@pybricks/ide-docs v2.9.0

This adds a new BLE class that is used for connectionless broadcasting/
observing on hubs with built-in Bluetooth Low Energy.

Also see https://github.com/pybricks/pybricks-micropython/pull/158.

.github/workflows/build.yml

@@ -20,19 +20,11 @@ on:
 jobs:
   build:
 
-    runs-on: ubuntu-20.04
-    strategy:
-      matrix:
-        python-version: [3.8, 3.9]
-
+    runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v3
       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

.readthedocs.yml

@@ -0,0 +1,26 @@
+# .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
+  fail_on_warning: true
+
+# Optionally build your docs in additional formats such as PDF
+formats:
+   - pdf

.vscode/extensions.json

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

.vscode/settings.json

@@ -4,14 +4,14 @@
     },
     "python.defaultInterpreterPath": ".venv/bin/python",
     "python.autoComplete.extraPaths": ["jedi/src"],
-    "python.formatting.provider": "black",
+    "python.formatting.provider": "none",
     "python.linting.pylintEnabled": false,
     "python.linting.flake8Enabled": true,
     "python.linting.pycodestyleEnabled": false,
     "python.linting.enabled": true,
     "[python]": {
         "editor.formatOnSave": true,
-        "editor.defaultFormatter": "ms-python.python"
+        "editor.defaultFormatter": "ms-python.black-formatter"
     },
     "python.languageServer": "Pylance",
     "python.testing.pytestArgs": [

CHANGELOG.md

@@ -4,6 +4,11 @@
 
 ## Unreleased
 
+## 3.3.0b5 - 2023-05-16
+
+### Added
+- Documented new `hub.ble` methods.
+
 ## 3.3.0b4 - 2023-04-21
 
 ### Added

doc/common/conf.py

@@ -321,10 +321,11 @@ def on_missing_reference(
             app.builder, node["refdoc"], "signaltypes", "numbers", contnode
         )
 
-    # References with special characters can't exist, so we have to supress
+    # References with special characters can't exist, so we have to suppress
     # warnings when Sphinx tries to cross reference units like deg/s. For
     # consistency, we also treat units without special characters this way.
     for unit in [
+        "dBm",
         "deg",
         "deg/s",
         "deg/s²",

doc/main/conf.py

@@ -8,7 +8,7 @@ import sys
 
 # General information about the project.
 project = "pybricks"
-copyright = "2018-2021 The Pybricks Authors"
+copyright = "2018-2023 The Pybricks Authors"
 author = ""
 
 _TITLE = "Pybricks Modules and Examples"
@@ -29,7 +29,7 @@ if os.environ.get("READTHEDOCS", None) == "True":
 # HACK: this allows Number type alias to be imported by Sphinx
 os.environ["SPHINX_BUILD"] = "True"
 
-# Addtional configuration of the IDE docs
+# Additional configuration of the IDE docs
 if "ide" in tags.tags:  # noqa F821
     _DISCLAIMER = ""
     html_show_copyright = False
@@ -45,7 +45,7 @@ if "ide" in tags.tags:  # noqa F821
 
 exec(open(os.path.abspath("../common/conf.py")).read())
 
-# Addtional configuration of the IDE docs
+# Additional configuration of the IDE docs
 if "ide" in tags.tags:  # noqa F821
 
     extensions.remove("sphinx.ext.mathjax")  # noqa F821

doc/main/hubs/cityhub.rst

@@ -19,6 +19,17 @@ City Hub
 
     .. automethod:: pybricks.hubs::CityHub.light.animate
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    ``ble.broadcast()`` does not work on ``CityHub`` due to a bug in the
+    Bluetooth chip firmware.
+
+    .. automethod:: pybricks.hubs::CityHub.ble.observe
+
+    .. automethod:: pybricks.hubs::CityHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::CityHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::CityHub.battery.voltage
@@ -70,6 +81,17 @@ Creating light animations
 .. literalinclude::
     ../../../examples/pup/hub_common/build/light_animate_cityhub.py
 
