jedi: v1.8.0

jedi: update pybricks package version
also bump python requirement since Pyodide is now using Python 3.11.
2026-09-12 01:24:17 +00:00 · 2023-04-21 17:26:38 -05:00 · 2023-04-21 17:24:47 -05:00 · 2023-04-21 17:10:51 -05:00 · 2023-04-21 17:00:18 -05:00 · 2023-04-21 14:07:46 +02:00
50 changed files with 2131 additions and 632 deletions
@@ -6,7 +6,7 @@ name: Build Python package and docs
 on: 
  push:
    tags-ignore:
-      - "*"
+      - '**'
  pull_request:
    paths:
      - doc/**
@@ -26,7 +26,7 @@ jobs:
        python-version: [3.8, 3.9]

    steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
      with:
        submodules: recursive
    - name: Set up Python ${{ matrix.python-version }}
@@ -7,17 +7,17 @@ on:

 jobs:
  publish_ide_docs:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
    steps:
    - name: Ubuntu packages
      run: |
        sudo apt-get update
        sudo apt-get install -y dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
      with:
        submodules: recursive
    - name: Set up Python 3.8
-      uses: actions/setup-python@v1
+      uses: actions/setup-python@v4
      with:
        python-version: 3.8
    - name: Install dependencies
@@ -26,7 +26,7 @@ jobs:
        poetry run python -m pip install --upgrade pip
        poetry run python -m pip install --upgrade setuptools
        poetry install
-    - uses: actions/setup-node@v1
+    - uses: actions/setup-node@v3
      with:
        node-version: '14.x'
        registry-url: 'https://registry.npmjs.org'
@@ -9,7 +9,7 @@ jobs:
  publish_jedi:
    runs-on: ubuntu-22.04
    steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
    # Setup .npmrc file to publish to npm
    - uses: actions/setup-node@v3
      with:
@@ -4,6 +4,25 @@

 ## Unreleased

+## 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
@@ -12,6 +12,11 @@ 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
@@ -10,7 +10,6 @@ FEATURES_SMALL = set()

 # Medium feature set.
 FEATURES_MEDIUM = FEATURES_SMALL | {
-    "pybricks-geometry",
    "pybricks-common-control",
    "pybricks-iodevices",
    "stm32-extra",
@@ -24,10 +23,10 @@ FEATURES_LARGE = FEATURES_MEDIUM | set()
 HUB_FEATURES = {
    "movehub": {"movehub"} | FEATURES_SMALL,
    "cityhub": {"cityhub"} | FEATURES_MEDIUM,
-    "technichub": {"technichub"} | FEATURES_MEDIUM,
-    "primehub": {"primehub", "inventorhub", "light-matrix"} | FEATURES_LARGE,
-    "inventorhub": {"primehub", "inventorhub", "light-matrix"} | FEATURES_LARGE,
-    "essentialhub": {"essentialhub"} | FEATURES_LARGE,
+    "technichub": {"technichub", "gyro"} | FEATURES_MEDIUM,
+    "primehub": {"primehub", "inventorhub", "light-matrix", "gyro"} | FEATURES_LARGE,
+    "inventorhub": {"primehub", "inventorhub", "light-matrix", "gyro"} | FEATURES_LARGE,
+    "essentialhub": {"essentialhub", "gyro"} | FEATURES_LARGE,
 }


@@ -20,12 +20,12 @@ Motors

    .. rubric:: Measuring

-    .. automethod:: pybricks.ev3devices.Motor.speed
-
    .. automethod:: pybricks.ev3devices.Motor.angle

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

+    .. automethod:: pybricks.ev3devices.Motor.speed
+
    .. automethod:: pybricks.ev3devices.Motor.load

    .. automethod:: pybricks.ev3devices.Motor.stalled
@@ -1,51 +0,0 @@
-.. pybricks-requirements:: stm32-float
-
-:mod:`geometry <pybricks.geometry>` -- Geometry and algebra
-============================================================
-
-.. module:: pybricks.geometry
-
-.. autoclass:: pybricks.geometry.Matrix
-    :no-members:
-
-    .. autoattribute:: pybricks.geometry::Matrix.T
-
-    .. autoattribute:: pybricks.geometry::Matrix.shape
-
-.. autofunction:: pybricks.geometry.vector
-
-.. autoclass:: pybricks.geometry.Axis
-    :no-members:
-
-.. _robotframe:
-
-Reference frames
-----------------------
-
-The Pybricks module and this documentation use the following conventions:
-
- X: Positive means forward. Negative means backward.
- Y: Positive means to the left. Negative means to the right.
- Z: Positive means upward. Negative means downward.
-
-To make sure that all hub measurements (such as acceleration) have the correct
-value and sign, you can specify how the hub is mounted in your creation. This
-adjust the measurements so that it is easy to see how your *robot* is moving,
-rather than how the *hub* is moving.
-
-For example, the hub may be mounted upside down in your design. If you
-configure the settings as shown in :numref:`fig_imuexamples`, the hub
-measurements will be adjusted accordingly. This way, a positive acceleration
-value in the X direction means that your *robot* accelerates forward, even
-though the *hub* accelerates backward.
-
-.. _fig_imuexamples:
-
-.. figure:: ../main/diagrams/imuexamples.png
-   :width: 100 %
-
-   How to configure the ``top_side`` and ``front_side`` settings for three
-   different robot designs. The same technique can be applied to other hubs
-   and other creations, by noting which way the top and
-   front :class:`Side <Side>` of the hub are pointing. The example
-   on the left is the default configuration.
@@ -25,6 +25,10 @@ Essential Hub

    .. rubric:: Using the IMU

+    .. automethod:: pybricks.hubs::EssentialHub.imu.ready
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.stationary
+
    .. automethod:: pybricks.hubs::EssentialHub.imu.up

    .. automethod:: pybricks.hubs::EssentialHub.imu.tilt
@@ -37,6 +41,12 @@ Essential Hub

    .. automethod:: pybricks.hubs::EssentialHub.imu.reset_heading

+    .. automethod:: pybricks.hubs::EssentialHub.imu.rotation
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.orientation
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.settings
+
    .. rubric:: Using the battery

    .. automethod:: pybricks.hubs::EssentialHub.battery.voltage
@@ -59,6 +59,10 @@ Prime Hub / Inventor Hub

    .. rubric:: Using the IMU

+    .. automethod:: pybricks.hubs::PrimeHub.imu.ready
+
+    .. automethod:: pybricks.hubs::PrimeHub.imu.stationary
+
    .. automethod:: pybricks.hubs::PrimeHub.imu.up

    .. automethod:: pybricks.hubs::PrimeHub.imu.tilt
@@ -71,6 +75,12 @@ Prime Hub / Inventor Hub

    .. automethod:: pybricks.hubs::PrimeHub.imu.reset_heading

+    .. automethod:: pybricks.hubs::PrimeHub.imu.rotation
+
+    .. automethod:: pybricks.hubs::PrimeHub.imu.orientation
+
+    .. automethod:: pybricks.hubs::PrimeHub.imu.settings
+
    .. rubric:: Using the speaker

    .. automethod:: pybricks.hubs::PrimeHub.speaker.volume
@@ -21,6 +21,10 @@ Technic Hub

    .. rubric:: Using the IMU

+    .. automethod:: pybricks.hubs::TechnicHub.imu.ready
+
+    .. automethod:: pybricks.hubs::TechnicHub.imu.stationary
+
    .. automethod:: pybricks.hubs::TechnicHub.imu.up

    .. automethod:: pybricks.hubs::TechnicHub.imu.tilt
@@ -33,6 +37,12 @@ Technic Hub

    .. automethod:: pybricks.hubs::TechnicHub.imu.reset_heading

+    .. automethod:: pybricks.hubs::TechnicHub.imu.rotation
+
+    .. automethod:: pybricks.hubs::TechnicHub.imu.orientation
+
+    .. automethod:: pybricks.hubs::TechnicHub.imu.settings
+
    .. rubric:: Using the battery

    .. automethod:: pybricks.hubs::TechnicHub.battery.voltage
@@ -60,7 +60,6 @@ above to reveal this menu.
   parameters/index
   tools/index
   robotics
-   geometry
   signaltypes

 .. toctree::
@@ -0,0 +1,7 @@
+.. pybricks-requirements:: stm32-float
+
+Axis
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: pybricks.parameters.Axis
+    :no-members:
@@ -10,6 +10,7 @@
   :maxdepth: 1
   :hidden:

+   axis
   button
   color
   direction
@@ -18,6 +19,8 @@
   side
   stop

+.. pybricks-classlink:: Axis
+
 .. pybricks-classlink:: Button

 .. pybricks-classlink:: Color
@@ -18,12 +18,12 @@ Motors with rotation sensors

    .. rubric:: Measuring

-    .. automethod:: pybricks.pupdevices.Motor.speed
-
    .. automethod:: pybricks.pupdevices.Motor.angle

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

+    .. automethod:: pybricks.pupdevices.Motor.speed
+
    .. automethod:: pybricks.pupdevices.Motor.load

    .. automethod:: pybricks.pupdevices.Motor.stalled
@@ -93,6 +93,14 @@ Motors with rotation sensors
        The :meth:`done`, :meth:`stalled` and :meth:`load` methods have been
        moved.

+    .. pybricks-requirements:: pybricks-common-control
+
+    .. automethod:: pybricks.pupdevices.Motor.model.state
+
+    .. pybricks-requirements:: pybricks-common-control
+
+    .. automethod:: pybricks.pupdevices.Motor.model.settings
+
 Initialization examples
 -----------------------

@@ -1,11 +1,10 @@
-.. pybricks-requirements::
-
 :mod:`robotics <pybricks.robotics>` -- Robotics and drive bases
 ===============================================================

 .. automodule:: pybricks.robotics
    :no-members:

+.. pybricks-requirements::

 .. autoclass:: pybricks.robotics.DriveBase
    :no-members:
@@ -103,9 +102,6 @@
    the default speed and acceleration for straight maneuvers and turns.
    Use the following attributes to adjust more advanced control settings.

