v3.6.0

This cuts the total build from 527 to 156 files,
which is considerably fewer requests when loading
this inside Pybricks Code.

See https://github.com/pybricks/support/issues/1559

.github/FUNDING.yml

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

.github/workflows/build.yml

@@ -1,26 +1,30 @@
 # This workflow will install Python dependencies, run tests and lint with a variety of Python versions
 # For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
 
-name: Python package
+name: Build Python package and docs
+
+on: 
+  push:
+    tags-ignore:
+      - '**'
+  pull_request:
+    paths:
+      - doc/**
+      - src/**
+      - poetry.lock
+      - poetry.toml
+      - pyproject.toml
+      - setup.cfg
 
-on: [ push, pull_request ]
 
 jobs:
   build:
 
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        python-version: [3.5, 3.6, 3.7, 3.8]
-
+    runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v2
+    - 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
@@ -32,6 +36,12 @@ jobs:
     - name: Build package
       run: poetry build
     - name: Lint docs
-      run: poetry run doc8 --extension .inc
-    - name: Build html docs
+      run: poetry run doc8
+    - name: Build html docs for Read the Docs
       run: poetry run make -C doc html
+    - name: Install IDE docs dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
+    - name: Build html docs for Pybricks Code IDE
+      run: poetry run make -C doc html TAG=ide

.github/workflows/jedi.yml

@@ -0,0 +1,30 @@
+name: pybricks_jedi
+
+on: [push, pull_request]
+
+jobs:
+  test:
+    if: github.ref_type != 'tag'
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    - run: pipx install poetry
+    - run: poetry install
+      working-directory: ./jedi
+    - run: poetry run pytest -vv
+      working-directory: ./jedi
+
+  publish:
+    if: github.ref_type == 'tag' && startsWith(github.ref_name, 'pybricks_jedi/')
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    - run: pipx install poetry
+    - run: poetry install
+      working-directory: ./jedi
+    - run: poetry build
+      working-directory: ./jedi
+    - run: poetry publish
+      working-directory: ./jedi
+      env:
+        POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_PYBRICKS_JEDI_TOKEN }}

.github/workflows/publish-ide-docs.yml

@@ -0,0 +1,38 @@
+name: Release @pybricks/ide-docs
+
+on:
+  push:
+    tags: 
+    - '@pybricks/ide-docs/**'
+
+jobs:
+  publish_ide_docs:
+    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@v3
+      with:
+        submodules: recursive
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v4
+      with:
+        python-version: 3.8
+    - name: Install dependencies
+      run: |
+        pip install poetry
+        poetry run python -m pip install --upgrade pip
+        poetry run python -m pip install --upgrade setuptools
+        poetry install --only=doc
+    - uses: actions/setup-node@v3
+      with:
+        node-version: '14.x'
+        registry-url: 'https://registry.npmjs.org'
+    - run: yarn build
+      working-directory: npm/ide-docs
+    - run: yarn publish
+      working-directory: npm/ide-docs
+      env:
+        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.github/workflows/publish-images.yml

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

.github/workflows/publish-jedi.yml

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

.github/workflows/release.yml

@@ -0,0 +1,45 @@
+on:
+  push:
+    tags:
+    - 'v3.*'
+
+name: Create release on GitHub and PyPI
+
+permissions:
+  contents: write
+
+jobs:
+  create_release:
+    name: Create release on GitHub
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          submodules: true
+          fetch-depth: 0
+      - name: Get tag
+        run: echo "GITHUB_TAG=${GITHUB_REF#*refs/tags/}" >> $GITHUB_ENV
+      - name: Create release
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          tag: ${{ github.ref_name }}
+        run: |
+          if [[ "${{ contains(env.GITHUB_TAG, 'a') || contains(env.GITHUB_TAG, 'b') || contains(env.GITHUB_TAG, 'c') }}" == "true" ]]; then
+            PRERELEASE_FLAG="--prerelease"
+          else
+            PRERELEASE_FLAG=""
+          fi
+          gh release create "$tag" \
+              --repo="$GITHUB_REPOSITORY" \
+              --title="${tag#v}" \
+              -F CHANGELOG.md \
+              $PRERELEASE_FLAG
+  build_and_publish:
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    - run: pipx run poetry build
+    - run: pipx run poetry publish
+      env:
+        POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_TOKEN }}

.gitignore

@@ -26,8 +26,9 @@ build/
 build-*/
 _build/
 
-# Test failure outputs
+# Tests
 ######################
+.pytest_cache/
 tests/*.exp
 tests/*.out
 
@@ -57,3 +58,10 @@ genrst/
 # Virtual environment
 ######################
 .venv/
+.python-version
+
+# Generated LDRAW output
+######################
+stderr-ldview
+stdout-ldview
+LPub3D/

.gitmodules

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

.readthedocs.yml

@@ -0,0 +1,24 @@
+# .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
+    post_install:
+      - VIRTUAL_ENV=$READTHEDOCS_VIRTUALENV_PATH poetry install --only=doc
+
+# Build documentation in the doc/main/ directory with Sphinx
+sphinx:
+  configuration: doc/main/conf.py
+
+# Optionally build your docs in additional formats such as PDF
+formats:
+   - pdf

.vscode/extensions.json

@@ -4,7 +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

@@ -1,10 +1,26 @@
 {
-    "python.pythonPath": "${workspaceFolder}/.venv",
-    "python.linting.pycodestyleEnabled": false,
+    "files.exclude": {
+      "**/__pycache__": true,
+    },
+    "python.defaultInterpreterPath": ".venv/bin/python",
+    "python.autoComplete.extraPaths": ["jedi/src"],
+    "python.formatting.provider": "none",
+    "python.linting.pylintEnabled": false,
     "python.linting.flake8Enabled": true,
+    "python.linting.pycodestyleEnabled": false,
     "python.linting.enabled": true,
+    "[python]": {
+        "editor.formatOnSave": true,
+        "editor.defaultFormatter": "ms-python.black-formatter"
+    },
+    "python.languageServer": "Pylance",
+    "python.testing.pytestArgs": [
+        "jedi/tests"
+    ],
+    "python.testing.unittestEnabled": false,
+    "python.testing.pytestEnabled": true,
     "files.associations": {"*.inc": "restructuredtext"},
-    "restructuredtext.confPath": "${workspaceFolder}/doc/api",
+    "restructuredtext.confPath": "${workspaceFolder}/doc/main",
     "spellright.language": [
         "en_US"
     ],
@@ -32,5 +48,12 @@
         "plaintext",
         "python",
         "restructuredtext",
-    ]
+    ],
+    "rewrap.wrappingColumn": 78,
+    "python.analysis.extraPaths": [
+        "jedi/src"
+    ],
+    "yaml.schemas": {
+        "https://json.schemastore.org/github-workflow.json": "file:///home/david/work/pybricks/pybricks-api/.github/workflows/build.yml"
+    },
 }