+
+Bluetooth examples
+------------------
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_cityhub.py
+
+
 Button and system examples
 ----------------------------------
 

doc/main/hubs/essentialhub.rst

@@ -47,6 +47,16 @@ Essential Hub
 
     .. automethod:: pybricks.hubs::EssentialHub.imu.settings
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.observe
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::EssentialHub.battery.voltage
@@ -136,6 +146,23 @@ Reading acceleration and angular velocity on one axis
 .. literalinclude::
     ../../../examples/pup/hub_common/build/imu_read_scalar_essentialhub.py
 
+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_essentialhub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_essentialhub.py
+
+
 System examples
 ----------------------------------
 

doc/main/hubs/movehub.rst

@@ -31,6 +31,16 @@ Move Hub
 
             Changed acceleration units from m/s² to mm/s².
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.observe
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::MoveHub.battery.voltage
@@ -85,6 +95,23 @@ Reading acceleration
 .. literalinclude::
     ../../../examples/pup/hub_movehub/imu_read_acceleration.py
 
+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_movehub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_movehub.py
+
+
 Button and system examples
 ----------------------------------
 

doc/main/hubs/primehub.rst

@@ -89,6 +89,16 @@ Prime Hub / Inventor Hub
 
     .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.observe
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::PrimeHub.battery.voltage
@@ -247,6 +257,23 @@ Reading acceleration and angular velocity on one axis
 .. literalinclude::
     ../../../examples/pup/hub_common/build/imu_read_scalar_primehub.py
 
+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_primehub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_primehub.py
+
+
 System examples
 ----------------------------------
 

doc/main/hubs/technichub.rst

@@ -43,6 +43,16 @@ Technic Hub
 
     .. automethod:: pybricks.hubs::TechnicHub.imu.settings
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.observe
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::TechnicHub.battery.voltage
@@ -128,6 +138,23 @@ Reading acceleration and angular velocity on one axis
 .. literalinclude::
     ../../../examples/pup/hub_common/build/imu_read_scalar_technichub.py
 
+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_technichub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_technichub.py
+
+
 Button and system examples
 ----------------------------------
 

doc/main/micropython/umath.rst

@@ -38,7 +38,7 @@ Powers and logarithms
 
 .. autofunction:: umath.sqrt
 
-Trigonomety
+Trigonometry
 -------------------------------
 
 .. autodata:: umath.pi

doc/main/robotics.rst

@@ -151,7 +151,7 @@ Driving straight and turning in place
 
 The following program shows the basics of driving and turning.
 
-To use the built-in gyro, just replace the two occurences of
+To use the built-in gyro, just replace the two occurrences of
 :class:`DriveBase` with :class:`GyroDriveBase`.
 
 .. literalinclude::

doc/main/signaltypes.rst

@@ -248,7 +248,7 @@ For example, you can choose the frequency of a beep to change the pitch.
 temperature: °C
 ---------------
 
-Temperature is measured in degrees Celcius (°C). To convert to degrees
+Temperature is measured in degrees Celsius (°C). To convert to degrees
 Fahrenheit (°F) or Kelvin (K), you can use the following conversion formulas:
 
     :math:`^{\circ}\kern1pt\!F =\kern1pt^{\circ}\kern1pt\!C \cdot \frac{9}{5} + 32`.

examples/ev3/bluetooth_pc/pybricks/bluetooth.py

@@ -71,6 +71,7 @@ class ThreadingRFCOMMServer(ThreadingMixIn, RFCOMMServer):
     """
     Version of :class:`RFCOMMServer` that handles connections in a new thread.
     """
+
     daemon_threads = True
 
 
@@ -103,4 +104,5 @@ class ThreadingRFCOMMClient(ThreadingMixIn, RFCOMMClient):
     """
     Version of :class:`RFCOMMClient` that handles connections in a new thread.
     """
+
     daemon_threads = True

examples/ev3/bluetooth_pc/pybricks/messaging.py

@@ -261,7 +261,7 @@ class BluetoothMailboxServer(MailboxHandlerMixIn, ThreadingRFCOMMServer):
         EV3.
 
         The remote EV3 can either be running MicroPython or the standard EV3
-        firmare.
+        firmware.
         """
         super().__init__()
         super(ThreadingRFCOMMServer, self).__init__(
@@ -304,7 +304,7 @@ class BluetoothMailboxClient(MailboxHandlerMixIn):
     remote EV3s.
 