-    You can only change the settings while the robot is stopped. This is
-    either before you begin driving or after you call :meth:`.stop`.
-
    .. autoattribute:: pybricks.robotics.DriveBase.distance_control
        :annotation:

@@ -116,11 +112,47 @@

        The :meth:`done` and :meth:`stalled` methods have been moved.

+
+.. pybricks-requirements:: gyro
+
+.. class:: GyroDriveBase
+
+    This class works just like the :class:`DriveBase`, but it uses the hub's
+    built-in gyroscope to drive straight and turn more accurately.
+
+    If your hub is not mounted flat in your robot, make sure to specify
+    the ``top_side`` and ``front_side`` parameters when you initialize the
+    :class:`PrimeHub() <pybricks.hubs.PrimeHub>`,
+    :class:`InventorHub() <pybricks.hubs.PrimeHub>`,
+    :class:`EssentialHub() <pybricks.hubs.EssentialHub>`, or
+    :class:`TechnicHub() <pybricks.hubs.TechnicHub>`. This way your robot
+    knows which rotation to measure when turning.
+
+    The gyro in each hub is a bit different, which can cause it to be a few
+    degrees off for big turns, or many small turns in the same
+    direction. For example, you may need to use
+    :meth:`turn(357) <pybricks.robotics.DriveBase.turn>` or
+    :meth:`turn(362) <pybricks.robotics.DriveBase.turn>`
+    on your robot to make a full turn.
+
+    By default, this class tries to maintain the robot's position after a move
+    completes. This means the wheels will spin if you pick the robot up, in an
+    effort to maintain its heading angle. To avoid this, you can choose
+    ``then=Stop.COAST`` in your last
+    :meth:`straight <pybricks.robotics.DriveBase.straight>`,
+    :meth:`turn <pybricks.robotics.DriveBase.turn>`, or
+    :meth:`curve <pybricks.robotics.DriveBase.curve>` command.
+
 Examples
 -------------------

 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
+:class:`DriveBase` with :class:`GyroDriveBase`.
+
 .. literalinclude::
    ../../examples/pup/robotics/drivebase_basics.py
@@ -260,3 +260,36 @@ Fahrenheit (°F) or Kelvin (K), you can use the following conversion formulas:
 hue: deg
 --------------
 Hue of a color (0-359 degrees).
+
+.. _robotframe:
+
+Reference frames
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The Pybricks module and this documentation use the following conventions:
+
+- X: Positive means forward. Negative means backward.
+- Y: Positive means to the left. Negative means to the right.
+- Z: Positive means upward. Negative means downward.
+
+To make sure that all hub measurements (such as acceleration) have the correct
+value and sign, you can specify how the hub is mounted in your creation. This
+adjust the measurements so that it is easy to see how your *robot* is moving,
+rather than how the *hub* is moving.
+
+For example, the hub may be mounted upside down in your design. If you
+configure the settings as shown in :numref:`fig_imuexamples`, the hub
+measurements will be adjusted accordingly. This way, a positive acceleration
+value in the X direction means that your *robot* accelerates forward, even
+though the *hub* accelerates backward.
+
+.. _fig_imuexamples:
+
+.. figure:: ../main/diagrams/imuexamples.png
+   :width: 100 %
+
+   How to configure the ``top_side`` and ``front_side`` settings for three
+   different robot designs. The same technique can be applied to other hubs
+   and other creations, by noting which way the top and
+   front :class:`Side <Side>` of the hub are pointing. The example
+   on the left is the default configuration.
@@ -1,11 +1,14 @@
 .. pybricks-requirements::

-:mod:`tools <pybricks.tools>` -- Timing tools
+:mod:`tools <pybricks.tools>` -- General purpose tools
 ========================================================

 .. automodule:: pybricks.tools
    :no-members:

+Timing tools
+---------------
+
 .. autofunction:: wait

 .. autoclass:: pybricks.tools.StopWatch
@@ -19,3 +22,24 @@

    .. automethod:: pybricks.tools.StopWatch.reset

+Linear algebra tools
+--------------------
+
+.. versionchanged:: 3.3
+
+    These tools were previously located in the ``pybricks.geometry`` module.
+
+.. pybricks-requirements:: stm32-float
+
+.. autoclass:: pybricks.tools.Matrix
+    :no-members:
+
+    .. autoattribute:: pybricks.tools::Matrix.T
+
+    .. autoattribute:: pybricks.tools::Matrix.shape
+
+.. pybricks-requirements:: stm32-float
+
+.. autofunction:: pybricks.tools.vector
+
+.. autofunction:: pybricks.tools.cross
@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+from pybricks.messaging import BluetoothMailboxServer, TextMailbox
+
+# This demo makes your PC talk to an EV3 over Bluetooth.
+#
+# This is identical to the EV3 server example in ../bluetooth_server
+#
+# The only difference is that it runs in Python3 on your computer, thanks to
+# the Python3 implementation of the messaging module that is included here.
+# As far as the EV3 is concerned, it thinks it just talks to an EV3 client.
+#
+# So, the EV3 client example needs no further modifications. The connection
+# procedure is also the same as documented in the messaging module docs:
+# https://docs.pybricks.com/en/latest/messaging.html
+
+server = BluetoothMailboxServer()
+mbox = TextMailbox("greeting", server)
+
+# The server must be started before the client!
+print("waiting for connection...")
+server.wait_for_connection()
+print("connected!")
+
+# In this program, the server waits for the client to send the first message
+# and then sends a reply.
+mbox.wait()
+print(mbox.read())
+mbox.send("hello to you!")
@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: MIT
-# Copyright (C) 2020 The Pybricks Authors
+# Copyright (C) 2020,2023 The Pybricks Authors

 """
 :class:`RFCOMMServer` can be used to communicate with other Bluetooth RFCOMM
@@ -10,29 +10,13 @@ remain a strict subset of that implementation when it comes to low-level
 implementation details.
 """

-from bluetooth import BluetoothSocket, RFCOMM
+from socket import socket, AF_BLUETOOTH, BTPROTO_RFCOMM, SOCK_STREAM
 from socketserver import ThreadingMixIn

-BDADDR_ANY = ""
-
-
-def str2ba(string, ba):
-    """Convert string to Bluetooth address"""
-    for i, v in enumerate(string.split(":")):
-        ba.b[5 - i] = int(v, 16)
-
-
-def ba2str(ba):
-    """Convert Bluetooth address to string"""
-    string = []
-    for b in ba.b:
-        string.append("{:02X}".format(b))
-    string.reverse()
-    return ":".join(string).upper()
-

 class RFCOMMServer:
-    """Object that simplifies setting up an RFCOMM socket server.
+    """
+    Object that simplifies setting up an RFCOMM socket server.

    This is based on the ``socketserver.SocketServer`` class in the Python
    standard library.
@@ -44,10 +28,10 @@ class RFCOMMServer:
        self.server_address = server_address
        self.RequestHandlerClass = RequestHandlerClass

-        self.socket = BluetoothSocket(RFCOMM)
+        self.socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM)

        try:
-            self.socket.bind((server_address[0], server_address[1]))
+            self.socket.bind(server_address)
            # self.server_address = self.socket.getsockname()
            self.socket.listen(self.request_queue_size)
        except Exception:
@@ -83,50 +67,21 @@ class RFCOMMServer:
        self.socket.close()


-class StreamRequestHandler:
-    """Class that handles incoming requests.
-
-    This is based on ``socketserver.StreamRequestHandler`` from the Python
-    standard library.
-    """
-
-    def __init__(self, request, client_address, server):
-        self.request = request
-        self.client_address = client_address
-        self.server = server
-        self.setup()
-        try:
-            self.handle()
-        finally:
-            self.finish()
-
-    def setup(self):
-        self.wfile = self.request
-        self.rfile = self.request
-
-    def handle(self):
-        pass
-
-    def finish(self):
-        pass
-
-
 class ThreadingRFCOMMServer(ThreadingMixIn, RFCOMMServer):
-    """Version of :class:`RFCOMMServer` that handles connections in a new
-    thread.
    """
-
-    pass
+    Version of :class:`RFCOMMServer` that handles connections in a new thread.
+    """
+    daemon_threads = True


 class RFCOMMClient:
    def __init__(self, client_address, RequestHandlerClass):
        self.client_address = client_address
        self.RequestHandlerClass = RequestHandlerClass
-        self.socket = BluetoothSocket(RFCOMM)
+        self.socket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM)

    def handle_request(self):
-        self.socket.connect((self.client_address[0], self.client_address[1]))
+        self.socket.connect(self.client_address)
        try:
            self.process_request(self.socket, self.client_address)
        except Exception:
@@ -145,4 +100,7 @@ class RFCOMMClient:


 class ThreadingRFCOMMClient(ThreadingMixIn, RFCOMMClient):
-    pass
+    """
+    Version of :class:`RFCOMMClient` that handles connections in a new thread.
+    """
+    daemon_threads = True
@@ -1,16 +1,13 @@
 # SPDX-License-Identifier: MIT
-# Copyright (C) 2020 The Pybricks Authors
+# Copyright (C) 2020,2023 The Pybricks Authors

-from _thread import allocate_lock
 from errno import ECONNRESET
 from struct import pack, unpack
+from socket import BDADDR_ANY
+from socketserver import StreamRequestHandler
+from threading import Lock