.vscode/spellright.dict

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

CHANGELOG.md

@@ -0,0 +1,297 @@
+# Changelog
+
+<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
+
+## Unreleased
+
+## 3.6.0 - 2025-03-11
+
+### Changed
+
+- Update API for firmware 3.6.0. See upstream changelog for details.
+
+## 3.6.0b5 - 2025-02-26
+
+### Changed
+
+- Update API for firmware 3.6.0b5. See upstream changelog for details.
+
+## 3.5.0 - 2024-04-11
+
+### Changed
+- Bump version to 3.5.0 without additional changes.
+
+## 3.5.0b2 - 2024-04-05
+
+### Added
+
+- Added `pybricks.pupdevices.Remote.disconnect` method.
+- Added blocks for `up`, `ready` and `stationary` for IMUs.
+- Added `last` and `chr` parameters to `read_input_byte` and add blocks.
+- Added block for the `in` operation.
+- Add double ternary block.
+
+## 3.5.0b1 - 2024-03-11
+
+### Added
+
+- Added `XboxController.rumble` method.
+- Added block icons for `hub.system.set_stop_button` and `hub.system.shutdown`.
+- Added program stop block (`raise SystemExit`).
+
+## 3.4.1 - 2024-03-11
+
+### Fixed
+
+- Fixed Read The Docs virtual environment workflow.
+
+## 3.4.0 - 2024-03-11
+
+### Changed
+
+- Update list block screenshots to match implementation.
+
+## 3.4.0b5 - 2024-03-05
+
+### Changed
+
+- Updates for v3.4.0b3 firmware (out of sync with docs).
+- Changed `hub.button` to `hub.buttons` on single button hubs. Access via
+ `hub.button` will keep working in the firmware for backwards compatibility.
+
+## 3.4.0b4 - 2024-02-14
+
+### Added
+
+- Added `pybricks.iodevices.XboxController` class.
+
+### Changed
+
+- Changed `buttons.pressed` return type to set.
+
+## 3.4.0b3 - 2024-01-30
+
+### Added
+
+- Added `pybricks.robotics.Car` class.
+
+### Changed
+
+- Changed `pybricks.robotics.DriveBase` icon to two wheels instead of steering
+  wheel, which will be used for the new car class.
+
+## 3.4.0b2 - 2023-11-28
+
+### Changed
+- Include first batch of block coding images.
+
+## 3.3.0 - 2023-11-24
+
+### Changed
+- Bump beta version to release version with no further changes.
+
+## 3.3.0c1 - 2023-11-20
+
+### Added
+- Enabled tilt and orientation config for `MoveHub()`.
+- Documented `Motor.close()`
+
+## Fixed
+- Fixed missing awaitable for `Remote.light` and LWP3 writes.
+
+## 3.3.0b9 - 2023-10-26
+
+### Changed
+- Changed the beta feature for using the hub's gyro. Gyro control can now be
+  toggled using `use_gyro` instead of using a separate `GyroDriveBase` class.
+- Documentation updates to match firmware 3.3.0b5--3.3.0b9 updates.
+
+### Added
+- Added `set` to `ubuiltins` module.
+- Basic multitasking docs.
+- Awaitable keyword for awaitable methods and functions.
+
+## 3.3.0b5 - 2023-05-16
+
+### Added
+- Documented new `hub.ble` methods.
+
+## 3.3.0b4 - 2023-04-21
+
+### Added
+- Documented `integral_deadzone` in `Control.pid()`.
+- Documented `Motor.model`. This can be used to view the estimated motor
+  state and change its settings.
+- Added `rotation`, `orientation`, `ready`, `stationary` and `settings` methods
+  to `IMU` class.
+- Added `GyroDriveBase` class to `pybricks.robotics`.
+
+### Changed
+- Change implementation status of `IMU.heading` and `IMU.reset_heading`. They
+  are now implemented, with some limitations as noted in a note box.
+- Moved `Matrix` and `vector` from `pybricks.geometry` to `pybricks.tools`.
+- Moved `Axis` from `pybricks.geometry` to `pybricks.parameters`.
+
+### Removed
+- Removed `pybricks.geometry` module.
+
+## 3.2.0 - 2022-12-20
+
+### Changed
+- Changed module TOC headings to make it easier to find things.
+
+## 3.2.0c1 - 2022-12-09
+
+### Changed
+- Updated "front" side of the Technic Hub to be consistent with
+  the Prime Hub.
+
+## 3.2.0b6 - 2022-12-02
+
+### Added
+- Documented ``Stop.NONE`` and ``Stop.COAST_SMART``.
+- Documented ``ujson`` module.
+- Added `done` and `stalled` methods for `DriveBase`.
+
+### Changed
+- Changed `PrimeHub.display.image()` to `PrimeHub.display.icon()` and renamed
+  its kwarg from `image` to `icon`.
+- Improved presentation and docstrings of the ``ubuiltins`` and other
+  MicroPython modules
+- Moved the random numbers example for Move Hub to the Move Hub page.
+- Moved `done()`, `stalled()`, `load()` from `Control` to `Motor` object.
+
+## 3.2.0b5 - 2022-11-11
+
+### Fixed
+- Fixed Jedi code completion for `Color` and `Icon` classes in `pybricks.parameters`.
+
+## 3.2.0b4 - 2022-10-21
+
+### Added
+- Code auto-completion for `EssentialHub`.
+- Added `System.storage` method.
+
+### Fixed
+- Fixed some type hints in `parameters` submodule.
+
+## 3.2.0b1-r3 - 2022-06-26
+
+### Fixed
+- Fixed more type hints and improved compatibility with jedi.
+
+## 3.2.0b1-r2 - 2022-06-24
+
+### Changed
+- Moved remaining type hints from `.pyi` files to the python stub modules, and
+  fixed numerous errors in the type hints throughout.
+
+## 3.2.0b1-r1 - 2022-06-09
+
+### Added
+- Added `__init__.py` to `pybricks` package.
+
+## 3.2.0b1 - 2022-06-02
+
+### Added
+- Code auto-completion for `hub.charger`, `hub.imu` and `hub.system`.
+- Moved typing from several `.pyi` files to the actual python modules.
+
+### Fixed
+- Fixed code completion for `DCMotor` and `Motor` classes in MS Python VS Code extension.
+- Fixed missing `DCMotor` type in `ev3devices`.
+- Fixed type hint for `Motor.reset_angle()` in `pupdevices`.
+
+### Changed
+- Setter for acceleration can now also be used to set acceleration and
+  deceleration to different values, using a two-valued tuple.
+
+## 3.1.0 - 2021-12-16
+
+### Added
+- Added maximum voltage setter for `DCMotor` and `Motor`.
+- Documented `DriveBase.curve()` method.
+
+### Changed
+- Removed `duty` setting from `Control.limits` method.
+- Removed `integral_range` setting from `Control.pid` method.
+
+### Fixed
+- Fixed link to Color Light Matrix page.
+- Fixed link to Inventor Hub page.
+
+## 3.1.0rc1 - 2021-11-19
+
+### Added
+- Added `ColorLightMatrix` class.
+- Added `LWP3Device` class.
+
+**NOTE: version number after this point were from JavaScript package and do
+not correspond to Pybricks firmware version numbers.**
+
+## 1.6.0 - 2021-08-30
+
+### Added
+- MicroPython module documentation.
+- Examples for hub system functions including stop button and shutdown.
+
+### Changed
+- Build IDE docs as main docs with minor changes, instead of a completely
+  separate build.
+- Moved motor control documentation to the motor page.
+
+## 1.5.0 - 2021-07-01
+
+### Added
+- Documentation for Powered Up Remote Control.
+
+## 1.4.0 - 2021-06-23
+
+### Added
+- Enabled beta content that was hidden for the 3.0 release.
+- Added notice about using the latest beta version.
+
+## 1.3.3 - 2021-05-21
+
+### Changed
+- Match example snippet styling to IDE.
+- Add more examples.
+
+## 1.3.2 - 2021-04-26
+
+### Changed
+- Theme style fixes.
+- Example code fixes
+- Match doc version to firmware version.
+
+## 1.3.1 - 2021-04-12
+
+### Changed
+- Upgrade sphinx and rtd-theme to fix style issues.
+
+## 1.3.0 - 2021-04-12
+
+### Removed
+- Removed features which not be in the official 3.0 release. These features
+  are still in beta. They'll come back in future releases once tested.
+
+## 1.2.0 - 2021-04-09
+
+### Changed
+- Moved installation guide to external site.
+
+## 1.1.1 - 2021-02-14
+
+### Added
+- Added installation guide.
+- Various documentation fixes.
+
+## 1.1.0 - 2021-01-28
+
+### Added
+- Scrollbar styling.
+
+## 1.0.0 - 2021-01-25
+
+### Added
+- Sphinx build output.

CONTRIBUTING.md

@@ -20,23 +20,103 @@ will actually be implemented.
 
 - Commit messages have a one-line subject, a blank line and a multiline body:
 
-        prefix: subject
+        prefix: Subject of the change.
 
         body...
 
-- Use a prefix to categorize the change. Usually this is the path the the file
-  being changed. 
-  - If it is a documentation change, it can be shortened to `doc/<file>` (omit
-    `api` from the path).
-  - If it is an API change (in the `pybricks` folder), write `api/<file>` 
-    instead of `pybricks/<file>`.
-- The subject briefly describes _what_ was changed, e.g. `fix typo`.
+- Use a prefix to categorize the change:
+  - Use the import path as the prefix whenever possible. Examples:
+     - pybricks.tools: Add StopWatch class.
+     - pybricks.tools: Reorganize RST files.
+     - pybricks.tools.StopWatch: Fix return type.
+     - pybricks.tools.wait: Add example of waiting.
+     - pybricks.pupdevices: Fix all sensor class ports.
+     - umath.sin: Fix spelling of Hypotenuse.
+  - If an import path makes no sense, just use the file path without
+    extensions:
+     - .vscode/settings: Fix file associations.
+- The subject briefly describes _what_ was changed. Use a short full sentence
+  as in the examples above.
 - The body describes _why_ the change was made, e.g. `The word "sensor" was
   spelled incorrectly`.
-- See the [commit history][commits] for more examples.
 
 [commits]: https://github.com/pybricks/pybricks-api/commits/master
 
+**General docstring principles:**
+
+The stubs libraries in this repository have two different purposes:
+1. Auto-generating documentation with Sphinx. For this purpose, the
+   documentation should be concise and clear.
+2. Provide autocomplete and intellisense in code editors. For this purpose,
+   the code needs to be 100% correct. This way, computers can parse your code
+   correctly and tell you when something is wrong.
+
+Since these objectives don't always align, we address these separately in the
+stubs library:
+
+1. The first line(s) of the docstring contain the function or method signature
+   as it should be displayed in the human-readable documentation.
+2. The real function signature can be as complex as it needs to be to make it
+   correct for intellisense. Overloads can be uses if needed.
+
+In the rare case where the docstring signature is the same as the typed
+version, we'll still include it for consistency.
+
+**Docstring details:**
+
+Make sure to look at existing function signatures and docstrings for
+inspiration when documenting new functionality. As an example, consider:
+
+```python
+def run_until_stalled(
+    self,
+    speed: Number,
+    then: Stop = Stop.COAST,
+    duty_limit: Optional[Number] = None,
+) -> int:
+    """
+    run_until_stalled(speed, then=Stop.COAST, duty_limit=None) -> int: deg
+
+    Runs the motor at a constant speed until it stalls.
+
+    Arguments:
+        speed (Number, deg/s): Speed of the motor.
+        then (Stop): What to do after coming to a standstill.
+        duty_limit (Number, %): Duty cycle limit during this
+            command. This is useful to avoid applying the full motor
+            torque to a geared or lever mechanism. If it is ``None``, the
+            duty limit won't be changed during this command.
+
+    Returns:
+        Angle at which the motor becomes stalled.
+    """
+```
+The real method signature at the top contains the full detail, including the
+type of each argument and return value.
+
+The docstring starts with the signature. Use more than one signature if needed
+to represent overloaded methods. The signatures are written in the way they
+should be displayed in the docs:
+- Argument types are omitted because they are also shown with the argument
+  description below.
+- Default values should be given (``then=Stop.COAST``).
+- The return type should be given (``-> int``). When applicable, include
+  the unit of the return value, so it becomes ``-> int: deg``
+
+Then follows a concise description of what this method, function, or class
+does.
+
+Then follows a list of arguments:
+- For each argument, include the expected type and unit if applicable, e.g.
+  ``(int)`` or ``(Number, deg/s)``.
+- Use ``Number`` when ``int`` and ``float`` are both allowed.
+- If the description is long, use the indentation shown above.
+- Make it readable. Instead
+  of ``Union[float, SupportsFloat, complex, SupportsComplex]``,
+  just say _float or complex_.
+
+Then follows a description of the return value. The type is omitted here since
+it is already include in the docstring signature.
 