     The remote EV3s can either be running MicroPython or the standard EV3
-    firmare.
+    firmware.
     """
 
     def __enter__(self):

examples/ev3/ps4/main.py

@@ -36,7 +36,7 @@ def scale(val, src, dst):
 
 
 # Create a loop to react to events
-# This loop reacte to all main PS4 button and stick events. I have left out
+# This loop reacts to all main PS4 button and stick events. I have left out
 # buttons like share and options, but can easily be added in by referring
 # to the table at: https://github.com/codeadamca/python-connect-ps4
 

examples/pup/hub_common/ble_broadcast.py

@@ -0,0 +1,24 @@
+# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Port
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ThisHub(broadcast_channel=1)
+
+# Initialize the motors.
+left_motor = Motor(Port.A)
+right_motor = Motor(Port.B)
+
+while True:
+    # Read the motor angles to be sent to the other hub.
+    left_angle = left_motor.angle()
+    right_angle = right_motor.angle()
+
+    # Set the broadcast data and start broadcasting if not already doing so.
+    hub.ble.broadcast(left_angle, right_angle)
+
+    # Broadcasts are only sent every 100 milliseconds, so there is no reason
+    # to call the broadcast() method more often than that.
+    wait(100)

examples/pup/hub_common/ble_observe.py

@@ -0,0 +1,39 @@
+# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Color, Port
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ThisHub(observe_channels=[1])
+
+# Initialize the motors.
+left_motor = Motor(Port.A)
+right_motor = Motor(Port.B)
+
+while True:
+    # Receive broadcast from the other hub.
+
+    data = hub.ble.observe(1)
+
+    if data is None:
+        # No data has been received in the last 1 second.
+        hub.light.on(Color.RED)
+    else:
+        # Data was received and is less that one second old.
+        hub.light.on(Color.GREEN)
+
+        # *data* contains the same values in the same order
+        # that were passed to hub.ble.broadcast() on the
+        # other hub.
+        left_angle = data[0]
+        right_angle = data[1]
+
+        # Make the motors on this hub mirror the position of the
+        # motors on the other hub.
+        left_motor.track_target(left_angle)
+        right_motor.track_target(right_angle)
+
+    # Broadcasts are only sent every 100 milliseconds, so there is
+    # no reason to call the observe() method more often than that.
+    wait(100)

jedi/tests/test_complete_city_hub.py

@@ -33,6 +33,7 @@ def test_hub_dot():
     completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
     assert [c["insertText"] for c in completions] == [
         "battery",
+        "ble",
         "button",
         "light",
         "system",

jedi/tests/test_complete_essential_hub.py

@@ -33,6 +33,7 @@ def test_hub_dot():
     completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
     assert [c["insertText"] for c in completions] == [
         "battery",
+        "ble",
         "button",
         "charger",
         "imu",

jedi/tests/test_complete_move_hub.py

@@ -33,6 +33,7 @@ def test_hub_dot():
     completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
     assert [c["insertText"] for c in completions] == [
         "battery",
+        "ble",
         "button",
         "imu",
         "light",

jedi/tests/test_complete_prime_hub.py

@@ -33,6 +33,7 @@ def test_hub_dot():
     completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
     assert [c["insertText"] for c in completions] == [
         "battery",
+        "ble",
         "buttons",
         "charger",
         "display",

jedi/tests/test_complete_technic_hub.py

@@ -33,6 +33,7 @@ def test_hub_dot():
     completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
     assert [c["insertText"] for c in completions] == [
         "battery",
+        "ble",
         "button",
         "imu",
         "light",

jedi/tests/test_get_signature.py

@@ -78,17 +78,51 @@ def _get_constructor_signature(module: str, type: str) -> SignatureHelp:
 