-from .bluetooth import (
-    BDADDR_ANY,
-    ThreadingRFCOMMServer,
-    ThreadingRFCOMMClient,
-    StreamRequestHandler,
-)
+from .bluetooth import ThreadingRFCOMMServer, ThreadingRFCOMMClient


 def resolve(brick):
@@ -151,7 +148,7 @@ class MailboxHandler(StreamRequestHandler):
            self.server._clients[self.client_address[0]] = self.request
        while True:
            try:
-                buf = self.rfile.recv(2)
+                buf = self.rfile.read(2)
                if len(buf) == 0:
                    break
            except OSError as ex:
@@ -160,7 +157,7 @@ class MailboxHandler(StreamRequestHandler):
                    break
                raise
            (size,) = unpack("<H", buf)
-            buf = self.rfile.recv(size)
+            buf = self.rfile.read(size)
            msg_count, cmd_type, cmd, name_size = unpack("<HBBB", buf[0:5])
            if cmd_type != SYSTEM_COMMAND_NO_REPLY:
                raise ValueError("Bad message type")
@@ -180,7 +177,7 @@ class MailboxHandler(StreamRequestHandler):
 class MailboxHandlerMixIn:
    def __init__(self):
        # protects against concurrent access of other attributes
-        self._lock = allocate_lock()
+        self._lock = Lock()
        # map of mailbox name to raw data
        self._mailboxes = {}
        # map of device name/address to object with send() method
@@ -247,7 +244,7 @@ class MailboxHandlerMixIn:

    def wait_for_mailbox_update(self, mbox):
        """Waits until ``mbox`` receives a value."""
-        lock = allocate_lock()
+        lock = Lock()
        lock.acquire()
        with self._lock:
            self._updates[mbox] = lock
@@ -1,7 +1,7 @@
 # ThisHub = TechnicHub PrimeHub EssentialHub
 from pybricks.hubs import ThisHub
 from pybricks.tools import wait
-from pybricks.geometry import Axis
+from pybricks.parameters import Axis

 # Initialize the hub.
 hub = ThisHub()
@@ -1,7 +1,7 @@
 # ThisHub = TechnicHub PrimeHub EssentialHub
 from pybricks.hubs import ThisHub
 from pybricks.tools import wait
-from pybricks.geometry import Axis
+from pybricks.parameters import Axis

 # Initialize the hub. In this case, specify that the hub is mounted with the
 # top side facing forward and the front side facing to the right.
@@ -1,6 +1,5 @@
 from pybricks.hubs import PrimeHub
-from pybricks.tools import wait
-from pybricks.geometry import Matrix
+from pybricks.tools import wait, Matrix

 # Initialize the hub.
 hub = PrimeHub()
@@ -4,19 +4,34 @@ from uerrno import ENODEV

 # Dictionary of device identifiers along with their name.
 device_names = {
-    34: "Wedo 2.0 Tilt Sensor",
-    35: "Wedo 2.0 Infrared Sensor",
-    37: "BOOST Color Distance Sensor",
+    # pybricks.pupdevices.DCMotor
+    1: "Wedo 2.0 Medium Motor",
+    2: "Powered Up Train Motor",
+    # pybricks.pupdevices.Light
+    8: "Powered Up Light",
+    # pybricks.pupdevices.Motor
    38: "BOOST Interactive Motor",
    46: "Technic Large Motor",
    47: "Technic Extra Large Motor",
    48: "SPIKE Medium Angular Motor",
    49: "SPIKE Large Angular Motor",
-    61: "SPIKE Color Sensor",
-    62: "SPIKE Ultrasonic Sensor",
-    63: "SPIKE Force Sensor",
+    65: "SPIKE Small Angular Motor",
    75: "Technic Medium Angular Motor",
    76: "Technic Large Angular Motor",
+    # pybricks.pupdevices.TiltSensor
+    34: "Wedo 2.0 Tilt Sensor",
+    # pybricks.pupdevices.InfraredSensor
+    35: "Wedo 2.0 Infrared Motion Sensor",
+    # pybricks.pupdevices.ColorDistanceSensor
+    37: "BOOST Color Distance Sensor",
+    # pybricks.pupdevices.ColorSensor
+    61: "SPIKE Color Sensor",
+    # pybricks.pupdevices.UltrasonicSensor
+    62: "SPIKE Ultrasonic Sensor",
+    # pybricks.pupdevices.ForceSensor
+    63: "SPIKE Force Sensor",
+    # pybricks.pupdevices.ColorLightMatrix
+    64: "SPIKE 3x3 Color Light Matrix",
 }

 # Make a list of known ports.
@@ -14,10 +14,10 @@ drive_base = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=11
 # Drive forward by 500mm (half a meter).
 drive_base.straight(500)

-# Turn around clockwise (180 degrees)
+# Turn around clockwise by 180 degrees.
 drive_base.turn(180)

-# Drive forward again to drive back.
+# Drive forward again to get back to the start.
 drive_base.straight(500)

 # Turn around counterclockwise.
@@ -4,6 +4,11 @@

 ## Unreleased

+## 1.8.0 - 2023-04-21
+
+### Changed
+- Updated `pybricks` package to v3.3.0b4.
+
 ## 1.7.0 - 2022-12-28

 ### Added
@@ -1,3 +1,5 @@
+# This file is automatically @generated by Poetry and should not be changed by hand.
+
 [[package]]
 name = "attrs"
 version = "22.1.0"
@@ -5,6 +7,10 @@ description = "Classes Without Boilerplate"
 category = "dev"
 optional = false
 python-versions = ">=3.5"
+files = [
+    {file = "attrs-22.1.0-py2.py3-none-any.whl", hash = "sha256:86efa402f67bf2df34f51a335487cf46b1ec130d02b8d39fd248abfd30da551c"},
+    {file = "attrs-22.1.0.tar.gz", hash = "sha256:29adc2665447e5191d0e7c568fde78b21f9672d344281d0c6e1ab085429b22b6"},
+]