 **Development environment:**
 
@@ -46,8 +126,8 @@ Prerequisites:
 - [Python 3][python]
 - [Poetry][poetry]
 
-Information on installing prerequisites can be found on the [pybricks-micropython
-wiki][wiki].
+Information on installing prerequisites can be found on the
+[pybricks-micropython contributor's guide][contributing].
 
 Initial setup:
 
@@ -59,15 +139,24 @@ Build docs:
 
     # Linux
     poetry run make -C doc html
-    xdg-open doc/api/build/html/index.html
+    xdg-open doc/main/build/html/index.html
 
     # macOS
     poetry run make -C doc html
-    open doc/api/build/html/index.html
+    open doc/main/build/html/index.html
 
     # Windows (PowerShell)
     poetry run doc\make.bat html
-    Invoke-Item doc\api\build\html\index.html
+    Invoke-Item doc\main\build\html\index.html
+
+Building IDE docs variant:
+
+    # Linux/macOS
+    poetry run make -C doc html TAG=ide
+
+    # Windows (PowerShell)
+    $env:TAG="ide"
+    poetry run doc\make.bat html
 
 Linting:
 
@@ -78,4 +167,4 @@ Linting:
 [git]: https://git-scm.com/
 [python]: https://www.python.org/
 [poetry]: https://python-poetry.org/
-[wiki]: https://github.com/pybricks-micropython/wiki
+[contributing]: https://github.com/pybricks/pybricks-micropython/blob/master/CONTRIBUTING.md

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2018-2020 The Pybricks Authors
+Copyright (c) 2018-2022 The Pybricks Authors
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.rst

@@ -12,6 +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

doc/Makefile

@@ -5,20 +5,21 @@
 SPHINXOPTS    = -W
 SPHINXBUILD   = sphinx-build
 SPHINXPROJ    = Pybricks
-SOURCEDIR     = api
+SOURCEDIR     = main
 BUILDDIR      = "$(SOURCEDIR)"/build
+TAG           = main
 
 # Put it first so that "make" without argument is like "make help".
 help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(TAG) $(O)
 
 .PHONY: help Makefile
 
 diagrams:
-	@$(MAKE) -C "$(SOURCEDIR)"/diagram_source clean
-	@$(MAKE) -C "$(SOURCEDIR)"/diagram_source
+	@$(MAKE) -C "$(SOURCEDIR)"/diagrams_source clean
+	@$(MAKE) -C "$(SOURCEDIR)"/diagrams_source
 
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
 %: Makefile
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) -t $(TAG) $(O)

doc/api/conf.py

@@ -1,21 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-#
-# Pybricks documentation build configuration file
-#
-import os
-
-# General information about the project.
-project = 'pybricks-micropython'
-copyright = '2018-2020 The Pybricks Authors'
-author = ''
-
-_TITLE = 'Pybricks Modules and Examples'
-_DISCLAIMER = 'LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are\
-               trademarks and/or copyrights of the LEGO Group of companies \
-               which does not sponsor, authorize or endorse this site.'
-
-html_logo = '../common/images/pybricks-logo-rtd.png'
-latex_logo = '../common/images/pybricks-logo-large.png'
-
-exec(open(os.path.abspath("../common/conf.py")).read())

doc/api/diagram_source/Makefile

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

doc/api/diagram_source/ev3motors.ldr

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

doc/api/diagram_source/ev3sensors.ldr

@@ -1,16 +0,0 @@
-0 Name: ev3sensors
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-1 15 390 -320 -200 1 0 0 0 1 0 0 0 1 95648.dat
-1 15 10 -320 -240 1 0 0 0 1 0 0 0 1 95652.dat
-1 15 310 -320 210 1 0 0 0 1 0 0 0 1 99380.dat
-1 15 -70 -320 170 1 0 0 0 1 0 0 0 1 95650.dat
-1 15 720 -320 370 1 0 0 0 1 0 0 0 1 95654.dat
-1 15 910 -400 150 -1 0 0 0 1 0 0 0 -1 72156.dat
-1 151 410 -320 -910 1 0 0 0 1 0 0 0 1 55969.dat
-1 151 730 -320 -880 1 0 0 0 1 0 0 0 1 64892.dat
-1 151 1000 -320 -1000 1 0 0 0 1 0 0 0 1 55963.dat
-1 151 -360 -320 -940 1 0 0 0 1 0 0 0 1 62840.dat
-1 151 90 -320 -970 1 0 0 0 1 0 0 0 1 53793.dat
-1 151 1250 -320 -580 1 0 0 0 1 0 0 0 1 53792.dat
-1 151 1340 -320 -970 1 0 0 0 1 0 0 0 1 55963.dat

