@pybricks/ide-docs v1.1.1

We have index pages for most modules now, which link to individual classes. It is helpful if these empty class headers are hyperlinks. This commit does just that.

For most sensors/devices so far this is not really necessary as the images are already hyperlinks. But this will become more useful as we start adding index pages like these for classes without images, such as parameters.

.github/FUNDING.yml

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

.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-20.04
+    steps:
+    - name: Ubuntu packages
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
+    - uses: actions/checkout@v2
+      with:
+        submodules: recursive
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v1
+      with:
+        python-version: 3.8
+    - name: Install dependencies
+      run: |
+        pip install poetry
+        poetry run python -m pip install --upgrade pip
+        poetry run python -m pip install --upgrade setuptools
+        poetry install
+    - uses: actions/setup-node@v1
+      with:
+        node-version: '14.x'
+        registry-url: 'https://registry.npmjs.org'
+    - run: yarn build
+      working-directory: doc/ide
+    - run: yarn publish
+      working-directory: doc/ide
+      env:
+        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.github/workflows/pythonpackage.yml

@@ -8,7 +8,7 @@ on: [ push, pull_request ]
 jobs:
   build:
 
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     strategy:
       matrix:
         python-version: [3.8, 3.9]
@@ -32,6 +32,12 @@ 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: Instal IDE docs dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
+    - name: Build html docs for Pybricks Code IDE
+      run: poetry run make -C doc html SOURCEDIR=ide

.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

.vscode/spellright.dict

@@ -15,7 +15,7 @@ builtins
 cdot
 Celcius
 cityhub
-cplushub
+technichub
 de
 dev
 en

CHANGELOG.md

@@ -1,12 +0,0 @@
-# Changelog
-
-<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
-
-## 2.0.0.post2
-
-### Added
-- Added this changelog.
-
-### Fixed
-- Fixed code completion for `DCMotor` and `Motor` classes in MS Python VS Code extension.
-- Fixed missing `DCMotor` type in `ev3devices`.

LICENSE

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

doc/api/conf.py

@@ -6,8 +6,8 @@
 import os
 
 # General information about the project.
-project = 'pybricks-micropython'
-copyright = '2018-2020 The Pybricks Authors'
+project = 'pybricks'
+copyright = '2018-2021 The Pybricks Authors'
 author = ''
 
 _TITLE = 'Pybricks Modules and Examples'
@@ -15,6 +15,7 @@ _DISCLAIMER = 'LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are\
                trademarks and/or copyrights of the LEGO Group of companies \
                which does not sponsor, authorize or endorse this site.'
 
+html_favicon = '../common/images/favicon.ico'
 html_logo = '../common/images/pybricks-logo-rtd.png'
 latex_logo = '../common/images/pybricks-logo-large.png'
 

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doc/api/diagram_source/hubsoverview.ldr

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   <image
-     sodipodi:absref="/home/laurens/pybricks/git/pybricks-api/doc/api/diagram_source/terminal.png"
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      xlink:href="terminal.png"
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doc/api/ev3devices.rst

@@ -15,6 +15,7 @@ Motors
    EV3-compatible motors. The arrows indicate the default positive direction.
 
 .. autoclass:: pybricks.ev3devices.Motor
+    :noindex:
     :no-members:
 
     .. rubric:: Measuring
@@ -74,6 +75,10 @@ Color Sensor
 Infrared Sensor and Beacon
 ^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Each method of this class puts the sensor in a different *mode*. Switching
+modes takes about one second on this sensor. To make sure that your program
+runs quickly, use only of these methods in your program.
+
 .. figure:: ../api/images/sensor_ev3_ir.png
    :width: 60 %
 

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/geometry.rst

@@ -0,0 +1,49 @@
+: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:: ../api/images/imuexamples_label.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.

