0,1,0,0)" />
   </g>
 </svg>

doc/api/diagram_source/pupsensors.ldr

@@ -0,0 +1,21 @@
+0 Name: pupmotors
+0 Author: Pybricks {laurens@pybricks.com}
+0 !LICENSE MIT
+0 !LDCAD GROUP_DEF [topLevel=true] [LID=0] [GID=9FDP9pj0O55] [name=Group 1] [center=0 0 0]
+1 15 600 -280 180 1 0 0 0 1 0 0 0 1 37316.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
+1 15 600 -266 158 -1 0 0 0 -1 0 0 0 1 u9218c01.dat
+1 15 1130 -280 240 1 0 0 0 1 0 0 0 1 37316.dat
+1 15 1290 -280 220 1 0 0 0 1 0 0 0 1 37308.dat
+1 0 690 -312 530 0 0 1 0 1 0 -1 0 0 22168.dat
+0 !LDCAD GROUP_NXT [ids=0] [nrs=2]
+1 71 704.852 -312 -628.188 -0.5 0 0.866 0 1 0 -0.866 0 -0.5 58123.dat
+0 !LDCAD GROUP_NXT [ids=0] [nrs=-1]
+1 71 972.1 -321.5 -814.7 0.5 0 -0.866 0 1 0 0.866 0 0.5 99499c01.dat