doc/api/diagram_source/hubs.ldr

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

doc/api/diagram_source/iodevices.ldr

@@ -1,486 +0,0 @@
-0 FILE main.ldr
-0 Name: ev3sensors
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=0] [GID=Iv9FbUdBPsB] [name=Group 1] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=1] [GID=IMOjEZg0eXo] [name=Group 2] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=2] [GID=7Zgg7xpsn7m] [name=Group 3] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=3] [GID=37IHSsFLUIW] [name=Group 4] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=4] [GID=78T5iMUZhPB] [name=Group 5] [center=0 0 0]
-0 !LDCAD GROUP_DEF [topLevel=true] [LID=5] [GID=6l6RjlBcxBO] [name=Group 6] [center=0 0 0]
-0 !LDCAD GROUP_NXT [ids=2] [nrs=-1]
-1 1 1390 -320 -320 0 0 -30 0 1 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=2] [nrs=2]
-1 151 1390 -320 -370 1 0 0 0 1 0 0 0 1 54732b.dat
-0 !LDCAD GROUP_NXT [ids=3] [nrs=2]
-1 0 1510 -315 -390 0 0 -40 0 6 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=3] [nrs=-1]
-1 151 1510 -320 -440 1 0 0 0 1 0 0 0 1 54732b.dat
-0 !LDCAD GROUP_NXT [ids=0] [nrs=3]
-1 2 1350 -320 140 0 0 -30 0 1 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=0] [nrs=2]
-1 151 1350 -320 90 1 0 0 0 1 0 0 0 1 54732b.dat
-0 !LDCAD GROUP_NXT [ids=1] [nrs=2]
-1 2 1470 -320 60 0 0 -30 0 1 0 50 0 0 box.dat
-0 !LDCAD GROUP_NXT [ids=1] [nrs=3]
-1 0 1470 -320 110 1 0 0 0 1 0 0 0 1 u9218c01.dat
-0 !LDCAD GROUP_NXT [ids=0] [nrs=-1]
-1 0 1350 -321 170 -20 0 0 0 1 0 0 0 -10 box.dat
-0 !LDCAD GROUP_NXT [ids=1] [nrs=-1]
-1 0 1470 -321 30 -20 0 0 0 1 0 0 0 -10 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=8]
-1 0 1620 -320 -20 1 0 0 0 1 0 0 0 1 u9470c01.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=9]
-1 15 1620 -305 -20 1 0 0 0 1 0 0 0 1 u9218c01.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=7]
-1 2 1620 -320 -50 50 0 0 0 0 20 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=-1]
-1 0 1590 -320 -51 15 0 0 0 0 15 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=5]
-1 0 1650 -320 -51 0 0 -8 15 0 0 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=6]
-1 0 1630 -320 -51 0 0 8 -15 0 0 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=2]
-1 4 1665 -328 -51 0 0 2 -2 0 0 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=3]
-1 1 1665 -320 -51 0 0 2 -2 0 0 0 -1 0 box.dat
-0 !LDCAD GROUP_NXT [ids=4] [nrs=4]
-1 14 1665 -312 -51 0 0 2 -2 0 0 0 -1 0 box.dat
-1 151 1200 -392 -350 1 0 0 0 1 0 0 0 1 ms1040.dat
-
-
-0 !LDCAD GROUP_NXT [ids=5] [nrs=4]
-1 47 625 -780 -230 0 0 -1 0 -1 0 -1 0 0 55804.dat
-0 !LDCAD GROUP_NXT [ids=5] [nrs=3]
-1 0 695 -780 -309 0 0 -1 0 -1 0 -1 0 0 897.dat
-0 !LDCAD GROUP_NXT [ids=5] [nrs=2]
-1 0 695 -784 -314 -1 0 0 0 1 0 0 0 -1 elecCable2Brick-1.ldr
-0 !LDCAD GROUP_NXT [ids=5] [nrs=1]
-1 0 695 -784 -449 1 0 0 0 1 0 0 0 1 71427.dat
-1 0 990 -321 -330 -20 0 0 0 1 0 0 0 -10 box.dat
-1 151 990 -320 -410 1 0 0 0 1 0 0 0 1 54732b.dat
-1 6 990 -320 -360 0 0 -30 0 1 0 50 0 0 box.dat
-1 0 1100 -321 -440 -20 0 0 0 1 0 0 0 -10 box.dat
-1 151 1100 -320 -520 1 0 0 0 1 0 0 0 1 54732b.dat
-1 3 1100 -320 -470 0 0 -30 0 1 0 50 0 0 box.dat
-1 0 1210 -321 -520 -20 0 0 0 1 0 0 0 -10 box.dat
-1 151 1210 -320 -600 1 0 0 0 1 0 0 0 1 54732b.dat
-1 7 1210 -320 -550 0 0 -30 0 1 0 50 0 0 box.dat
-0 FILE elecCable2Brick-1.ldr
-0 Author: LDCad
-0 !LICENSE MIT
-0 !CATEGORY electric
-0 !KEYWORDS flexible, cable, 9V
-0 !LDCAD CONTENT [type=path] [addFallBack=default] [looped=false] [displayKind=mm] [curveStep=0] [displayLenCor=0]
-
-0 !LDCAD PATH_POINT [type=bezier] [posOri=0 4 15 0 0 1 -1 0 0 0 -1 0] [prevCPDist=25] [nextCPDist=25] [cirR=20] [cirDir=xyCW] [prevYRoll=0] [nextYRoll=0]
-0 !LDCAD PATH_POINT [type=bezier] [posOri=0 4 140 0 0 1 -1 0 0 0 -1 0] [prevCPDist=25] [nextCPDist=25] [cirR=20] [cirDir=xyCW] [prevYRoll=0] [nextYRoll=0]
-
-0 !LDCAD PATH_SKIN [donCol=16] [donOri=1 0 0 0 1 0 0 0 1] [donPart=ldcElecWire2Seg.dat] [donYSize=400%] [donCen=absCen] [donCenYOfs=0] [donFinScale=fitDon2Seg] [donPlace=deform] [donYAlign=0] [donInline=false] [segSize=100%] [segSizeTol=5%] [segsCnt=0] [segsGrp=0] [segsMaxMerge=10] [segsMrgAng=0] [segsMrgRollAng=0] [segsEdgeDelKind=keepFirstLeft]
-
-0 !LDCAD PATH_CAP [group=end] [color=0] [posOri=0 0 155 0 0 1 0 1 0 -1 0 0] [part=6625c01.dat] [extraLen=0mm] [inlineRef=false]
-0 !LDCAD PATH_CAP [group=end] [color=0] [posOri=0 16 155 0 0 1 0 1 0 -1 0 0] [part=2727ac01.dat] [extraLen=0mm] [inlineRef=false]
-
-0 !LDCAD GENERATED [generator=LDCad 1.6c]
-0 //This is the fallback LDraw content for above PATH configuration.
-0 // Do not edit, any changes will be lost upon regeneration.
-0 // The path is approx 50.00 mm (125.00) and exists out of 4 segments.
-
-0 //Some general hints about the document.
-0 UNOFFICIAL PART
-0 BFC CERTIFY CCW
-
-0 //Some of this content has been generated from other LDraw files, many thanks to all involved.
-0 // Credits for "ldcElecWire2Seg.dat":
-0 //  Author: LDCad
-0 // Credits for "7-8cyli.dat":
-0 //  Author: Guy Vivan
-0 //  History:
-0 //   2009-05-02 [PTadmin] Official Update 2009-01
-0 // Credits for "ldcConRing-7-8.dat":
-0 //  Author: LDCad
-
-0 //End cap reference(s)
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-1 0 0 16 155 0 0 1 0 1 0 -1 0 0 2727ac01.dat
-
-0 //Segments
-0 // Segment 1, this block is (recursively) generated from "ldcElecWire2Seg.dat"
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-
-0 // Segment 2, this block is (recursively) generated from "ldcElecWire2Seg.dat"
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-5 24 -2.885238 4.000011 95.790321 -2.77102 3.425975 95.790321 -2.885238 4.000011 116.1129 -2.885238 4.000011 55.645161
-5 24 -2.77102 3.425975 95.790321 -2.44588 2.939305 95.790321 -2.77102 3.425975 116.1129 -2.77102 3.425975 55.645161
-5 24 -2.44588 2.939305 95.790321 -1.95922 2.614194 95.790321 -2.44588 2.939305 116.1129 -2.44588 2.939305 55.645161
-5 24 -1.95922 2.614194 95.790321 -1.385212 2.499961 95.790321 -1.95922 2.614194 116.1129 -1.95922 2.614194 55.645161
-5 24 -1.385212 2.499961 95.790321 -0.811175 2.61418 95.790321 -1.385212 2.499961 116.1129 -1.385212 2.499961 55.645161
-5 24 -0.811175 2.61418 95.790321 -0.324505 2.93932 95.790321 -0.811175 2.61418 116.1129 -0.811175 2.61418 55.645161
-5 24 -0.324505 2.93932 95.790321 -0.00062 3.425975 95.790321 -0.324505 2.93932 116.1129 -0.324505 2.93932 55.645161
-
-0 // Segment 3, this block is (recursively) generated from "ldcElecWire2Seg.dat"
-4 16 0.32452 2.939305 136.435486 -0.00062 3.425975 136.435486 -0.00062 3.425975 95.790321 0.32452 2.939305 95.790321
-4 16 0.81118 2.614194 136.435486 0.32452 2.939305 136.435486 0.32452 2.939305 95.790321 0.81118 2.614194 95.790321
-4 16 1.385188 2.499961 136.435486 0.81118 2.614194 136.435486 0.81118 2.614194 95.790321 1.385188 2.499961 95.790321
-4 16 1.959225 2.61418 136.435486 1.385188 2.499961 136.435486 1.385188 2.499961 95.790321 1.959225 2.61418 95.790321
-4 16 2.445895 2.93932 136.435486 1.959225 2.61418 136.435486 1.959225 2.61418 95.790321 2.445895 2.93932 95.790321
-4 16 2.771006 3.42598 136.435486 2.445895 2.93932 136.435486 2.445895 2.93932 95.790321 2.771006 3.42598 95.790321
-4 16 2.885238 3.999988 136.435486 2.771006 3.42598 136.435486 2.771006 3.42598 95.790321 2.885238 3.999988 95.790321
-4 16 2.77102 4.574025 136.435486 2.885238 3.999988 136.435486 2.885238 3.999988 95.790321 2.77102 4.574025 95.790321
-4 16 2.44588 5.060695 136.435486 2.77102 4.574025 136.435486 2.77102 4.574025 95.790321 2.44588 5.060695 95.790321
-4 16 1.95922 5.385806 136.435486 2.44588 5.060695 136.435486 2.44588 5.060695 95.790321 1.95922 5.385806 95.790321
-4 16 1.385212 5.500039 136.435486 1.95922 5.385806 136.435486 1.95922 5.385806 95.790321 1.385212 5.500039 95.790321
-4 16 0.811175 5.38582 136.435486 1.385212 5.500039 136.435486 1.385212 5.500039 95.790321 0.811175 5.38582 95.790321
-4 16 0.324505 5.06068 136.435486 0.811175 5.38582 136.435486 0.811175 5.38582 95.790321 0.324505 5.06068 95.790321
-4 16 -0.000606 4.57402 136.435486 0.324505 5.06068 136.435486 0.324505 5.06068 95.790321 -0.000606 4.57402 95.790321
-4 16 -0.32452 5.060695 136.435486 -0.000606 4.57402 136.435486 -0.000606 4.57402 95.790321 -0.32452 5.060695 95.790321
-4 16 -0.81118 5.385806 136.435486 -0.32452 5.060695 136.435486 -0.32452 5.060695 95.790321 -0.81118 5.385806 95.790321
-4 16 -1.385188 5.500039 136.435486 -0.81118 5.385806 136.435486 -0.81118 5.385806 95.790321 -1.385188 5.500039 95.790321
-4 16 -1.959225 5.38582 136.435486 -1.385188 5.500039 136.435486 -1.385188 5.500039 95.790321 -1.959225 5.38582 95.790321
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-4 16 -2.885238 4.000011 136.435486 -2.771006 4.57402 136.435486 -2.771006 4.57402 95.790321 -2.885238 4.000011 95.790321
-4 16 -2.77102 3.425975 136.435486 -2.885238 4.000011 136.435486 -2.885238 4.000011 95.790321 -2.77102 3.425975 95.790321
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-4 16 -1.95922 2.614194 136.435486 -2.44588 2.939305 136.435486 -2.44588 2.939305 95.790321 -1.95922 2.614194 95.790321
-4 16 -1.385212 2.499961 136.435486 -1.95922 2.614194 136.435486 -1.95922 2.614194 95.790321 -1.385212 2.499961 95.790321
-4 16 -0.811175 2.61418 136.435486 -1.385212 2.499961 136.435486 -1.385212 2.499961 95.790321 -0.811175 2.61418 95.790321
-4 16 -0.324505 2.93932 136.435486 -0.811175 2.61418 136.435486 -0.811175 2.61418 95.790321 -0.324505 2.93932 95.790321
-4 16 -0.00062 3.425975 136.435486 -0.324505 2.93932 136.435486 -0.324505 2.93932 95.790321 -0.00062 3.425975 95.790321
-5 24 -0.00062 3.425975 95.790321 -0.00062 3.425975 136.435486 -0.574645 4.811795 95.790321 0.32452 2.939305 95.790321
-5 24 0.32452 2.939305 95.790321 0.32452 2.939305 136.435486 -0.00062 3.425975 95.790321 0.81118 2.614194 95.790321
-5 24 0.81118 2.614194 95.790321 0.81118 2.614194 136.435486 0.32452 2.939305 95.790321 1.385188 2.499961 95.790321
-5 24 1.385188 2.499961 95.790321 1.385188 2.499961 136.435486 0.81118 2.614194 95.790321 1.959225 2.61418 95.790321
-5 24 1.959225 2.61418 95.790321 1.959225 2.61418 136.435486 1.385188 2.499961 95.790321 2.445895 2.93932 95.790321
-5 24 2.445895 2.93932 95.790321 2.445895 2.93932 136.435486 1.959225 2.61418 95.790321 2.771006 3.42598 95.790321
-5 24 2.771006 3.42598 95.790321 2.771006 3.42598 136.435486 2.445895 2.93932 95.790321 2.885238 3.999988 95.790321
-5 24 2.885238 3.999988 95.790321 2.885238 3.999988 136.435486 2.771006 3.42598 95.790321 2.77102 4.574025 95.790321
-5 24 2.77102 4.574025 95.790321 2.77102 4.574025 136.435486 2.885238 3.999988 95.790321 2.44588 5.060695 95.790321
-5 24 2.44588 5.060695 95.790321 2.44588 5.060695 136.435486 2.77102 4.574025 95.790321 1.95922 5.385806 95.790321