doc/api/hubs.rst

@@ -1,18 +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

doc/api/hubs/cityhub.rst

@@ -0,0 +1,51 @@
+City Hub
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/cityhub.png
+    :height: 15 em
+
+.. autoclass:: pybricks.hubs.CityHub
+    :no-members:
+
+    .. rubric:: Using the hub status light
+
+    .. automethod:: pybricks.hubs::CityHub.light.on
+
+    .. automethod:: pybricks.hubs::CityHub.light.off
+
+    .. automethod:: pybricks.hubs::CityHub.light.blink
+
+    .. automethod:: pybricks.hubs::CityHub.light.animate
+
+    .. rubric:: Using the battery
+
+    .. automethod:: pybricks.hubs::CityHub.battery.voltage
+
+    .. automethod:: pybricks.hubs::CityHub.battery.current
+
+Status light examples
+---------------------
+
+Turning the light on and off
+****************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_cityhub/light_off.py
+
+Changing brightness and using custom colors
+*******************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_cityhub/light_hsv.py
+
+Making the light blink
+**********************
+
+.. literalinclude::
+    ../../../examples/pup/hub_cityhub/light_blink.py
+
+Creating light animations
+*************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_cityhub/light_animate.py

doc/api/hubs/ev3brick.rst

@@ -0,0 +1,200 @@
+MINDSTORMS EV3 Brick
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/ev3brick.png
+    :height: 15 em
+
+.. 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
+
+    .. automethod:: pybricks.hubs::EV3Brick.light.off
+
+    .. rubric:: Using the speaker
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.beep
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.play_notes
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.play_file
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.say
+
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.set_speech_options
+
+    .. 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
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.set_font
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.load_image
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_image
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_pixel
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_line
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_box
+
+    .. automethod:: pybricks.hubs::EV3Brick.screen.draw_circle
+
+    .. 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
+
+Status light examples
+---------------------
+
+Turn the light on and change the color
+**************************************
+
+.. literalinclude::
+    ../../../examples/ev3/light_color/main.py
+
+Screen examples
+---------------------
+
+Show an image on the screen
+***************************
+
+.. literalinclude::
+    ../../../examples/ev3/screen_image/main.py
+
+Drawing shapes on the screen
+****************************
+
+.. literalinclude::
+    ../../../examples/ev3/screen_draw/main.py
+
+Using different fonts
+*********************
+
+.. raw:: latex
+
+    \begin{CJK}{UTF8}{gbsn}
+
+.. literalinclude::
+    ../../../examples/ev3/screen_print/main.py
+
+.. raw:: latex
+
+    \end{CJK}
+
+.. rubric:: Available languages and voices for speech
+
+.. [#espeak_lang]
+
+    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

doc/api/hubs/index.rst

@@ -0,0 +1,51 @@
+:mod:`hubs <pybricks.hubs>` -- Programmable Hubs
+================================================
+
+.. module:: pybricks.hubs
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   movehub
+   cityhub
+   technichub
+   primehub
+   ev3brick
+
+.. pybricks-classlink:: MoveHub
+
+.. figure:: ../../api/images/movehub.png
+    :height: 10 em
+    :target: movehub.html
+
+.. pybricks-classlink:: CityHub
+
+.. figure:: ../../api/images/cityhub.png
+    :height: 10 em
+    :target: cityhub.html
+
+.. pybricks-classlink:: TechnicHub
+
+.. figure:: ../../api/images/technichub.png
+    :height: 10 em
+    :target: technichub.html
+
+.. pybricks-classlink:: PrimeHub
+
+.. figure:: ../../api/images/primehub.png
+    :height: 10 em
+    :target: primehub.html
+
+.. pybricks-classlink:: InventorHub
+
+.. figure:: ../../api/images/inventorhub.png
+    :height: 10 em
+    :target: primehub.html
+
+.. pybricks-classlink:: EV3Brick
+
+.. figure:: ../../api/images/ev3brick.png
+    :height: 10 em
+    :target: ev3brick.html
+