 [package.extras]
 dev = ["cloudpickle", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "mypy (>=0.900,!=0.940)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "sphinx", "sphinx-notfound-page", "zope.interface"]
@@ -19,252 +25,7 @@ description = "The uncompromising code formatter."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
-
-[package.dependencies]
-click = ">=8.0.0"
-mypy-extensions = ">=0.4.3"
-pathspec = ">=0.9.0"
-platformdirs = ">=2"
-tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
-
-[package.extras]
-colorama = ["colorama (>=0.4.3)"]
-d = ["aiohttp (>=3.7.4)"]
-jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
-uvloop = ["uvloop (>=0.15.2)"]
-
-[[package]]
-name = "click"
-version = "8.1.3"
-description = "Composable command line interface toolkit"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-colorama = {version = "*", markers = "platform_system == \"Windows\""}
-
-[[package]]
-name = "colorama"
-version = "0.4.6"
-description = "Cross-platform colored terminal text."
-category = "dev"
-optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
-
-[[package]]
-name = "docstring-parser"
-version = "0.14.1"
-description = "Parse Python docstrings in reST, Google and Numpydoc format"
-category = "main"
-optional = false
-python-versions = ">=3.6,<4.0"
-
-[[package]]
-name = "exceptiongroup"
-version = "1.0.4"
-description = "Backport of PEP 654 (exception groups)"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-test = ["pytest (>=6)"]
-
-[[package]]
-name = "flake8"
-version = "4.0.1"
-description = "the modular source code checker: pep8 pyflakes and co"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-mccabe = ">=0.6.0,<0.7.0"
-pycodestyle = ">=2.8.0,<2.9.0"
-pyflakes = ">=2.4.0,<2.5.0"
-
-[[package]]
-name = "iniconfig"
-version = "1.1.1"
-description = "iniconfig: brain-dead simple config-ini parsing"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "jedi"
-version = "0.18.1"
-description = "An autocompletion tool for Python that can be used for text editors."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-parso = ">=0.8.0,<0.9.0"
-
-[package.extras]
-qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
-testing = ["Django (<3.1)", "colorama", "docopt", "pytest (<7.0.0)"]
-
-[[package]]
-name = "mccabe"
-version = "0.6.1"
-description = "McCabe checker, plugin for flake8"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "mypy-extensions"
-version = "0.4.3"
-description = "Experimental type system extensions for programs checked with the mypy typechecker."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "packaging"
-version = "21.3"
-description = "Core utilities for Python packages"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
-
-[[package]]
-name = "parso"
-version = "0.8.3"
-description = "A Python Parser"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
-testing = ["docopt", "pytest (<6.0.0)"]
-
-[[package]]
-name = "pathspec"
-version = "0.10.2"
-description = "Utility library for gitignore style pattern matching of file paths."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "platformdirs"
-version = "2.5.4"
-description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
-test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
-
-[[package]]
-name = "pluggy"
-version = "1.0.0"
-description = "plugin and hook calling mechanisms for python"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-dev = ["pre-commit", "tox"]
-testing = ["pytest", "pytest-benchmark"]
-
-[[package]]
-name = "pybricks"
-version = "3.2.0c1"
-description = "Documentation and user-API stubs for Pybricks MicroPython"
-category = "main"
-optional = false
-python-versions = "^3.8"
-develop = true
-
-[package.source]
-type = "directory"
-url = ".."
-
-[[package]]
-name = "pycodestyle"
-version = "2.8.0"
-description = "Python style guide checker"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[[package]]
-name = "pyflakes"
-version = "2.4.0"
-description = "passive checker of Python programs"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "pyparsing"
-version = "3.0.9"
-description = "pyparsing module - Classes and methods to define and execute parsing grammars"
-category = "dev"
-optional = false
-python-versions = ">=3.6.8"
-
-[package.extras]
-diagrams = ["jinja2", "railroad-diagrams"]
-
-[[package]]
-name = "pytest"
-version = "7.2.0"
-description = "pytest: simple powerful testing with Python"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-attrs = ">=19.2.0"
-colorama = {version = "*", markers = "sys_platform == \"win32\""}
-exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""}
-iniconfig = "*"
-packaging = "*"
-pluggy = ">=0.12,<2.0"
-tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
-
-[package.extras]
-testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "xmlschema"]
-
-[[package]]
-name = "tomli"
-version = "2.0.1"
-description = "A lil' TOML parser"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "typing-extensions"
-version = "4.2.0"
-description = "Backported and Experimental Type Hints for Python 3.7+"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[metadata]
-lock-version = "1.1"
-python-versions = ">= 3.10, < 3.11"
-content-hash = "971c6d0dddd9bb8e33a942e2360905a7d80a1a9d33015c0defc08345df5c1019"
-
-[metadata.files]
-attrs = [
-    {file = "attrs-22.1.0-py2.py3-none-any.whl", hash = "sha256:86efa402f67bf2df34f51a335487cf46b1ec130d02b8d39fd248abfd30da551c"},
-    {file = "attrs-22.1.0.tar.gz", hash = "sha256:29adc2665447e5191d0e7c568fde78b21f9672d344281d0c6e1ab085429b22b6"},
-]
-black = [
+files = [
    {file = "black-22.10.0-1fixedarch-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:5cc42ca67989e9c3cf859e84c2bf014f6633db63d1cbdf8fdb666dcd9e77e3fa"},
    {file = "black-22.10.0-1fixedarch-cp311-cp311-macosx_11_0_x86_64.whl", hash = "sha256:5d8f74030e67087b219b032aa33a919fae8806d49c867846bfacde57f43972ef"},
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@@ -287,84 +48,323 @@ black = [
    {file = "black-22.10.0-py3-none-any.whl", hash = "sha256:c957b2b4ea88587b46cf49d1dc17681c1e672864fd7af32fc1e9664d572b3458"},
    {file = "black-22.10.0.tar.gz", hash = "sha256:f513588da599943e0cde4e32cc9879e825d58720d6557062d1098c5ad80080e1"},
 ]
-click = [
+
+[package.dependencies]
+click = ">=8.0.0"
+mypy-extensions = ">=0.4.3"
+pathspec = ">=0.9.0"
+platformdirs = ">=2"
+tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
+
+[package.extras]
+colorama = ["colorama (>=0.4.3)"]
+d = ["aiohttp (>=3.7.4)"]
+jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
+uvloop = ["uvloop (>=0.15.2)"]
+
+[[package]]
+name = "click"
+version = "8.1.3"
+description = "Composable command line interface toolkit"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
    {file = "click-8.1.3.tar.gz", hash = "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e"},
 ]
-colorama = [
+
+[package.dependencies]
+colorama = {version = "*", markers = "platform_system == \"Windows\""}
+
+[[package]]
+name = "colorama"
+version = "0.4.6"
+description = "Cross-platform colored terminal text."
+category = "dev"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
+files = [
    {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
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 ]
-docstring-parser = [
+
+[[package]]
+name = "docstring-parser"
+version = "0.14.1"
+description = "Parse Python docstrings in reST, Google and Numpydoc format"
+category = "main"
+optional = false
+python-versions = ">=3.6,<4.0"
+files = [
    {file = "docstring_parser-0.14.1-py3-none-any.whl", hash = "sha256:14ac6ec1f1ba6905c4d8cb90fd0bc55394f5678183752c90e44812bf28d7a515"},
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 ]
-exceptiongroup = [
+
+[[package]]
+name = "exceptiongroup"
+version = "1.0.4"
+description = "Backport of PEP 654 (exception groups)"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "exceptiongroup-1.0.4-py3-none-any.whl", hash = "sha256:542adf9dea4055530d6e1279602fa5cb11dab2395fa650b8674eaec35fc4a828"},
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 ]
-flake8 = [
+
+[package.extras]
+test = ["pytest (>=6)"]
+
+[[package]]
+name = "flake8"
+version = "4.0.1"
+description = "the modular source code checker: pep8 pyflakes and co"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+files = [
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 ]
-iniconfig = [
+
+[package.dependencies]
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+pycodestyle = ">=2.8.0,<2.9.0"
+pyflakes = ">=2.4.0,<2.5.0"
+
+[[package]]
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+version = "1.1.1"
+description = "iniconfig: brain-dead simple config-ini parsing"
+category = "dev"
+optional = false
+python-versions = "*"
+files = [
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 ]
-jedi = [
+
+[[package]]
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+version = "0.18.1"
+description = "An autocompletion tool for Python that can be used for text editors."
+category = "main"
+optional = false
+python-versions = ">=3.6"
+files = [
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+[package.dependencies]
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+
+[package.extras]
+qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
+testing = ["Django (<3.1)", "colorama", "docopt", "pytest (<7.0.0)"]
+
+[[package]]
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 ]
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+[[package]]
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 ]
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+
+[[package]]
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+description = "Core utilities for Python packages"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
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 ]
-parso = [
+
+[package.dependencies]
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+
+[[package]]
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+python-versions = ">=3.6"
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 ]
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+
+[[package]]
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 ]
-platformdirs = [
+
+[[package]]
+name = "platformdirs"
+version = "2.5.4"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "platformdirs-2.5.4-py3-none-any.whl", hash = "sha256:af0276409f9a02373d540bf8480021a048711d572745aef4b7842dad245eba10"},
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 ]
-pluggy = [
+
+[package.extras]
+docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
+test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
+
+[[package]]
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+version = "1.0.0"
+description = "plugin and hook calling mechanisms for python"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
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    {file = "pluggy-1.0.0.tar.gz", hash = "sha256:4224373bacce55f955a878bf9cfa763c1e360858e330072059e10bad68531159"},
 ]
-pybricks = []
-pycodestyle = [
+
+[package.extras]
+dev = ["pre-commit", "tox"]
+testing = ["pytest", "pytest-benchmark"]
+
+[[package]]
+name = "pybricks"
+version = "3.3.0a4"
+description = "Documentation and user-API stubs for Pybricks MicroPython"
+category = "main"
+optional = false
+python-versions = "^3.8"
+files = []
+develop = true
+
+[package.source]
+type = "directory"
+url = ".."
+
+[[package]]
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+version = "2.8.0"
+description = "Python style guide checker"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
    {file = "pycodestyle-2.8.0-py2.py3-none-any.whl", hash = "sha256:720f8b39dde8b293825e7ff02c475f3077124006db4f440dcbc9a20b76548a20"},
    {file = "pycodestyle-2.8.0.tar.gz", hash = "sha256:eddd5847ef438ea1c7870ca7eb78a9d47ce0cdb4851a5523949f2601d0cbbe7f"},
 ]
-pyflakes = [
+
+[[package]]
+name = "pyflakes"
+version = "2.4.0"
+description = "passive checker of Python programs"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
    {file = "pyflakes-2.4.0-py2.py3-none-any.whl", hash = "sha256:3bb3a3f256f4b7968c9c788781e4ff07dce46bdf12339dcda61053375426ee2e"},
    {file = "pyflakes-2.4.0.tar.gz", hash = "sha256:05a85c2872edf37a4ed30b0cce2f6093e1d0581f8c19d7393122da7e25b2b24c"},
 ]
-pyparsing = [
+
+[[package]]
+name = "pyparsing"
+version = "3.0.9"
+description = "pyparsing module - Classes and methods to define and execute parsing grammars"
+category = "dev"
+optional = false
+python-versions = ">=3.6.8"
+files = [
    {file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
    {file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
 ]
-pytest = [
+
+[package.extras]
+diagrams = ["jinja2", "railroad-diagrams"]
+
+[[package]]
+name = "pytest"
+version = "7.2.0"
+description = "pytest: simple powerful testing with Python"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "pytest-7.2.0-py3-none-any.whl", hash = "sha256:892f933d339f068883b6fd5a459f03d85bfcb355e4981e146d2c7616c21fef71"},
    {file = "pytest-7.2.0.tar.gz", hash = "sha256:c4014eb40e10f11f355ad4e3c2fb2c6c6d1919c73f3b5a433de4708202cade59"},
 ]
-tomli = [
+
+[package.dependencies]
+attrs = ">=19.2.0"
+colorama = {version = "*", markers = "sys_platform == \"win32\""}
+exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""}
+iniconfig = "*"
+packaging = "*"
+pluggy = ">=0.12,<2.0"
+tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
+
+[package.extras]
+testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "xmlschema"]
+
+[[package]]
+name = "tomli"
+version = "2.0.1"
+description = "A lil' TOML parser"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
 ]
-typing-extensions = [
+
+[[package]]
+name = "typing-extensions"
+version = "4.2.0"
+description = "Backported and Experimental Type Hints for Python 3.7+"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "typing_extensions-4.2.0-py3-none-any.whl", hash = "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708"},
    {file = "typing_extensions-4.2.0.tar.gz", hash = "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"},
 ]
+
+[metadata]
+lock-version = "2.0"
+python-versions = ">= 3.10, < 3.12"
+content-hash = "80c838121a027348930e78cdbd766f86e5180408c5ac682b3deba8d658b408d6"
@@ -1,13 +1,13 @@
 [tool.poetry]
 name = "pybricks_jedi"
-version = "1.7.0"
+version = "1.8.0"
 description = "Code completion for Pybricks."
 authors = ["The Pybricks Authors <team@pybricks.com>"]
 license = "MIT"