-5 24 1.95922 5.385806 95.790321 1.95922 5.385806 136.435486 2.44588 5.060695 95.790321 1.385212 5.500039 95.790321
-5 24 1.385212 5.500039 95.790321 1.385212 5.500039 136.435486 1.95922 5.385806 95.790321 0.811175 5.38582 95.790321
-5 24 0.811175 5.38582 95.790321 0.811175 5.38582 136.435486 1.385212 5.500039 95.790321 0.324505 5.06068 95.790321
-5 24 0.324505 5.06068 95.790321 0.324505 5.06068 136.435486 0.811175 5.38582 95.790321 -0.000606 4.57402 95.790321
-5 24 -0.000606 4.57402 95.790321 -0.000606 4.57402 136.435486 -0.574627 3.188214 95.790321 0.324505 5.06068 95.790321
-5 24 -0.000606 4.57402 95.790321 -0.000606 4.57402 136.435486 0.574645 3.188205 95.790321 -0.32452 5.060695 95.790321
-5 24 -0.32452 5.060695 95.790321 -0.32452 5.060695 136.435486 -0.000606 4.57402 95.790321 -0.81118 5.385806 95.790321
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-5 24 -1.385188 5.500039 95.790321 -1.385188 5.500039 136.435486 -0.81118 5.385806 95.790321 -1.959225 5.38582 95.790321
-5 24 -1.959225 5.38582 95.790321 -1.959225 5.38582 136.435486 -1.385188 5.500039 95.790321 -2.445895 5.06068 95.790321
-5 24 -2.445895 5.06068 95.790321 -2.445895 5.06068 136.435486 -1.959225 5.38582 95.790321 -2.771006 4.57402 95.790321
-5 24 -2.771006 4.57402 95.790321 -2.771006 4.57402 136.435486 -2.445895 5.06068 95.790321 -2.885238 4.000011 95.790321
-5 24 -2.885238 4.000011 95.790321 -2.885238 4.000011 136.435486 -2.771006 4.57402 95.790321 -2.77102 3.425975 95.790321
-5 24 -2.77102 3.425975 95.790321 -2.77102 3.425975 136.435486 -2.885238 4.000011 95.790321 -2.44588 2.939305 95.790321
-5 24 -2.44588 2.939305 95.790321 -2.44588 2.939305 136.435486 -2.77102 3.425975 95.790321 -1.95922 2.614194 95.790321
-5 24 -1.95922 2.614194 95.790321 -1.95922 2.614194 136.435486 -2.44588 2.939305 95.790321 -1.385212 2.499961 95.790321
-5 24 -1.385212 2.499961 95.790321 -1.385212 2.499961 136.435486 -1.95922 2.614194 95.790321 -0.811175 2.61418 95.790321
-5 24 -0.811175 2.61418 95.790321 -0.811175 2.61418 136.435486 -1.385212 2.499961 95.790321 -0.324505 2.93932 95.790321
-5 24 -0.324505 2.93932 95.790321 -0.324505 2.93932 136.435486 -0.811175 2.61418 95.790321 -0.00062 3.425975 95.790321
-5 24 -0.00062 3.425975 95.790321 -0.00062 3.425975 136.435486 0.574627 4.811786 95.790321 -0.324505 2.93932 95.790321
-5 24 -0.00062 3.425975 136.435486 0.32452 2.939305 136.435486 -0.00062 3.425975 138.217743 -0.00062 3.425975 95.790321
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-5 24 0.81118 2.614194 136.435486 1.385188 2.499961 136.435486 0.81118 2.614194 138.217743 0.81118 2.614194 95.790321
-5 24 1.385188 2.499961 136.435486 1.959225 2.61418 136.435486 1.385188 2.499961 138.217743 1.385188 2.499961 95.790321
-5 24 1.959225 2.61418 136.435486 2.445895 2.93932 136.435486 1.959225 2.61418 138.217743 1.959225 2.61418 95.790321
-5 24 2.445895 2.93932 136.435486 2.771006 3.42598 136.435486 2.445895 2.93932 138.217743 2.445895 2.93932 95.790321
-5 24 2.771006 3.42598 136.435486 2.885238 3.999988 136.435486 2.771006 3.42598 138.217743 2.771006 3.42598 95.790321
-5 24 2.885238 3.999988 136.435486 2.77102 4.574025 136.435486 2.885238 3.999988 138.217743 2.885238 3.999988 95.790321
-5 24 2.77102 4.574025 136.435486 2.44588 5.060695 136.435486 2.77102 4.574025 138.217743 2.77102 4.574025 95.790321
-5 24 2.44588 5.060695 136.435486 1.95922 5.385806 136.435486 2.44588 5.060695 138.217743 2.44588 5.060695 95.790321
-5 24 1.95922 5.385806 136.435486 1.385212 5.500039 136.435486 1.95922 5.385806 138.217743 1.95922 5.385806 95.790321
-5 24 1.385212 5.500039 136.435486 0.811175 5.38582 136.435486 1.385212 5.500039 138.217743 1.385212 5.500039 95.790321
-5 24 0.811175 5.38582 136.435486 0.324505 5.06068 136.435486 0.811175 5.38582 138.217743 0.811175 5.38582 95.790321
-5 24 0.324505 5.06068 136.435486 -0.000606 4.57402 136.435486 0.324505 5.06068 138.217743 0.324505 5.06068 95.790321
-5 24 -0.000606 4.57402 136.435486 -0.32452 5.060695 136.435486 0.00062 4.574025 138.217743 -0.000606 4.57402 95.790321
-5 24 -0.32452 5.060695 136.435486 -0.81118 5.385806 136.435486 -0.32452 5.060695 138.217743 -0.32452 5.060695 95.790321
-5 24 -0.81118 5.385806 136.435486 -1.385188 5.500039 136.435486 -0.81118 5.385806 138.217743 -0.81118 5.385806 95.790321
-5 24 -1.385188 5.500039 136.435486 -1.959225 5.38582 136.435486 -1.385188 5.500039 138.217743 -1.385188 5.500039 95.790321
-5 24 -1.959225 5.38582 136.435486 -2.445895 5.06068 136.435486 -1.959225 5.38582 138.217743 -1.959225 5.38582 95.790321
-5 24 -2.445895 5.06068 136.435486 -2.771006 4.57402 136.435486 -2.445895 5.06068 138.217743 -2.445895 5.06068 95.790321
-5 24 -2.771006 4.57402 136.435486 -2.885238 4.000011 136.435486 -2.771006 4.57402 138.217743 -2.771006 4.57402 95.790321
-5 24 -2.885238 4.000011 136.435486 -2.77102 3.425975 136.435486 -2.885238 4.000011 138.217743 -2.885238 4.000011 95.790321
-5 24 -2.77102 3.425975 136.435486 -2.44588 2.939305 136.435486 -2.77102 3.425975 138.217743 -2.77102 3.425975 95.790321
-5 24 -2.44588 2.939305 136.435486 -1.95922 2.614194 136.435486 -2.44588 2.939305 138.217743 -2.44588 2.939305 95.790321
-5 24 -1.95922 2.614194 136.435486 -1.385212 2.499961 136.435486 -1.95922 2.614194 138.217743 -1.95922 2.614194 95.790321
-5 24 -1.385212 2.499961 136.435486 -0.811175 2.61418 136.435486 -1.385212 2.499961 138.217743 -1.385212 2.499961 95.790321
-5 24 -0.811175 2.61418 136.435486 -0.324505 2.93932 136.435486 -0.811175 2.61418 138.217743 -0.811175 2.61418 95.790321
-5 24 -0.324505 2.93932 136.435486 -0.00062 3.425975 136.435486 -0.324505 2.93932 138.217743 -0.324505 2.93932 95.790321
-
-0 // Segment 4, this block is (recursively) generated from "ldcElecWire2Seg.dat"
-4 16 0.32452 2.939305 140 -0.00062 3.425975 140 -0.00062 3.425975 136.435486 0.32452 2.939305 136.435486
-4 16 0.81118 2.614194 140 0.32452 2.939305 140 0.32452 2.939305 136.435486 0.81118 2.614194 136.435486
-4 16 1.385188 2.499961 140 0.81118 2.614194 140 0.81118 2.614194 136.435486 1.385188 2.499961 136.435486
-4 16 1.959225 2.61418 140 1.385188 2.499961 140 1.385188 2.499961 136.435486 1.959225 2.61418 136.435486
-4 16 2.445895 2.93932 140 1.959225 2.61418 140 1.959225 2.61418 136.435486 2.445895 2.93932 136.435486
-4 16 2.771006 3.42598 140 2.445895 2.93932 140 2.445895 2.93932 136.435486 2.771006 3.42598 136.435486
-4 16 2.885238 3.999988 140 2.771006 3.42598 140 2.771006 3.42598 136.435486 2.885238 3.999988 136.435486
-4 16 2.77102 4.574025 140 2.885238 3.999988 140 2.885238 3.999988 136.435486 2.77102 4.574025 136.435486
-4 16 2.44588 5.060695 140 2.77102 4.574025 140 2.77102 4.574025 136.435486 2.44588 5.060695 136.435486
-4 16 1.95922 5.385806 140 2.44588 5.060695 140 2.44588 5.060695 136.435486 1.95922 5.385806 136.435486
-4 16 1.385212 5.500039 140 1.95922 5.385806 140 1.95922 5.385806 136.435486 1.385212 5.500039 136.435486
-4 16 0.811175 5.38582 140 1.385212 5.500039 140 1.385212 5.500039 136.435486 0.811175 5.38582 136.435486
-4 16 0.324505 5.06068 140 0.811175 5.38582 140 0.811175 5.38582 136.435486 0.324505 5.06068 136.435486
-4 16 -0.000606 4.57402 140 0.324505 5.06068 140 0.324505 5.06068 136.435486 -0.000606 4.57402 136.435486
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-4 16 -1.385188 5.500039 140 -0.81118 5.385806 140 -0.81118 5.385806 136.435486 -1.385188 5.500039 136.435486
-4 16 -1.959225 5.38582 140 -1.385188 5.500039 140 -1.385188 5.500039 136.435486 -1.959225 5.38582 136.435486
-4 16 -2.445895 5.06068 140 -1.959225 5.38582 140 -1.959225 5.38582 136.435486 -2.445895 5.06068 136.435486
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-4 16 -2.77102 3.425975 140 -2.885238 4.000011 140 -2.885238 4.000011 136.435486 -2.77102 3.425975 136.435486
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-4 16 -1.95922 2.614194 140 -2.44588 2.939305 140 -2.44588 2.939305 136.435486 -1.95922 2.614194 136.435486
-4 16 -1.385212 2.499961 140 -1.95922 2.614194 140 -1.95922 2.614194 136.435486 -1.385212 2.499961 136.435486
-4 16 -0.811175 2.61418 140 -1.385212 2.499961 140 -1.385212 2.499961 136.435486 -0.811175 2.61418 136.435486
-4 16 -0.324505 2.93932 140 -0.811175 2.61418 140 -0.811175 2.61418 136.435486 -0.324505 2.93932 136.435486
-4 16 -0.00062 3.425975 140 -0.324505 2.93932 140 -0.324505 2.93932 136.435486 -0.00062 3.425975 136.435486
-5 24 -0.00062 3.425975 136.435486 -0.00062 3.425975 140 -0.574645 4.811795 136.435486 0.32452 2.939305 136.435486
-5 24 0.32452 2.939305 136.435486 0.32452 2.939305 140 -0.00062 3.425975 136.435486 0.81118 2.614194 136.435486
-5 24 0.81118 2.614194 136.435486 0.81118 2.614194 140 0.32452 2.939305 136.435486 1.385188 2.499961 136.435486
-5 24 1.385188 2.499961 136.435486 1.385188 2.499961 140 0.81118 2.614194 136.435486 1.959225 2.61418 136.435486
-5 24 1.959225 2.61418 136.435486 1.959225 2.61418 140 1.385188 2.499961 136.435486 2.445895 2.93932 136.435486
-5 24 2.445895 2.93932 136.435486 2.445895 2.93932 140 1.959225 2.61418 136.435486 2.771006 3.42598 136.435486
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-5 24 2.44588 5.060695 136.435486 2.44588 5.060695 140 2.77102 4.574025 136.435486 1.95922 5.385806 136.435486
-5 24 1.95922 5.385806 136.435486 1.95922 5.385806 140 2.44588 5.060695 136.435486 1.385212 5.500039 136.435486
-5 24 1.385212 5.500039 136.435486 1.385212 5.500039 140 1.95922 5.385806 136.435486 0.811175 5.38582 136.435486
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-5 24 -2.445895 5.06068 136.435486 -2.445895 5.06068 140 -1.959225 5.38582 136.435486 -2.771006 4.57402 136.435486
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-5 24 -1.385212 2.499961 136.435486 -1.385212 2.499961 140 -1.95922 2.614194 136.435486 -0.811175 2.61418 136.435486
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-5 24 -0.324505 2.93932 136.435486 -0.324505 2.93932 140 -0.811175 2.61418 136.435486 -0.00062 3.425975 136.435486
-5 24 -0.00062 3.425975 136.435486 -0.00062 3.425975 140 0.574627 4.811786 136.435486 -0.324505 2.93932 136.435486
-5 24 -0.00062 3.425975 140 0.32452 2.939305 140 -0.00062 3.425975 141 -0.00062 3.425975 136.435486
-5 24 0.32452 2.939305 140 0.81118 2.614194 140 0.32452 2.939305 141 0.32452 2.939305 136.435486
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-5 24 2.771006 3.42598 140 2.885238 3.999988 140 2.771006 3.42598 141 2.771006 3.42598 136.435486
-5 24 2.885238 3.999988 140 2.77102 4.574025 140 2.885238 3.999988 141 2.885238 3.999988 136.435486
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-5 24 -0.000606 4.57402 140 -0.32452 5.060695 140 0.00062 4.574025 141 -0.000606 4.57402 136.435486
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-5 24 -0.324505 2.93932 140 -0.00062 3.425975 140 -0.324505 2.93932 141 -0.324505 2.93932 136.435486