 
 CONSTRUCTOR_PARAMS = [
-    pytest.param("pybricks.hubs", "MoveHub", [[]]),
-    pytest.param("pybricks.hubs", "CityHub", [[]]),
+    pytest.param(
+        "pybricks.hubs",
+        "MoveHub",
+        [["broadcast_channel: int=0", "observe_channels: Sequence[int]=[]"]],
+    ),
+    pytest.param(
+        "pybricks.hubs",
+        "CityHub",
+        [["broadcast_channel: int=0", "observe_channels: Sequence[int]=[]"]],
+    ),
     pytest.param(
         "pybricks.hubs",
         "TechnicHub",
-        [["top_side: Axis=Axis.Z", "front_side: Axis=Axis.X"]],
+        [
+            [
+                "top_side: Axis=Axis.Z",
+                "front_side: Axis=Axis.X",
+                "broadcast_channel: int=0",
+                "observe_channels: Sequence[int]=[]",
+            ]
+        ],
     ),
     pytest.param(
         "pybricks.hubs",
         "PrimeHub",
-        [["top_side: Axis=Axis.Z", "front_side: Axis=Axis.X"]],
+        [
+            [
+                "top_side: Axis=Axis.Z",
+                "front_side: Axis=Axis.X",
+                "broadcast_channel: int=0",
+                "observe_channels: Sequence[int]=[]",
+            ]
+        ],
+    ),
+    pytest.param(
+        "pybricks.hubs",
+        "EssentialHub",
+        [
+            [
+                "top_side: Axis=Axis.Z",
+                "front_side: Axis=Axis.X",
+                "broadcast_channel: int=0",
+                "observe_channels: Sequence[int]=[]",
+            ]
+        ],
     ),
     pytest.param(
         "pybricks.pupdevices",

npm/ide-docs/CHANGELOG.md

@@ -2,6 +2,11 @@
 
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 
+## 2.9.0 - 2023-05-16
+
+### Changed
+- Updated docs to v3.3.0b5.
+
 ## 2.8.0 - 2023-04-21
 
 ### Changed

npm/ide-docs/LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2018-2021 The Pybricks Authors
+Copyright (c) 2018-2023 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

npm/ide-docs/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@pybricks/ide-docs",
-  "version": "2.8.0",
+  "version": "2.9.0",
   "description": "Special build of Pybricks API docs for embedding in an IDE.",
   "repository": {
     "type": "git",

npm/jedi/build.py

@@ -30,7 +30,7 @@ whl_map: dict[str, str] = {}
 shutil.rmtree(BUILD_DIR, True)
 BUILD_DIR.mkdir()
 
-# download package and depedencies (*.whl files)
+# download package and dependencies (*.whl files)
 subprocess.check_call(
     [
         sys.executable,

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.3.0a4"
+version = "3.3.0a5"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 authors = ["The Pybricks Authors <dev@pybricks.com>"]
 maintainers = ["Laurens Valk <laurens@pybricks.com>", "David Lechner <david@pybricks.com>" ]
@@ -29,10 +29,12 @@ packages = [
 [tool.poetry.dependencies]
 python = "^3.8"
 
-[tool.poetry.dev-dependencies]
+[tool.poetry.group.lint.dependencies]
 black = "^22.3.0"
 doc8 = "^0.8.1"
 flake8 = "^4.0"
+
+[tool.poetry.group.doc.dependencies]
 Sphinx = { git = "https://github.com/pybricks/sphinx.git", rev = "b00124cb" }
 sphinx-rtd-theme = "^1.0.0"
 toml = "^0.10.0"

rtd-requirements.txt

@@ -1,5 +0,0 @@
-# This file is strictly for building docs on readthedocs.org
-# See pyproject.toml for local development
-git+https://github.com/pybricks/sphinx@b00124c#egg=Sphinx
-sphinx-rtd-theme==1.0.0
-toml

src/pybricks/_common.py

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2021 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors
 