 [tool.poetry.dependencies]
-python = ">= 3.10, < 3.11"
-pybricks = "3.2.0c1"
+python = ">= 3.10, < 3.12"
+pybricks = "3.3.0a4"
 jedi = "0.18.1"
 typing-extensions = "4.2.0"
 docstring-parser = "0.14.1"
@@ -13,7 +13,6 @@ from typing_extensions import NotRequired, TypedDict
 PYBRICKS_CODE_PACKAGES = {
    "micropython",
    "pybricks",
-    "pybricks.geometry",
    "pybricks.hubs",
    "pybricks.iodevices",
    "pybricks.parameters",
@@ -489,7 +488,6 @@ def initialize():
        "pybricks._common",
        "pybricks.ev3dev",
        "pybricks.ev3dev.speaker",
-        "pybricks.geometry",
        "pybricks.hubs",
        "pybricks.iodevices",
        "pybricks.parameters",
@@ -79,7 +79,12 @@ def test_hub_dot_imu_dot():
        "acceleration",
        "angular_velocity",
        "heading",
+        "orientation",
+        "ready",
        "reset_heading",
+        "rotation",
+        "settings",
+        "stationary",
        "tilt",
        "up",
    ]
@@ -59,7 +59,6 @@ def test_from_pybricks_import():
    code = "from pybricks import "
    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
    assert [c["insertText"] for c in completions] == [
-        "geometry",
        "hubs",
        "iodevices",
        "parameters",
@@ -74,7 +73,6 @@ def test_from_pybricks_dot():
    code = "from pybricks."
    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
    assert [c["insertText"] for c in completions] == [
-        "geometry",
        "hubs",
        "iodevices",
        "parameters",
@@ -84,16 +82,6 @@ def test_from_pybricks_dot():
    ]


-def test_from_pybricks_geometry_import():
-    code = "from pybricks.geometry import "
-    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
-    assert [c["insertText"] for c in completions] == [
-        "Axis",
-        "Matrix",
-        "vector",
-    ]
-
-
 def test_from_pybricks_hubs_import():
    code = "from pybricks.hubs import "
    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
@@ -127,6 +115,7 @@ def test_from_pybricks_parameters_import():
    code = "from pybricks.parameters import "
    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
    assert [c["insertText"] for c in completions] == [
+        "Axis",
        "Button",
        "Color",
        "Direction",
@@ -159,17 +148,18 @@ def test_from_pybricks_pupdevices_import():
 def test_from_pybricks_robotics_import():
    code = "from pybricks.robotics import "
    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
-    assert [c["insertText"] for c in completions] == [
-        "DriveBase",
-    ]
+    assert [c["insertText"] for c in completions] == ["DriveBase", "GyroDriveBase"]


 def test_from_pybricks_tools_import():
    code = "from pybricks.tools import "
    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
    assert [c["insertText"] for c in completions] == [
+        "cross",
        "DataLog",
+        "Matrix",
        "StopWatch",
+        "vector",
        "wait",
    ]

@@ -97,7 +97,12 @@ def test_hub_dot_imu_dot():
        "acceleration",
        "angular_velocity",
        "heading",
+        "orientation",
+        "ready",
        "reset_heading",
+        "rotation",
+        "settings",
+        "stationary",
        "tilt",
        "up",
    ]
@@ -67,7 +67,12 @@ def test_hub_dot_imu_dot():
        "acceleration",
        "angular_velocity",
        "heading",
+        "orientation",
+        "ready",
        "reset_heading",
+        "rotation",
+        "settings",
+        "stationary",
        "tilt",
        "up",
    ]
@@ -31,7 +31,7 @@ def _get_function_signature(module: str, function: str) -> SignatureHelp:
 FUNCTION_PARAMS = [
    pytest.param("pybricks.tools", "wait", [(["time: Number"], "None")]),
    pytest.param(
-        "pybricks.geometry",
+        "pybricks.tools",
        "vector",
        [
            (["x: float", "y: float"], "Matrix"),
@@ -104,6 +104,7 @@ CONSTRUCTOR_PARAMS = [
                "positive_direction: Direction=Direction.CLOCKWISE",
                "gears: Optional[Union[Collection[int], Collection[Collection[int]]]]=None",
                "reset_angle: bool=True",
+                "profile: Number=None",
            ]
        ],
    ),
@@ -151,7 +152,7 @@ CONSTRUCTOR_PARAMS = [
        ],
    ),
    pytest.param(
-        "pybricks.geometry",
+        "pybricks.tools",
        "Matrix",
        [["rows: Sequence[Sequence[float]]"]],
    ),
@@ -306,12 +307,19 @@ METHOD_PARAMS = [
        [(["axis: Axis"], "float"), ([], "Matrix")],
    ),
    pytest.param("pybricks.hubs", "TechnicHub", "imu.heading", [([], "float")]),
+    pytest.param("pybricks.hubs", "TechnicHub", "imu.orientation", [([], "Matrix")]),
    pytest.param(
        "pybricks.hubs",
        "TechnicHub",
        "imu.reset_heading",
        [(["angle: Number"], "None")],
    ),
+    pytest.param(
+        "pybricks.hubs",
+        "TechnicHub",
+        "imu.rotation",
+        [(["axis: Axis"], "float")],
+    ),
    pytest.param("pybricks.hubs", "TechnicHub", "battery.voltage", [([], "int")]),
    pytest.param("pybricks.hubs", "TechnicHub", "battery.current", [([], "int")]),
    pytest.param(
@@ -398,12 +406,19 @@ METHOD_PARAMS = [
        [(["axis: Axis"], "float"), ([], "Matrix")],
    ),
    pytest.param("pybricks.hubs", "PrimeHub", "imu.heading", [([], "float")]),
+    pytest.param("pybricks.hubs", "PrimeHub", "imu.orientation", [([], "Matrix")]),
    pytest.param(
        "pybricks.hubs",
        "PrimeHub",
        "imu.reset_heading",
        [(["angle: Number"], "None")],
    ),
+    pytest.param(
+        "pybricks.hubs",
+        "PrimeHub",
+        "imu.rotation",
+        [(["axis: Axis"], "float")],
+    ),
    pytest.param(
        "pybricks.hubs",
        "PrimeHub",
@@ -481,12 +496,19 @@ METHOD_PARAMS = [
        [(["axis: Axis"], "float"), ([], "Matrix")],
    ),
    pytest.param("pybricks.hubs", "EssentialHub", "imu.heading", [([], "float")]),
+    pytest.param("pybricks.hubs", "EssentialHub", "imu.orientation", [([], "Matrix")]),
    pytest.param(
        "pybricks.hubs",
        "EssentialHub",
        "imu.reset_heading",
        [(["angle: Number"], "None")],
    ),
+    pytest.param(
+        "pybricks.hubs",
+        "EssentialHub",
+        "imu.rotation",
+        [(["axis: Axis"], "float")],
+    ),
    pytest.param("pybricks.hubs", "EssentialHub", "battery.voltage", [([], "int")]),
    pytest.param("pybricks.hubs", "EssentialHub", "battery.current", [([], "int")]),
    pytest.param("pybricks.hubs", "EssentialHub", "charger.connected", [([], "bool")]),
@@ -520,7 +542,12 @@ METHOD_PARAMS = [
        "settings",
        [(["max_voltage: Number"], "None"), ([], "Tuple[int]")],
    ),
-    pytest.param("pybricks.pupdevices", "Motor", "speed", [([], "int")]),
+    pytest.param(
+        "pybricks.pupdevices",
+        "Motor",
+        "speed",
+        [(["window: Number=100"], "int")],
+    ),
    pytest.param("pybricks.pupdevices", "Motor", "angle", [([], "int")]),
    pytest.param(
        "pybricks.pupdevices",
@@ -637,12 +664,12 @@ METHOD_PARAMS = [
                    "kp: Optional[Number]=None",
                    "ki: Optional[Number]=None",
                    "kd: Optional[Number]=None",
-                    "reserved: Optional[Number]=None",
+                    "integral_deadzone: Optional[Number]=None",
                    "integral_rate: Optional[Number]=None",
                ],
                "None",
            ),
-            ([], "Tuple[int, int, int, None, int]"),
+            ([], "Tuple[int, int, int, int, int]"),
        ],
    ),
    pytest.param(
@@ -2,6 +2,11 @@

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

+## 2.8.0 - 2023-04-21
+
+### Changed
+- Updated docs to v3.3.0b4.
+
 ## 2.7.0 - 2022-12-20

 ### Changed
@@ -1,6 +1,6 @@
 {
  "name": "@pybricks/ide-docs",
-  "version": "2.7.0",
+  "version": "2.8.0",
  "description": "Special build of Pybricks API docs for embedding in an IDE.",
  "repository": {
    "type": "git",
@@ -4,6 +4,11 @@

 ## Unreleased

+## 1.7.0 - 2022-12-28
+
+### Changed
+- Updated `pybricks_jedi` Python package to v1.7.0.
+
 ## 1.6.0 - 2022-12-09

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

 package_json = {
    "name": "@pybricks/jedi",
-    "version": "1.6.0",
+    "version": "1.7.0",
    "description": "Binary distribution of pybricks-jedi Python package and dependencies for use with Pyodide.",
    "repository": {
        "type": "git",
@@ -38,7 +38,7 @@ subprocess.check_call(
        "pip",
        "download",
        "--only-binary=any",
-        "pybricks-jedi==1.6.0",
+        "pybricks-jedi==1.7.0",
    ],
    cwd=BUILD_DIR,
 )
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.2.0"
+version = "3.3.0a4"
 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>" ]
@@ -8,8 +8,8 @@ from __future__ import annotations

 from typing import Union, Iterable, overload, Optional, Tuple, Collection, TYPE_CHECKING

-from .geometry import Matrix, Axis
-from .parameters import Direction, Stop, Button, Port, Color, Side
+from .tools import Matrix
+from .parameters import Axis, Direction, Stop, Button, Port, Color, Side

 if TYPE_CHECKING:
    from .parameters import Number
@@ -219,18 +219,18 @@ class Control:
        kp: Optional[Number] = None,
        ki: Optional[Number] = None,
        kd: Optional[Number] = None,
-        reserved: Optional[Number] = None,
+        integral_deadzone: Optional[Number] = None,
        integral_rate: Optional[Number] = None,
    ) -> None:
        ...