doc/api/diagram_source/movehub.ldr

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

doc/api/diagram_source/pupdcmotors.ldr

@@ -1,14 +0,0 @@
-0 Name: pupmotors
-0 Author: Pybricks {laurens@pybricks.com}
-0 !LICENSE MIT
-1 0 60 -352 -90 1 0 0 0 1 0 0 0 1 87574.dat
-1 15 60 -336 -70 0 0 1 0.259 0.966 0 -0.966 0.259 0 20844c01.dat
-1 0 60 -312 -150 1 0 0 0 1 0 0 0 1 3706.dat
-1 0 100 -312 -150 0 0 -1 0 1 0 1 0 0 u9241.dat
-1 0 100 -312 -30 0 0 -1 0 1 0 1 0 0 u9241.dat
-1 0 20 -312 -30 0 0 1 0 1 0 -1 0 0 u9241.dat
-1 0 20 -312 -150 0 0 1 0 1 0 -1 0 0 u9241.dat
-1 0 60 -312 -30 1 0 0 0 1 0 0 0 1 3706.dat
-1 0 90 -344 -90 1 0 0 0 1 0 0 0 1 2871b.dat
-1 0 30 -344 -90 -1 0 0 0 1 0 0 0 -1 2871b.dat
-1 15 10 -376 -310 0 0 -1 0 1 0 1 0 0 21980c01.dat

doc/api/diagram_source/pupmotors.ldr

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

doc/api/diagram_source/pupsensors.ldr

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

doc/api/frames.inc

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

doc/api/hubs.rst

@@ -1,40 +0,0 @@
-:mod:`hubs <pybricks.hubs>` -- Programmable Hubs
-================================================
-
-.. module:: pybricks.hubs
-
-.. _fig_hubs:
-
-Select your programmable hub using the buttons below.
-
-.. content-tabs::
-
-    .. tab-container:: ev3brick
-        :title: EV3 Brick
-
-        .. figure:: ../api/images/ev3brick.png
-            :height: 15 em
-
-        .. include:: hubs_ev3brick.inc
-
-    .. tab-container:: movehub
-        :title: Move Hub
-
-        .. figure:: ../api/images/movehub_label.png
-            :height: 15 em
-
-        .. include:: hubs_movehub.inc
-
-    .. tab-container:: cityhub
-        :title: City Hub
-
-        .. figure:: ../api/images/cityhub.png
-            :height: 15 em
-
-        .. include:: hubs_cityhub.inc
-
-    .. tab-container:: cplushub
-        :title: Control+ Hub
-
-        .. figure:: ../api/images/cplushub.png
-            :height: 15 em