 """Generic cross-platform module for typical devices like lights, displays,
 speakers, and batteries."""
@@ -1285,3 +1285,79 @@ class AmbientColorSensor(CommonColorSensor):
             Measured color. The color is described by a hue (0--359), a
             saturation (0--100), and a brightness value (0--100).
         """
+
+
+class BLE:
+    """
+    Bluetooth Low Energy.
+
+    .. versionadded:: 3.3
+    """
+
+    def broadcast(self, *args: Union[None, bool, int, float, str, bytes]) -> None:
+        """broadcast(data0, data1, ...)
+
+        Starts broadcasting the given data values.
+
+        Each value can be any of ``int``, ``float``, ``str`, ``bytes``,
+        ``None``, ``True``, or ``False``. The data is broadcasted on the
+        *broadcast_channel* you selected when initializing the hub.
+
+        The total data size is quite limited (26 bytes). ``None``, ``True`` and
+        ``False`` take 1 byte each. ``float`` takes 5 bytes. ``int`` takes 2 to
+        5 bytes depending on how big the number is. ``str`` and ``bytes`` take
+        the number of bytes in the object plus one extra byte.
+
+        Params:
+            args: Zero or more values to be broadcast.
+
+
+
+        .. versionadded:: 3.3
+        """
+
+    def observe(
+        self, channel: int
+    ) -> Optional[Tuple[Union[None, bool, int, float, str, bytes], ...]]:
+        """observe(channel) -> tuple | None
+
+        Retrieves the last observed data for a given channel.
+
+        Args:
+            channel (int): The channel to observe (0 to 255).
+
+        Returns:
+            A tuple of the received data or ``None`` if no recent data is
+            available.
+
+        .. tip:: Receiving data is more reliable when the hub is not connected
+            to a computer or other devices at the same time.
+
+        .. versionadded:: 3.3
+        """
+
+    def signal_strength(self, channel: int) -> int:
+        """signal_strength(channel) -> int: dBm
+
+        Gets the average signal strength in dBm for the given channel.
+
+        This is useful for detecting how near the broadcasting device is. A close
+        device may have a signal strength around -40 dBm while a far away device
+        might have a signal strength around -70 dBm.
+
+        Args:
+            channel (int): The channel number (0 to 255).
+
+        Returns:
+            The signal strength or ``-128`` if there is no recent observed data.
+
+        .. versionadded:: 3.3
+        """
+
+    def version(self) -> str:
+        """version() -> str
+
+        Gets the firmware version from the Bluetooth chip.
+
+        .. versionadded:: 3.3
+        """

src/pybricks/hubs.py

@@ -1,7 +1,10 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2022 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors
 
 """LEGO® Programmable Hubs."""
+
+from typing import Sequence
+
 from . import _common
 from .ev3dev import _speaker
 from .media.ev3dev import Image as _Image
@@ -38,6 +41,25 @@ class MoveHub:
     imu = _common.SimpleAccelerometer()
     system = _common.System()
     button = _common.Keypad([_Button.CENTER])
+    ble = _common.BLE()
+
+    def __init__(
+        self, broadcast_channel: int = 0, observe_channels: Sequence[int] = []
+    ):
+        """MoveHub(broadcast_channel=0, observe_channels=[])
+
+        Arguments:
+            broadcast_channel:
+                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                will use. Default is channel 0.
+            observe_channels:
+                A list of channels to listen to when ``hub.ble.observe()`` is
+                called. Listening to more channels requires more memory.
+                Default is an empty list (no channels).
+
+        .. versionchanged:: 3.3
+            Added *broadcast_channel* and *observe_channels* arguments.
+        """
 
 
 class CityHub:
@@ -49,6 +71,25 @@ class CityHub:
     light = _common.ColorLight()
     system = _common.System()
     button = _common.Keypad([_Button.CENTER])
+    ble = _common.BLE()
+
+    def __init__(
+        self, broadcast_channel: int = 0, observe_channels: Sequence[int] = []
+    ):
+        """CityHub(broadcast_channel=0, observe_channels=[])
+
+        Arguments:
+            broadcast_channel:
+                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                will use. Default is channel 0.
+            observe_channels:
+                A list of channels to listen to when ``hub.ble.observe()`` is
+                called. Listening to more channels requires more memory.
+                Default is an empty list (no channels).
+
+        .. versionchanged:: 3.3
+            Added *broadcast_channel* and *observe_channels* arguments.
+        """
 
 
 class TechnicHub:
@@ -61,9 +102,16 @@ class TechnicHub:
     imu = _common.IMU()
     system = _common.System()
     button = _common.Keypad([_Button.CENTER])
+    ble = _common.BLE()
 