    @overload
-    def pid(self) -> Tuple[int, int, int, None, int]:
+    def pid(self) -> Tuple[int, int, int, int, int]:
        ...

    def pid(self, *args):
-        """pid(kp, ki, kd, reserved, integral_rate)
-        pid() -> Tuple[int, int, int, None, int]
+        """pid(kp, ki, kd, integral_deadzone, integral_rate)
+        pid() -> Tuple[int, int, int, int, int]

        Gets or sets the PID values for position and speed control.

@@ -245,7 +245,8 @@ class Control:
            kd (int): Derivative position (or proportional speed) control
                constant. It is the feedback torque per
                unit of speed: µNm/(deg/s).
-            reserved: This setting is not used.
+            integral_deadzone (Number, deg or Number, mm): Zone around the
+                target where the error integral does not accumulate errors.
            integral_rate (Number, deg/s or Number, mm/s): Maximum rate at
                which the error integral is allowed to grow.
        """
@@ -303,6 +304,52 @@ class Control:
        """


+class Model:
+    """Class to interact with motor state observer and settings."""
+
+    def state(self) -> Tuple[float, float, float, bool]:
+        """state() -> Tuple[float, float, float, bool]
+
+        Gets the estimated angle, speed, current, and stall state of the motor,
+        using a simulation model that mimics the real motor.
+        These estimates are updated faster than the real measurements,
+        which can be useful when building your own PID controllers.
+
+        For most applications it is better to used the *measured*
+        :meth:`angle <pybricks.pupdevices.Motor.angle>`,
+        :meth:`speed <pybricks.pupdevices.Motor.speed>`,
+        :meth:`load <pybricks.pupdevices.Motor.load>`, and
+        :meth:`stall <pybricks.pupdevices.Motor.stalled>` state instead.
+
+        Returns:
+            Tuple with the estimated angle (deg), speed (deg/s), current (mA),
+            and stall state (``True`` or ``False``).
+        """
+
+    @overload
+    def settings(self, values: tuple) -> None:
+        ...
+
+    @overload
+    def settings(self) -> tuple:
+        ...
+
+    def settings(self, speed, time):
+        """settings(values)
+        settings() -> Tuple
+
+        Gets or sets model settings as a tuple of integers. If no arguments are
+        given, this will return the current values. This method is mainly used
+        to debug the motor model class. Changing these settings should not be
+        needed in user programs.
+
+        .. _model settings: https://docs.pybricks.com/projects/pbio/en/latest/struct__pbio__observer__settings__t.html
+
+        Arguments:
+            values (Tuple): Tuple with `model settings`_.
+        """
+
+
 class Motor(DCMotor):
    """Generic class to control motors with built-in rotation sensors."""

@@ -312,14 +359,18 @@ class Motor(DCMotor):
    ``control`` attribute of the motor. See :ref:`control` for an overview
    of available methods."""

+    model = Model()
+    """Model representing the observer that estimates the motor state."""
+
    def __init__(
        self,
        port: Port,
        positive_direction: Direction = Direction.CLOCKWISE,
        gears: Optional[Union[Collection[int], Collection[Collection[int]]]] = None,
        reset_angle: bool = True,
+        profile: Number = None,
    ):
-        """__init__(port, positive_direction=Direction.CLOCKWISE, gears=None, reset_angle=True)
+        """__init__(port, positive_direction=Direction.CLOCKWISE, gears=None, reset_angle=True, profile=None)

        Arguments:
            port (Port): Port to which the motor is connected.
@@ -336,12 +387,16 @@ class Motor(DCMotor):
                When you specify a gear train, all motor commands and settings
                are automatically adjusted to account for the resulting gear
                ratio.  The motor direction remains unchanged by this.
-            reset_angle(bool):
+            reset_angle (bool):
                Choose ``True`` to reset the rotation sensor value to the
                absolute marker angle (between -180 and 179).
                Choose ``False`` to keep the
                current value, so your program knows where it left off last
                time.
+            profile (Number, deg): Precision profile. A lower value
+                means more precise movement; a larger value means
+                smoother movement. If no value is given, a suitable profile for
+                this motor type will be selected automatically.
        """

    def angle(self) -> int:
@@ -353,11 +408,19 @@ class Motor(DCMotor):
            Motor angle.
        """

-    def speed(self) -> int:
-        """speed() -> int: deg/s
+    def speed(self, window: Number = 100) -> int:
+        """speed(window=100) -> int: deg/s

        Gets the speed of the motor.

+        The speed is measured as the change in the motor angle during the
+        given time window. A short window makes the speed value more
+        responsive to motor movement, but less steady. A long window makes the
+        speed value less responsive, but more steady.
+
+        Arguments:
+            window (Number, ms): The time window used to determine the speed.
+
        Returns:
            Motor speed.

@@ -731,7 +794,7 @@ class LightMatrix:

        Arguments:
            matrices (iter): Sequence of
-                :class:`Matrix <pybricks.geometry.Matrix>` of intensities.
+                :class:`Matrix <pybricks.tools.Matrix>` of intensities.
            interval (Number, ms): Time to display each image in the list.
        """

@@ -928,22 +991,94 @@ class Accelerometer(SimpleAccelerometer):
        along the x-axis.

        Returns:
-            Tuple of pitch and roll angles.
+            Tuple of pitch and roll angles in degrees.
        """


 class IMU(Accelerometer):
+    def ready(self) -> bool:
+        """ready() -> bool
+
+        Checks if the device is calibrated and ready for use.
+
+        This becomes ``True`` when the robot has been sitting stationary for a
+        few seconds, which allows the device to re-calibrate. It is ``False``
+        if the hub has just been started, or if it hasn't had a chance to
+        calibrate for more than 10 minutes.
+
+        Returns:
+            ``True`` if it is ready for use, ``False`` if not.
+        """
+
+    def stationary(self) -> bool:
+        """stationary() -> bool
+
+        Checks if the device is currently stationary (not moving).
+
+        Returns:
+            ``True`` if stationary for at least a second, ``False`` if it is
+            moving.
+        """
+
+    @overload
+    def settings(
+        self,
+        angular_velocity_threshold: float = None,
+        acceleration_threshold: float = None,
+    ) -> None:
+        ...
+
+    @overload
+    def settings(self) -> Tuple[float, float]:
+        ...
+
+    def settings(self, *args):
+        """
+        settings(angular_velocity_threshold, acceleration_threshold)
+        settings() -> Tuple[float, float]
+
+        Configures the IMU settings. If no arguments are given,
+        this returns the current values.
+
+        The ``angular_velocity_threshold`` and ``acceleration_threshold``
+        define when the hub is considered stationary. If all
+        measurements stay below these thresholds for one second, the IMU
+        will recalibrate itself.
+
+        In a noisy room with high ambient vibrations (such as a
+        competition hall), it is recommended to increase the thresholds
+        slightly to give your robot the chance to calibrate.
+        To verify that your settings are working as expected, test that
+        the ``stationary()`` method gives ``False`` if your robot is moving,
+        and ``True`` if it is sitting still for at least a second.
+
+        Arguments:
+            angular_velocity_threshold (Number, deg/s): The threshold for
+                angular velocity. The default value is 1.5 deg/s.
+            acceleration_threshold (Number, mm/s²): The threshold for angular
+                velocity. The default value is 250 mm/s².
+        """
+
    def heading(self) -> float:
        """heading() -> float: deg

-        Gets the heading angle relative to the starting orientation. It is a
-        positive rotation around the :ref:`z-axis in the robot
-        frame <robotframe>`, prior to applying any tilt rotation.
+        Gets the heading angle of your robot. A positive value means a
+        clockwise turn.

-        For a vehicle viewed from the top, this means that
-        a positive heading value corresponds to a counterclockwise rotation.
+        The heading is 0 when your program starts. The value continues to grow
+        even as the robot turns more than 180 degrees. It does not wrap around
+        to -180 like it does in some apps.

-        .. note:: This method is not yet implemented.
+
+        .. note:: *For now, this method only keeps track of the heading while
+                  the robot is on a flat surface.*
+
+                  This means that the value is
+                  no longer correct if you lift it from the table. To solve
+                  this, you can call ``reset_heading`` to reset the heading to
+                  a known value *after* you put it back down. For example, you
+                  could align your robot with the side of the competition table
+                  and reset the heading 90 degrees as the new starting point.

        Returns:
            Heading angle relative to starting orientation.
@@ -955,8 +1090,6 @@ class IMU(Accelerometer):

        Resets the accumulated heading angle of the robot.

-        .. note:: This method is not yet implemented.
-
        Arguments:
            angle (Number, deg): Value to which the heading should be reset.
        """
@@ -985,6 +1118,41 @@ class IMU(Accelerometer):
            this returns a vector of accelerations along all axes.
        """

+    def rotation(self, axis: Axis) -> float:
+        """
+        rotation(axis) -> float: deg
+
+        Gets the rotation of the device along a given axis in
+        the :ref:`robot reference frame <robotframe>`.
+
+        This value is useful if your robot *only* rotates along the requested
+        axis. For general three-dimensional motion, use the
+        ``orientation()`` method instead.
+
+        The value starts counting from ``0`` when you initialize this class.
+
+        Arguments:
+            axis (Axis): Axis along which the rotation should be measured.
+        Returns:
+            The rotation angle.
+        """
+
+    def orientation(self) -> Matrix:
+        """
+        orientation() -> Matrix
+
+        Gets the three-dimensional orientation of the robot in
+        the :ref:`robot reference frame <robotframe>`.
+
+        It returns a rotation matrix whose columns represent the ``X``, ``Y``,
+        and ``Z`` axis of the robot.
+
+        .. note:: This method is not yet implemented.
+
+        Returns:
+            The rotation matrix.
+        """
+

 class CommonColorSensor:
    """Generic color sensor that supports Pybricks color calibration."""
@@ -168,14 +168,12 @@ class InfraredSensor:
 class GyroSensor:
    """LEGO® MINDSTORMS® EV3 Gyro Sensor."""