doc/api/hubs_cityhub.inc

@@ -1,15 +0,0 @@
-.. autoclass:: pybricks.hubs.CityHub
-    :no-members:
-
-    .. rubric:: Using the hub status light
-
-    .. automethod:: pybricks.hubs::CityHub.light.on
-
-    .. automethod:: pybricks.hubs::CityHub.light.off
-
-    .. rubric:: Using the battery
-
-    .. automethod:: pybricks.hubs::CityHub.battery.voltage
-
-    .. automethod:: pybricks.hubs::CityHub.battery.current
-

doc/api/hubs_ev3brick.inc

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

doc/api/hubs_movehub.inc

@@ -1,14 +0,0 @@
-.. autoclass:: pybricks.hubs.MoveHub
-    :no-members:
-
-    .. rubric:: Using the hub status light
-
-    .. automethod:: pybricks.hubs::MoveHub.light.on
-
-    .. automethod:: pybricks.hubs::MoveHub.light.off
-
-    .. rubric:: Using the battery
-
-    .. automethod:: pybricks.hubs::MoveHub.battery.voltage
-
-    .. automethod:: pybricks.hubs::MoveHub.battery.current

doc/api/index.rst

@@ -1,96 +0,0 @@
-Welcome to Pybricks!
-==================================================================
-
-This documentation has everything you need to install Pybricks and
-run your first scripts.
-
-
-**Step 1: Install Pybricks**
-
-To get started, go to the :doc:`EV3 Quick Start <start_ev3>`
-or the :doc:`Powered Up Quick Start <start_ev3>` or pick your hub
-below.
-
-.. list-table::
-
-   * - **EV3 Brick**
-     - **Move Hub**
-     - **City Hub**
-     - **Control+ Hub**
-
-   * - .. image:: images/ev3brick.png
-         :target: start_ev3.html
-
-     - .. figure:: images/movehub.png
-         :target: start_pup.html
-
-     - .. figure:: images/cityhub.png
-         :target: start_pup.html
-
-     - .. figure:: images/cplushub.png
-          :target: start_pup.html
-
-
-**Step 2: Start coding!**
-
-After you've followed the installation steps for your hub,
-check out the Pybricks modules in the left hand menu to see what
-you can do.
-
-**Step 3: Share what you made (or ask for help!)**
-
-Got questions or issues? Please share your
-findings on our `support page`_ so we can make Pybricks even better.
-*Thank you!*
-
-
-.. _support page: https://github.com/pybricks/support/issues/
-
-.. toctree::
-    :maxdepth: 1
-    :caption: Table of Contents
-    :hidden:
-
-.. toctree::
-    :maxdepth: 1
-    :caption: Pybricks
-    :hidden:
-
-    Home Page <https://pybricks.com>
-    Downloads <https://pybricks.com/downloads/>
-    Example Projects <https://github.com/pybricks/pybricks-projects>
-    Support <https://github.com/pybricks/support/issues/>
-    About Pybricks <https://pybricks.com/about/>
-
-.. toctree::
-   :maxdepth: 1
-   :caption: Getting started
-   :hidden:
-
-   start_ev3
-   start_pup
-
-.. toctree::
-   :maxdepth: 1
-   :caption: Pybricks Modules
-   :hidden:
-
-   hubs
-   pupdevices
-   ev3devices
-   nxtdevices
-   iodevices
-   parameters
-   tools
-   robotics
-   media
-   messaging
-
-.. toctree::
-   :maxdepth: 1
-   :caption: Engineering Extras
-   :hidden:
-
-   signaltypes
-   motors
-..    frames

doc/api/iodevices.rst

@@ -1,27 +0,0 @@
-:mod:`iodevices <pybricks.iodevices>` -- Generic I/O Devices
-============================================================
-
-.. automodule:: pybricks.iodevices
-    :no-members:
-
-.. note::
-
-    This module provides classes to interact with unofficial motors, sensors,
-    and other custom electronics. You should only connect custom electronics
-    or unofficial devices if you know what you are doing. Proceed with caution.
-
-LUMP Device
-^^^^^^^^^^^^^
-
-.. figure:: ../api/images/sensor_lump.png
-   :width: 80 %
-
-.. autoclass:: pybricks.iodevices.LUMPDevice
-
-.. raw:: html
-
-   <h1>EV3 Only</h1>
-
-The classes listed below are **only available on the EV3**.
-
-.. include:: iodevices_ev3.inc

doc/api/iodevices_ev3.inc

@@ -1,151 +0,0 @@
-Analog Sensor
-^^^^^^^^^^^^^
-
-.. figure:: ../api/images/sensor_rj12_brown.png
-   :width: 25 %
-
-.. autoclass:: pybricks.iodevices.AnalogSensor
-
-I2C Device
-^^^^^^^^^^^^^
-
-.. figure:: ../api/images/sensor_rj12_bluegreen.png
-   :width: 25 %
-
-.. autoclass:: pybricks.iodevices.I2CDevice
-
-.. toggle-header::
-    :header: **Show/hide example**
-
-    **Example: Read and write to an I2C device.**
-
-    .. literalinclude:: ../../pybricks-projects/snippets/ev3/i2c_basics/main.py
-
-.. _i2caddress:
-
-I2C Addresses
----------------
-I2C addresses are 7-bit values. However, most vendors who make LEGO compatible
-sensors provide an 8-bit address in their documentation.
-To use those addresses, you must shift them by 1 bit.
-For example, if the documented address is ``0xD2``, you can do
-``address = 0xD2 >> 1``.
-
-Advanced I2C Commands
----------------------
-Some rudimentary I2C devices do not require a register argument or even any
-data. You can achieve this behavior as shown in the examples below.
-
-.. toggle-header::
-    :header: **Show/hide example**
-
-    **Example: Advanced I2C read and write techniques.**
-
-    .. literalinclude:: ../../pybricks-projects/snippets/ev3/i2c_extra/main.py
-
-**Additional technical resources**
-
-The ``I2CDevice`` class methods call functions from the Linux SMBus driver.
-To find out which commands are called under the hood, check the
-`Pybricks source code`_.
-More details about using I2C without MicroPython can be found on
-the `ev3dev I2C`_ page.
-
-.. _ev3dev I2C: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/i2c.html
-.. _Pybricks source code: https://github.com/pybricks/pybricks-micropython
-
-
-UART Device
-^^^^^^^^^^^^^
-
-.. figure:: ../api/images/sensor_rj12_gray.png
-   :width: 25 %
-
-.. autoclass:: pybricks.iodevices.UARTDevice
-
-.. toggle-header::
-    :header: **Show/hide example**
-
-    **Example: Read and write to a UART device.**
-
-    .. literalinclude::
-        ../../pybricks-projects/snippets/ev3/uart_basics/main.py
-
-DC Motor
-^^^^^^^^^^^^
-
-.. figure:: ../api/images/rcxmotor.png
-   :width: 40 %
-
-.. autoclass:: pybricks._common.DCMotor
-    :noindex:
-    :no-members:
-
-    .. automethod:: pybricks._common.DCMotor.dc
-        :noindex:
-
-    .. automethod:: pybricks._common.DCMotor.stop
-        :noindex:
-
-Ev3dev sensors
-^^^^^^^^^^^^^^^^^^^^^
-
-.. figure:: ../api/images/sensor_ev3dev.png
-   :width: 70 %
-
-EV3 MicroPython is built on top of ev3dev, which means that a sensor
-may be supported even if it is not listed in this documentation. If so, you can
-use it with the ``Ev3devSensor`` class. This is easier and faster than using
-the custom device classes given above.
-
-To check whether you can use the ``Ev3devSensor`` class:
-
-    * Plug the sensor into your EV3 Brick.
-    * Go to the main menu of the EV3 Brick.
-    * Select `Device Browser` and then `Sensors`.
-    * If your sensor shows up, you can use it.
-
-Now select your sensor from the menu and choose `set mode`. This shows all
-available modes for this sensor. You can use these mode names as the ``mode``
-setting below.
-
-To learn more about compatible devices and what each mode does,
-visit the `ev3dev sensors`_ page.
-
-.. autoclass:: pybricks.iodevices.Ev3devSensor
-    :no-members:
-
-    .. autoattribute:: pybricks.iodevices.Ev3devSensor.sensor_index
-        :annotation:
-
-    .. autoattribute:: pybricks.iodevices.Ev3devSensor.port_index
-        :annotation:
-
-    .. automethod:: pybricks.iodevices.Ev3devSensor.read
-
-.. toggle-header::
-    :header: **Show/hide example: Reading values with the Ev3devSensor class**
-
-    **Example**
-
-    In this example we use the LEGO MINDSTORMS EV3 Color Sensor with the raw
-    RGB mode. This gives uncalibrated red, green, and blue reflection values.
-
-    .. literalinclude::
-        ../../pybricks-projects/snippets/ev3/ev3devsensor/main.py
-
-.. toggle-header::
-    :header: **Show/hide example: Extending the Ev3devSensor class**
-
-    **Example**
-
-    This example shows how to extend the ``Ev3devSensor`` class by accessing
-    additional features found in the Linux system folder for this device.
-
-    .. literalinclude::
-        ../../pybricks-projects/snippets/ev3/ev3devsensor/class_example.py
-
-.. _ev3dev sensors: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html
-.. _Mode name: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensor_data.html
-.. _lego-sensor: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html#the-lego-sensor-subsytem
-.. _lego-port: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/ports.html#the-lego-port-subsystem