doc/api/hubs/movehub.rst

@@ -0,0 +1,41 @@
+Move Hub
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. _fig_movehub:
+
+.. figure:: ../../api/images/movehub_label.png
+    :height: 15 em
+
+.. autoclass:: pybricks.hubs.MoveHub
+    :no-members:
+
+    .. rubric:: Using the hub status light
+
+    .. automethod:: pybricks.hubs::MoveHub.light.on
+
+    .. automethod:: pybricks.hubs::MoveHub.light.off
+
+    .. automethod:: pybricks.hubs::MoveHub.light.blink
+
+    .. automethod:: pybricks.hubs::MoveHub.light.animate
+
+    .. rubric:: Using the battery
+
+    .. automethod:: pybricks.hubs::MoveHub.battery.voltage
+
+    .. automethod:: pybricks.hubs::MoveHub.battery.current
+
+Status light examples
+---------------------
+
+Turning the light on and off
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_movehub/light_off.py
+
+Making the light blink
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_movehub/light_blink.py

doc/api/hubs/primehub.rst

@@ -0,0 +1,210 @@
+Prime Hub / Inventor Hub
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/primeinventorhub.png
+    :height: 15 em
+
+.. class:: InventorHub
+
+    This class is the same as the ``PrimeHub`` class, shown below. Both classes
+    work on both hubs.
+
+    These hubs are completely identical. They use the same Pybricks firmware.
+
+.. autoclass:: pybricks.hubs.PrimeHub
+    :no-members:
+
+    .. rubric:: Using the hub status light
+
+    .. figure:: ../../api/images/primehub_light_label.png
+        :width: 22 em
+
+    .. automethod:: pybricks.hubs::PrimeHub.light.on
+
+    .. automethod:: pybricks.hubs::PrimeHub.light.off
+
+    .. automethod:: pybricks.hubs::PrimeHub.light.blink
+
+    .. automethod:: pybricks.hubs::PrimeHub.light.animate
+
+    .. rubric:: Using the light matrix display
+
+    .. figure:: ../../api/images/primehub_display_label.png
+        :width: 22 em
+
+    .. automethod:: pybricks.hubs::PrimeHub.display.orientation
+
+    .. automethod:: pybricks.hubs::PrimeHub.display.off
+
+    .. automethod:: pybricks.hubs::PrimeHub.display.pixel
+
+    .. automethod:: pybricks.hubs::PrimeHub.display.image
+
+    .. automethod:: pybricks.hubs::PrimeHub.display.animate
+
+    .. automethod:: pybricks.hubs::PrimeHub.display.number
+
+    .. automethod:: pybricks.hubs::PrimeHub.display.char
+
+    .. automethod:: pybricks.hubs::PrimeHub.display.text
+
+    .. rubric:: Using the buttons
+
+    .. figure:: ../../api/images/primehub_buttons_label.png
+        :width: 22 em
+
+    .. automethod:: pybricks.hubs::PrimeHub.buttons.pressed
+
+    .. rubric:: Using the IMU
+
+    .. automethod:: pybricks.hubs::PrimeHub.imu.up
+
+    .. automethod:: pybricks.hubs::PrimeHub.imu.tilt
+
+    .. automethod:: pybricks.hubs::PrimeHub.imu.acceleration
+
+    .. automethod:: pybricks.hubs::PrimeHub.imu.angular_velocity
+
+    .. automethod:: pybricks.hubs::PrimeHub.imu.heading
+
+    .. automethod:: pybricks.hubs::PrimeHub.imu.reset_heading
+
+    .. rubric:: Using the speaker
+
+    .. automethod:: pybricks.hubs::PrimeHub.speaker.beep
+
+    .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes
+
+    .. rubric:: Using the battery
+
+    .. automethod:: pybricks.hubs::PrimeHub.battery.voltage
+
+    .. automethod:: pybricks.hubs::PrimeHub.battery.current
+
+.. note:: The examples below use the ``PrimeHub`` class. The examples work fine
+          on both hubs because they are the identical. If you prefer, you can
+          change this to ``InventorHub``.
+
+Status light examples
+---------------------
+
+Turning the light on and off
+****************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/light_off.py
+
+Changing brightness and using custom colors
+*******************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/light_hsv.py
+
+Making the light blink
+**********************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/light_blink.py
+
+Creating light animations
+*************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/light_animate.py
+
+Matrix display examples
+-----------------------
+
+Displaying images
+*****************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_image.py
+
+Displaying numbers
+******************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_number.py
+
+Displaying text
+***************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_text.py
+
+Displaying individual pixels
+****************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_pixel.py
+
+Changing the display orientation
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_orientation.py
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_orientation_imu.py
+
+Making your own images
+**********************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_matrix.py
+
+Combining images to make expressions
+************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_expression.py
+
+Displaying animations
+*********************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/display_animate.py
+
+Button examples
+---------------
+
+Detecting button presses
+************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/button_main.py
+
+IMU examples
+---------------
+
+Testing which way is up
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_up.py
+
+
+Reading the tilt value
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_tilt.py
+
+Using a custom hub orientation
+**************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_tilt_blast.py
+
+Reading acceleration and angular velocity vectors
+**************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_read_vector.py
+
+Reading acceleration and angular velocity on one axis
+*****************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_primehub/imu_read_scalar.py