-    def __init__(self, top_side: Axis = Axis.Z, front_side: Axis = Axis.X):
-        """TechnicHub(top_side=Axis.Z, front_side=Axis.X)
+    def __init__(
+        self,
+        top_side: Axis = Axis.Z,
+        front_side: Axis = Axis.X,
+        broadcast_channel: int = 0,
+        observe_channels: Sequence[int] = [],
+    ):
+        """TechnicHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[])
 
         Initializes the hub. Optionally, specify how the hub is
         :ref:`placed in your design <robotframe>` by saying in which
@@ -75,6 +123,16 @@ class TechnicHub:
                 the hub.
             front_side (Axis): The axis that passes through the *front side* of
                 the hub.
+            broadcast_channel:
+                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                will use. Default is channel 0.
+            observe_channels:
+                A list of channels to listen to when ``hub.ble.observe()`` is
+                called. Listening to more channels requires more memory.
+                Default is an empty list (no channels).
+
+        .. versionchanged:: 3.3
+            Added *broadcast_channel* and *observe_channels* arguments.
         """
 
 
@@ -89,9 +147,16 @@ class EssentialHub:
     light = _common.ColorLight()
     imu = _common.IMU()
     system = _common.System()
+    ble = _common.BLE()
 
-    def __init__(self, top_side=Axis.Z, front_side=Axis.X):
-        """__init__(top_side=Axis.Z, front_side=Axis.X)
+    def __init__(
+        self,
+        top_side: Axis = Axis.Z,
+        front_side: Axis = Axis.X,
+        broadcast_channel: int = 0,
+        observe_channels: Sequence[int] = [],
+    ):
+        """EssentialHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[])
 
         Initializes the hub. Optionally, specify how the hub is
         :ref:`placed in your design <robotframe>` by saying in which
@@ -103,6 +168,16 @@ class EssentialHub:
                 the hub.
             front_side (Axis): The axis that passes through the *front side* of
                 the hub.
+            broadcast_channel:
+                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                will use. Default is channel 0.
+            observe_channels:
+                A list of channels to listen to when ``hub.ble.observe()`` is
+                called. Listening to more channels requires more memory.
+                Default is an empty list (no channels).
+
+        .. versionchanged:: 3.3
+            Added *broadcast_channel* and *observe_channels* arguments.
         """
         pass
 
@@ -127,9 +202,16 @@ class PrimeHub:
     speaker = _common.Speaker()
     imu = _common.IMU()
     system = _common.System()
+    ble = _common.BLE()
 
-    def __init__(self, top_side: Axis = Axis.Z, front_side: Axis = Axis.X):
-        """PrimeHub(top_side=Axis.Z, front_side=Axis.X)
+    def __init__(
+        self,
+        top_side: Axis = Axis.Z,
+        front_side: Axis = Axis.X,
+        broadcast_channel: int = 0,
+        observe_channels: Sequence[int] = [],
+    ):
+        """PrimeHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[])
 
         Initializes the hub. Optionally, specify how the hub is
         :ref:`placed in your design <robotframe>` by saying in which
@@ -141,6 +223,16 @@ class PrimeHub:
                 the hub.
             front_side (Axis): The axis that passes through the *front side* of
                 the hub.
+            broadcast_channel:
+                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                will use. Default is channel 0.
+            observe_channels:
+                A list of channels to listen to when ``hub.ble.observe()`` is
+                called. Listening to more channels requires more memory.
+                Default is an empty list (no channels).
+
+        .. versionchanged:: 3.3
+            Added *broadcast_channel* and *observe_channels* arguments.
         """
 
 

src/pybricks/pupdevices.py

@@ -97,7 +97,7 @@ class Remote:
             Button.RIGHT_PLUS,
         )
     )
-    addresss: Union[str, None]
+    address: Union[str, None]
 
     def __init__(self, name: Optional[str] = None, timeout: int = 10000):
         """Remote(name=None, timeout=10000)

src/ubuiltins/__init__.py

@@ -1170,7 +1170,7 @@ class str:
         If no argument is given, this creates an empty ``str`` object.
 
         Arguments:
-            object: If only this argument is given, this returns the stirng
+            object: If only this argument is given, this returns the string
               representation of the object.
             encoding (str): If the first argument is a ``bytearray`` or ``bytes``
               object and the encoding argument is ``"utf-8"``, this will decode