doc/api/motors.rst

@@ -1,137 +0,0 @@
-More about Motors
-===========================================
-
-.. Motor Tips & Tricks
-.. ^^^^^^^^^^^^^^^^^^^
-
-.. The difference between ``run_angle`` and ``run_target``
-.. -------------------------------------------------------
-
-.. *TODO*
-
-.. .. _absangles:
-
-.. Absolute angles
-.. ----------------------------
-
-.. .. todo::
-
-..     This section will be included in a future release.
-
-.. .. _stalled:
-
-.. Using stall detection
-.. ---------------------
-
-.. .. todo::
-
-..     This section will be included in a future release.
-
-.. When a motor cannot move any further despite using the maximally allowed
-.. torque we say that the motor is stalled. Something could be blocking the
-.. motor, or the load is just too heavy. For example, if you manually hold
-.. the motor shaft still while the motor is busy executing a command, the
-.. motor will stall.
-
-.. What can I do with stall detection?
-.. +++++++++++++++++++++++++++++++++++
-
-.. Stall detection is useful to detect that a motor can't move any further.
-.. This can be used to detect an endpoint of a mechanism. For example, you
-.. can detect whether a robotic hand is fully closed, because the gripper
-.. motor simply can't go further. This way, you don't need a touch or light
-.. sensor to detect this.
-
-.. *TODO: How, what, why. Explain run_until_stalled. Rack & pinion example.*
-
-.. When is a motor stalled?
-.. ++++++++++++++++++++++++
-
-.. TODO
-
-.. .. _gears:
-
-.. Using gears
-.. -----------------
-
-.. .. todo::
-
-..     This section will be included in a future release.
-
-.. Many LEGO robots use mechanisms with gears to change the speed and torque
-.. output of a motor. Let's consider the following dial mechanism.
-
-.. *TODO: INSERT PICTURE OF MOTOR WITH 12z gear AND 36z gear.*
-
-.. This gear train slows down the dial on the output axle by a factor of 3.
-.. Therefore, if you want to rotate the dial by 90 degrees, the motor has to
-.. rotate by 270 degrees. To turn at 200 degrees per second, the motor has to
-.. turn at 600 degrees per second, and so on.
-
-.. To avoid using this factor 3 everywhere in your program, you can use the
-.. `gears` setting of the ``Motor`` object, as shown in this example::
-
-..     # This example uses the EV3 brick, but the same
-..     # technique applies to other programmable hubs.
-..     ev3 = EV3Brick()
-
-..     # Initialize the motor. See picture above.
-..     dial = Motor(Port.C, Direction.COUNTERCLOCKWISE, gears=[12, 36])
-
-..     # Turn the dial by 90-degrees
-..     dial.run_angle(500, 90)
-
-..     # Print the dial angle
-..     print(dial.angle())
-
-..     # Turn the dial back to the original position
-..     dial.run_target(500, 0)
-
-.. When you use any of the other methods, the same scaling is applied. For
-.. example, you can print the angle of the dial as shown above. This will print
-.. 90 (approximately), even though the motor has turned 270 degrees.
-
-.. Notice that there is no magic going on. It is just a convenient scaling
-.. function. This helps you organize your code. For example, if you change
-.. your mechanism to use different gears, you only have to change the first
-.. line of this example.
-
-.. _control:
-
-The Control Class
-^^^^^^^^^^^^^^^^^
-
-The ``Motor`` class uses PID control to accurately track your commanded target
-angles. Similarly, the ``DriveBase`` class uses two of such controllers:
-one to control the heading and one to control the traveled distance.
-
-You can change the control settings through the following attributes, which are
-instances of the ``Control`` class given below.:
-
-    - ``Motor.control``
-    - ``DriveBase.heading_control``
-    - ``DriveBase.distance_control``
-
-You can only change the settings while the controller is stopped. For example,
-you can set the settings at the beginning of your program. Alternatively, first
-call ``stop()`` to make your ``Motor`` or ``DriveBase`` stop, and then change
-the settings.
-
-.. autoclass:: pybricks._common.Control
-    :no-members:
-
-    .. rubric:: Status
-
-    .. automethod:: pybricks._common.Control.done
-
-    .. automethod:: pybricks._common.Control.stalled
-
-    .. rubric:: Settings
-
-    .. automethod:: pybricks._common.Control.limits
-
-    .. automethod:: pybricks._common.Control.pid
-
-    .. automethod:: pybricks._common.Control.target_tolerances
-
-    .. automethod:: pybricks._common.Control.stall_tolerances

doc/api/pupdevices.rst

@@ -1,144 +0,0 @@
-:mod:`pupdevices <pybricks.pupdevices>` -- Powered Up Devices
-=============================================================
-
-.. automodule:: pybricks.pupdevices
-    :no-members:
-
-Motors without Rotation Sensors
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. _fig_pupdcmotors:
-
-.. figure:: ../api/images/pupdcmotors_label.png
-   :width: 70 %
-   :alt: pupmotors
-   :align: center
-
-   Powered Up motors without rotation sensors. The arrows indicate the default
-   positive direction.
-
-.. autoclass:: pybricks._common.DCMotor
-    :noindex:
-    :no-members:
-
-    .. automethod:: pybricks._common.DCMotor.dc
-        :noindex:
-
-    .. automethod:: pybricks._common.DCMotor.stop
-        :noindex:
-
-    .. automethod:: pybricks._common.DCMotor.brake
-        :noindex:
-
-Motors with Rotation Sensors
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. _fig_pupmotors:
-
-.. figure:: ../api/images/pupmotors_label.png
-   :width: 100 %
-   :alt: pupmotors
-   :align: left
-
-   Powered Up motors with rotation sensors. The arrows indicate the default
-   positive direction. See the :mod:`hubs <pybricks.hubs>` module for default
-   directions of built-in motors.
-
-.. autoclass:: pybricks.pupdevices.Motor
-    :noindex:
-    :no-members:
-
-    .. rubric:: Measuring
-
-    .. automethod:: pybricks.pupdevices.Motor.speed
-
-    .. automethod:: pybricks.pupdevices.Motor.angle
-
-    .. automethod:: pybricks.pupdevices.Motor.reset_angle
-
-    .. rubric:: Stopping
-
-    .. automethod:: pybricks.pupdevices.Motor.stop
-
-    .. automethod:: pybricks.pupdevices.Motor.brake
-
-    .. automethod:: pybricks.pupdevices.Motor.hold
-
-    .. rubric:: Action
-
-    .. automethod:: pybricks.pupdevices.Motor.run
-
-    .. automethod:: pybricks.pupdevices.Motor.run_time
-
-    .. automethod:: pybricks.pupdevices.Motor.run_angle
-
-    .. automethod:: pybricks.pupdevices.Motor.run_target
-
-    .. automethod:: pybricks.pupdevices.Motor.run_until_stalled
-
-    .. automethod:: pybricks.pupdevices.Motor.dc
-
-    .. rubric:: Advanced motion control
-
-    .. automethod:: pybricks.pupdevices.Motor.track_target
-
-    .. autoattribute:: pybricks.pupdevices.Motor.control
-        :annotation:
-
-
-Color and Distance Sensor
-^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. figure:: ../api/images/sensor_colordistance.png
-   :width: 35 %
-
-.. autoclass:: pybricks.pupdevices.ColorDistanceSensor
-    :no-members:
-
-    .. automethod:: pybricks.pupdevices.ColorDistanceSensor.color
-
-    .. automethod:: pybricks.pupdevices.ColorDistanceSensor.ambient
-
-    .. automethod:: pybricks.pupdevices.ColorDistanceSensor.reflection
-
-    .. automethod:: pybricks.pupdevices.ColorDistanceSensor.distance
-
-    .. automethod:: pybricks.pupdevices.ColorDistanceSensor.remote
-
-    .. rubric:: Built-in light
-
-    This sensor has a built-in light. You can make it red, green, blue, or turn
-    it off. If you use the sensor to measure something afterwards, the light
-    automatically turns back on at the default color for that sensing method.
-
-    .. automethod:: pybricks.pupdevices::ColorDistanceSensor.light.on
-
-    .. automethod:: pybricks.pupdevices::ColorDistanceSensor.light.off
-
-
-.. Tilt Sensor
-.. ^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. .. autoclass:: pybricks.pupdevices.TiltSensor
-    :no-members:
-
-    .. automethod:: neutral
-
-    .. automethod:: acceleration
-
-    .. automethod:: tilt
-
-    .. automethod:: up
-
-
-.. Remote Control
-.. ^^^^^^^^^^^^^^^^^^^^^^^^^
-
-.. .. autoclass:: pybricks.pupdevices.RemoteControl
-    :no-members:
-
-    .. automethod:: pybricks.pupdevices::RemoteControl.light.on
-
-    .. automethod:: pybricks.pupdevices::RemoteControl.light.off
-
-    .. automethod:: pybricks.pupdevices::RemoteControl.buttons.pressed