doc/api/hubs/technichub.rst

@@ -0,0 +1,99 @@
+Technic Hub
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/technichub.png
+    :height: 15 em
+
+.. autoclass:: pybricks.hubs.TechnicHub
+    :no-members:
+
+    .. rubric:: Using the hub status light
+
+    .. automethod:: pybricks.hubs::TechnicHub.light.on
+
+    .. automethod:: pybricks.hubs::TechnicHub.light.off
+
+    .. automethod:: pybricks.hubs::TechnicHub.light.blink
+
+    .. automethod:: pybricks.hubs::TechnicHub.light.animate
+
+    .. rubric:: Using the IMU
+
+    .. automethod:: pybricks.hubs::TechnicHub.imu.up
+
+    .. automethod:: pybricks.hubs::TechnicHub.imu.tilt
+
+    .. automethod:: pybricks.hubs::TechnicHub.imu.acceleration
+
+    .. automethod:: pybricks.hubs::TechnicHub.imu.angular_velocity
+
+    .. automethod:: pybricks.hubs::TechnicHub.imu.heading
+
+    .. automethod:: pybricks.hubs::TechnicHub.imu.reset_heading
+
+    .. rubric:: Using the battery
+
+    .. automethod:: pybricks.hubs::TechnicHub.battery.voltage
+
+    .. automethod:: pybricks.hubs::TechnicHub.battery.current
+
+Status light examples
+---------------------
+
+Turning the light on and off
+****************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/light_off.py
+
+Changing brightness and using custom colors
+*******************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/light_hsv.py
+
+Making the light blink
+**********************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/light_blink.py
+
+Creating light animations
+*************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/light_animate.py
+
+IMU examples
+---------------
+
+Testing which way is up
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/imu_up.py
+
+
+Reading the tilt value
+********************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/imu_tilt.py
+
+Using a custom hub orientation
+**************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/imu_tilt_blast.py
+
+Reading acceleration and angular velocity vectors
+**************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/imu_read_vector.py
+
+Reading acceleration and angular velocity on one axis
+*****************************************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_technichub/imu_read_scalar.py

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/index.rst

@@ -7,7 +7,24 @@ run your first scripts.
 
 **Step 1: Install Pybricks**
 
-To get started, go to the :doc:`EV3 Quick Start <start_ev3>`.
+Pybricks scripts are the same across all hubs. The only difference is in how
+you install Pybricks and how you run scripts. To get started, click one of
+the platforms below.
+
+.. list-table::
+
+   * - **MINDSTORMS EV3**
+     - **Powered Up (Technic/City/BOOST)**
+     - **SPIKE / MINDSTORMS Inventor**
+
+   * - .. image:: ../api/images/ev3brick.png
+         :target: start_ev3/index.html
+
+     - .. figure:: ../api/images/powereduphubs.png
+         :target: start_pup.html
+
+     - .. figure:: ../api/images/primeinventorhub.png
+          :target: start_inventor.html
 