-    def __init__(
-        self, port: _Port, positive_direction: _Direction = _Direction.CLOCKWISE
-    ):
+    def __init__(self, port: _Port, direction: _Direction = _Direction.CLOCKWISE):
        """GyroSensor(port)

        Arguments:
            port (Port): Port to which the sensor is connected.
-            positive_direction (Direction):
+            direction (Direction):
                Positive rotation direction when looking at the red dot on top
                of the sensor.

@@ -1,132 +0,0 @@
-# SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2022 The Pybricks Authors
-
-"""Core linear algebra functionality for orientation sensors and robotics."""
-
-from __future__ import annotations
-
-from typing import Sequence, Tuple, overload
-
-
-class Matrix:
-    """Mathematical representation of a matrix. It supports
-    addition (``A + B``), subtraction (``A - B``),
-    and matrix multiplication (``A * B``) for matrices of compatible size.
-
-    It also supports scalar multiplication (``c * A`` or ``A * c``)
-    and scalar division (``A / c``).
-
-    A :class:`.Matrix` object is immutable."""
-
-    def __add__(self, other) -> Matrix:
-        ...
-
-    def __iadd__(self, other) -> Matrix:
-        ...
-
-    def __sub__(self, other) -> Matrix:
-        ...
-
-    def __isub__(self, other) -> Matrix:
-        ...
-
-    def __mul__(self, other) -> Matrix:
-        ...
-
-    def __rmul__(self, other) -> Matrix:
-        ...
-
-    def __imul__(self, other) -> Matrix:
-        ...
-
-    def __truediv__(self, other) -> Matrix:
-        ...
-
-    def __itruediv__(self, other) -> Matrix:
-        ...
-
-    def __floordiv__(self, other) -> Matrix:
-        ...
-
-    def __ifloordiv__(self, other) -> Matrix:
-        ...
-
-    def __init__(self, rows: Sequence[Sequence[float]]):
-        """Matrix(rows)
-
-        Arguments:
-            rows (list): List of rows. Each row is itself a list of numbers.
-
-        """
-
-    @property
-    def T(self) -> Matrix:   # noqa: N802
-        """Returns a new :class:`.Matrix` that is the transpose of the
-        original."""
-
-    @property
-    def shape(self) -> Tuple[int, int]:
-        """Returns a tuple (``m``, ``n``),
-        where ``m`` is the number of rows and ``n`` is the number of columns.
-        """
-
-
-@overload
-def vector(x: float, y: float) -> Matrix:
-    """
-    Convenience function to create a :class:`.Matrix` with the shape (``2``, ``1``).
-
-    Arguments:
-        x (float): x-coordinate of the vector.
-        y (float): y-coordinate of the vector.
-
-    Returns:
-        A matrix with the shape of a column vector.
-    """
-
-
-@overload
-def vector(x: float, y: float, z: float) -> Matrix:
-    """
-    Convenience function to create a :class:`.Matrix` with the shape (``3``, ``1``).
-
-    Arguments:
-        x (float): x-coordinate of the vector.
-        y (float): y-coordinate of the vector.
-        z (float): z-coordinate of the vector.
-
-    Returns:
-        A matrix with the shape of a column vector.
-    """
-
-
-def vector(*args):
-    """
-    vector(x, y) -> Matrix
-    vector(x, y, z) -> Matrix
-
-    Convenience function to create a :class:`.Matrix` with the
-    shape (``2``, ``1``) or (``3``, ``1``).
-
-    Arguments:
-        x (float): x-coordinate of the vector.
-        y (float): y-coordinate of the vector.
-        z (float): z-coordinate of the vector (optional).
-
-    Returns:
-        A matrix with the shape of a column vector.
-    """
-
-
-class Axis:
-    """Unit axes of a coordinate system.
-
-    .. data:: X = vector(1, 0, 0)
-    .. data:: Y = vector(0, 1, 0)
-    .. data:: Z = vector(0, 0, 1)
-
-    """
-
-    X: Matrix = vector(1, 0, 0)
-    Y: Matrix = vector(0, 1, 0)
-    Z: Matrix = vector(0, 0, 1)
@@ -4,9 +4,8 @@
 """LEGO® Programmable Hubs."""
 from . import _common
 from .ev3dev import _speaker
-from .geometry import Axis
 from .media.ev3dev import Image as _Image
-from .parameters import Button as _Button
+from .parameters import Button as _Button, Axis


 class EV3Brick:
@@ -9,7 +9,7 @@ from enum import Enum
 from typing import Union, TYPE_CHECKING
 import os

-from .geometry import Matrix as _Matrix
+from .tools import Matrix as _Matrix, vector as _vector

 if TYPE_CHECKING or os.environ.get("SPHINX_BUILD") == "True":
    Number = Union[int, float]
@@ -57,6 +57,20 @@ class _PybricksEnum(Enum, metaclass=_PybricksEnumMeta):
        return str(self)


+class Axis:
+    """Unit axes of a coordinate system.
+
+    .. data:: X = vector(1, 0, 0)
+    .. data:: Y = vector(0, 1, 0)
+    .. data:: Z = vector(0, 0, 1)
+
+    """
+
+    X: _Matrix = _vector(1, 0, 0)
+    Y: _Matrix = _vector(0, 1, 0)
+    Z: _Matrix = _vector(0, 0, 1)
+
+
 class Color:
    """Light or surface color."""

@@ -38,8 +38,9 @@ class Motor(_common.Motor):
        positive_direction: Direction = Direction.CLOCKWISE,
        gears: Optional[Union[Collection[int], Collection[Collection[int]]]] = None,
        reset_angle: bool = True,
+        profile: Number = None,
    ):
-        """__init__(port, positive_direction=Direction.CLOCKWISE, gears=None, reset_angle=True)
+        """__init__(port, positive_direction=Direction.CLOCKWISE, gears=None, reset_angle=True, profile=None)

        Arguments:
            port (Port): Port to which the motor is connected.
@@ -56,12 +57,16 @@ class Motor(_common.Motor):
                When you specify a gear train, all motor commands and settings
                are automatically adjusted to account for the resulting gear
                ratio.  The motor direction remains unchanged by this.
-            reset_angle(bool):
+            reset_angle (bool):
                Choose ``True`` to reset the rotation sensor value to the
                absolute marker angle (between -180 and 179).
                Choose ``False`` to keep the
                current value, so your program knows where it left off last
                time.
+            profile (Number, deg): Precision profile. A lower value
+                means more precise movement; a larger value means
+                smoother movement. If no value is given, a suitable profile for
+                this motor type will be selected automatically.
        """

    def reset_angle(self, angle: Optional[Number] = None) -> None:
@@ -28,9 +28,7 @@ class DriveBase:

    **Positive** angles and turn rates mean turning **right**.
    **Negative** means **left**. So when viewed from the top,
-    positive means clockwise and negative means counterclockwise. If desired,
-    you can flip this convention by reversing the ``left_motor`` and
-    ``right_motor`` when you initialize this class.
+    positive means clockwise and negative means counterclockwise.

    See the `measuring`_ section for tips to measure and adjust the diameter
    and axle track values.
@@ -135,25 +133,30 @@ class DriveBase:
        ...

    def settings(self, *args):
-        """settings(straight_speed, straight_acceleration, turn_rate, turn_acceleration)
+        """
+        settings(straight_speed, straight_acceleration, turn_rate, turn_acceleration)
        settings() -> Tuple[int, int, int, int]

-        Configures the speed and acceleration used
-        by :meth:`.straight`, :meth:`.turn`, and  :meth:`.curve`.
+        Configures the drive base speed and acceleration.

        If you give no arguments, this returns the current values as a tuple.

-        The default values are automatically configured based on your wheel
+        The initial values are automatically configured based on your wheel
        diameter and axle track. They are selected such that your robot
        drives at about 40% of its maximum speed.

+        The speed values given here do not apply to the :meth:`.drive` method,
+        since you provide your own speed values as arguments in that method.
+
        Arguments:
            straight_speed (Number, mm/s): Straight-line speed of the robot.
            straight_acceleration (Number, mm/s²): Straight-line
-                acceleration and deceleration of the robot.
+                acceleration and deceleration of the robot. Provide a tuple with
+                two values to set acceleration and deceleration separately.
            turn_rate (Number, deg/s): Turn rate of the robot.
            turn_acceleration (Number, deg/s²): Angular acceleration and
-                deceleration of the robot.
+                deceleration of the robot. Provide a tuple with
+                two values to set acceleration and deceleration separately.
        """

    def straight(
@@ -219,6 +222,12 @@ class DriveBase:
        """


+class GyroDriveBase(DriveBase):
+    """A robotic vehicle with two powered wheels and an optional support
+    wheel or caster. It measures the heading using the hub's built-in gyroscope,
+    which can make turning and driving straight more accurate."""
+
+
 # HACK: hide from jedi
 if TYPE_CHECKING:
    del Motor
@@ -1,11 +1,11 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2022 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors

-"""Common tools for timing and data logging."""
+"""Common tools for timing, data logging, and linear algebra."""

 from __future__ import annotations

-from typing import TYPE_CHECKING, Any
+from typing import TYPE_CHECKING, Any, Sequence, Tuple, overload

 if TYPE_CHECKING:
    from .parameters import Number
@@ -97,6 +97,131 @@ class DataLog:
        """


+class Matrix:
+    """Mathematical representation of a matrix. It supports
+    addition (``A + B``), subtraction (``A - B``),
+    and matrix multiplication (``A * B``) for matrices of compatible size.
+
+    It also supports scalar multiplication (``c * A`` or ``A * c``)
+    and scalar division (``A / c``).
+
+    A :class:`.Matrix` object is immutable."""
+
+    def __add__(self, other) -> Matrix:
+        ...
+
+    def __iadd__(self, other) -> Matrix:
+        ...
+
+    def __sub__(self, other) -> Matrix:
+        ...
+
+    def __isub__(self, other) -> Matrix:
+        ...
+
+    def __mul__(self, other) -> Matrix:
+        ...
+
+    def __rmul__(self, other) -> Matrix:
+        ...
+
+    def __imul__(self, other) -> Matrix:
+        ...
+
+    def __truediv__(self, other) -> Matrix:
+        ...
+
+    def __itruediv__(self, other) -> Matrix:
+        ...
+
+    def __floordiv__(self, other) -> Matrix:
+        ...
+
+    def __ifloordiv__(self, other) -> Matrix:
+        ...
+
+    def __init__(self, rows: Sequence[Sequence[float]]):
+        """Matrix(rows)
+
+        Arguments:
+            rows (list): List of rows. Each row is itself a list of numbers.
+
+        """
+
+    @property
+    def T(self) -> Matrix:  # noqa: N802
+        """Returns a new :class:`.Matrix` that is the transpose of the
+        original."""
+
+    @property
+    def shape(self) -> Tuple[int, int]:
+        """Returns a tuple (``m``, ``n``),
+        where ``m`` is the number of rows and ``n`` is the number of columns.
+        """
+
+
+@overload
+def vector(x: float, y: float) -> Matrix:
+    """
+    Convenience function to create a :class:`.Matrix` with the shape (``2``, ``1``).
+
+    Arguments:
+        x (float): x-coordinate of the vector.
+        y (float): y-coordinate of the vector.
+
+    Returns:
+        A matrix with the shape of a column vector.
+    """
+
+
+@overload
+def vector(x: float, y: float, z: float) -> Matrix:
+    """
+    Convenience function to create a :class:`.Matrix` with the shape (``3``, ``1``).
+
+    Arguments:
+        x (float): x-coordinate of the vector.
+        y (float): y-coordinate of the vector.
+        z (float): z-coordinate of the vector.
+
+    Returns:
+        A matrix with the shape of a column vector.
+    """
+
+
+def vector(*args):
+    """
+    vector(x, y) -> Matrix
+    vector(x, y, z) -> Matrix
+
+    Convenience function to create a :class:`.Matrix` with the
+    shape (``2``, ``1``) or (``3``, ``1``).
+
+    Arguments:
+        x (float): x-coordinate of the vector.
+        y (float): y-coordinate of the vector.
+        z (float): z-coordinate of the vector (optional).
+
+    Returns:
+        A matrix with the shape of a column vector.
+    """
+
+
+def cross(a: Matrix, b: Matrix) -> Matrix:
+    """
+    cross(a, b) -> Matrix
+
+    Gets the cross product ``a`` × ``b`` of two vectors.
+
+    Arguments:
+        a (Matrix): A three-dimensional vector.
+        b (Matrix): A three-dimensional vector.
+
+    Returns:
+        The cross product, also a three-dimensional vector.
+    """
+
+
 # HACK: hide from jedi
 if TYPE_CHECKING:
    del Number
@@ -88,7 +88,7 @@ def getrandbits(k: int) -> int:
    """
    getrandbits(k) -> int

-    Gets a random integer :math:`N` satisfying :math:`0 \\leq N < 2^{\\text{bits}}`.
+    Gets a random integer :math:`N` satisfying :math:`0 \\leq N < 2^{\\text{k}}`.

    Arguments:
        k (int): How many bits to use for the result.
Author	SHA1	Message	Date
David Lechner	db8de447d5	jedi: v1.8.0	2023-04-21 17:26:38 -05:00
David Lechner	46d6189eb1	jedi: update pybricks package version also bump python requirement since Pyodide is now using Python 3.11.	2023-04-21 17:24:47 -05:00
David Lechner	2278c7bcda	@pybricks/ide-docs v2.8.0	2023-04-21 17:10:51 -05:00
David Lechner	4da3618428	v3.3.0b4	2023-04-21 17:00:18 -05:00
Laurens Valk	5bc11b185d	pybricks.tools: Add versionchanged note.	2023-04-21 14:07:46 +02:00
Laurens Valk	be9f99d41b	pybricks.tools: Add category headings.	2023-04-21 13:59:16 +02:00
Laurens Valk	870aae83c0	pybricks.tools: Document cross product.	2023-04-21 13:39:08 +02:00
Laurens Valk	9cde749e8a	pybricks.geometry: Drop module. See https://github.com/pybricks/pybricks-micropython/pull/160	2023-04-21 13:33:19 +02:00
Laurens Valk	8bca5eb6e4	pybricks.robotics: Add GyroDriveBase.	2023-04-21 10:42:30 +02:00
Laurens Valk	95a12a7386	pybricks.robotics: Drop note suggesting to flip motors. This will still work, but it is asking for trouble when including the gyro. So it is probably better not to mention this at all.	2023-04-21 10:42:30 +02:00
Laurens Valk	d6c78f1f39	pybricks.robotics: Drop note restricting when to change settings.	2023-04-21 10:42:30 +02:00
Laurens Valk	98f2bb27fe	pybricks.robotics.DriveBase: Drop positive direction. This reverts commit `e4650cb1c9`. This is not needed for gyro support, so it is better to remove it before it is ever released.	2023-04-21 10:42:30 +02:00
Laurens Valk	fdbd078388	pybricks._common.IMU: Heading is clockwise positive. This is not a breaking change because heading() was never implemented until now.	2023-04-21 10:42:30 +02:00
Laurens Valk	ccd2b46819	pybricks.robotics.DriveBase: Revert gyro use via init. This reverts commit `dadaab6f61`. We will introduce a separate class instead.	2023-04-21 10:42:30 +02:00
Laurens Valk	c0cb05dd74	pybricks.robotics.DriveBase: Document use of gyro.	2023-04-21 10:42:30 +02:00
Laurens Valk	b183e1420a	pybricks.pupdevices.Motor: Document speed time window.	2023-04-21 10:42:30 +02:00
Laurens Valk	b311c54261	pybricks._common.IMU: Change settings setter.	2023-04-21 10:42:30 +02:00
Laurens Valk	bb37b94f5e	pybricks._common.IMU: Add imu status.	2023-04-21 10:42:30 +02:00
Laurens Valk	5b25606afa	pybricks._common.IMU: Add rotation and orientation. Also update implementation status for heading and reset_heading.	2023-04-21 10:42:30 +02:00
Laurens Valk	8172d11ef6	urandom: Fix formula in getrandbits.	2023-03-28 08:50:00 +02:00
Laurens Valk	c415296b71	pybricks._common.Motor: Document profile. Fixes https://github.com/pybricks/support/issues/966	2023-03-20 15:12:36 +01:00
Laurens Valk	e4650cb1c9	pybricks.robotics.DriveBase: Document positive direction. Fixes https://github.com/pybricks/support/issues/992	2023-03-20 14:22:25 +01:00
Laurens Valk	91154a394c	pybricks.robotics.DriveBase: Clarify settings method. Fixes https://github.com/pybricks/support/issues/882	2023-03-20 14:00:42 +01:00
David Lechner	3c36010c04	pybricks.ev3devices: Fix Gyro direction parameter name. The actual implemented name is `direction`, not `positive_direction`. Fixes: https://github.com/pybricks/support/issues/509	2023-03-20 13:56:16 +01:00
Laurens Valk	a553df3b03	pybricks.iodevices.PUPDevice: Add device class as comments.	2023-02-23 16:31:38 +01:00
Hans Willemen	dbd1cc8dc9	pybricks.iodevices.PUPDevice: Add more devices. Added: - non-uart DCMotors (Medium and Train) - non-uart Light - SPIKE 3x3 Color Matrix - SPIKE Small Angular Motor	2023-02-23 16:31:38 +01:00
Laurens Valk	b40c3989aa	pybricks.common.Motor: Add Model() class instance. This is mainly used to debug the motor model, and to quickly select the feedback parameters. This is useful when adding or configuring new motor types. Reading the estimated speed can also be useful in advanced applications where the user builds their own PID controller. We may choose to hide this method from the documentation before the release.	2023-02-09 10:25:15 +01:00
Laurens Valk	13612bdb1a	README: Fix D002 Trailing whitespace.	2023-02-09 10:25:10 +01:00
kai-morich	031e905e12	README: document stub usage in vs code Fixes: pybricks/support#937	2023-02-07 15:37:15 -06:00
Laurens Valk	428bca79ab	pybricks.common.Control: Document deadzone.	2023-02-02 14:45:34 +01:00
Laurens Valk	0e8b6cfd97	doc/main/cad/devices: Generate motor model.	2023-02-02 14:44:50 +01:00
David Lechner	eea8ff0924	examples/ev3/bluetooth: remove 3rd party dependency Since Python 3.10, RFCOMM sockets are available in Python on Windows so we no longer need 3rd party code. Fixes: pybricks/support#902	2023-01-06 14:17:29 -06:00
David Lechner	8c673ab280	github: update actions/checkout to v3 This fixes deprecation warnings about node v12.	2022-12-28 16:16:01 -06:00
David Lechner	73477169ae	npm/jedi: v1.7.0 Update pybricks_jedi package to v1.7.0 and bump version for release.	2022-12-28 16:13:28 -06:00