 
 **Step 2: Start coding!**
@@ -46,22 +63,26 @@ findings on our `support page`_ so we can make Pybricks even better.
    :caption: Getting started
    :hidden:
 
-   start_ev3
+   start_ev3/index
+   start_pup
+   start_inventor
 
 .. toctree::
    :maxdepth: 1
    :caption: Pybricks Modules
    :hidden:
 
-   hubs
+   hubs/index
+   pupdevices/index
    ev3devices
    nxtdevices
-   iodevices
-   parameters
-   tools
+   iodevices/index
+   parameters/index
+   tools/index
    robotics
    media
    messaging
+   geometry
 
 .. toctree::
    :maxdepth: 1

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/analogsensor.rst

@@ -0,0 +1,11 @@
+EV3 Analog Sensor
+^^^^^^^^^^^^^^^^^
+
+.. note::
+
+   This class is only available on EV3.
+
+.. figure:: ../../api/images/sensor_rj12_brown.png
+   :width: 25 %
+
+.. autoclass:: pybricks.iodevices.AnalogSensor

doc/api/iodevices/dcmotor.rst

@@ -0,0 +1,20 @@
+EV3 DC Motor
+^^^^^^^^^^^^^^^^^^
+
+.. note::
+
+   This class is specifically for on EV3. For Powered Up DC Motors, just use
+   the :class:`DCMotor <pybricks.pupdevices.DCMotor>` class.
+
+.. 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:

doc/api/iodevices/ev3devsensor.rst

@@ -0,0 +1,60 @@
+Ev3dev sensors
+^^^^^^^^^^^^^^^^^^
+
+.. note::
+
+   This class is only available on EV3.
+
+.. 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
+
+**Example: Reading values with the Ev3devSensor class**
+
+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::
+   ../../../examples/ev3/ev3devsensor/main.py
+
+**Example: Extending the Ev3devSensor class**
+
+This example shows how to extend the ``Ev3devSensor`` class by accessing
+additional features found in the Linux system folder for this device.
+
+.. literalinclude::
+   ../../../examples/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/iodevices/i2cdevice.rst

@@ -0,0 +1,50 @@
+Generic I2C Device
+^^^^^^^^^^^^^^^^^^
+
+.. note::
+
+   This class is **only supported on the EV3** at this time. It could be added
+   to Powered Up hubs in a future release. If you'd like to see this happen, be
+   sure to ask us on our `support page`_.
+
+.. _support page: https://github.com/pybricks/support/issues/
+
+
+.. figure:: ../../api/images/sensor_rj12_bluegreen.png
+   :width: 25 %
+
+.. autoclass:: pybricks.iodevices.I2CDevice
+
+**Example: Read and write to an I2C device**
+
+.. literalinclude:: ../../../examples/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.
+
+**Example: Advanced I2C read and write techniques**
+
+.. literalinclude:: ../../../examples/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

doc/api/iodevices/index.rst

@@ -0,0 +1,61 @@
+:mod:`iodevices <pybricks.iodevices>` -- Generic I/O Devices
+============================================================
+
+.. automodule:: pybricks.iodevices
+    :no-members:
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   pupdevice
+   i2cdevice
+   uartdevice
+   analogsensor
+   lumpdevice
+   dcmotor
+   ev3devsensor
+
+.. pybricks-classlink:: PUPDevice
+
+.. figure:: ../../api/images/sensor_pup.png
+   :width: 70 %
+   :target: pupdevice.html
+
+   This class is only available on Powered Up hubs.
+
+.. pybricks-classlink:: I2CDevice
+
+.. figure:: ../../api/images/sensor_rj12_bluegreen.png
+   :width: 25 %
+   :target: i2cdevice.html
+
+.. pybricks-classlink:: UARTDevice
+
+.. figure:: ../../api/images/sensor_rj12_gray.png
+   :width: 25 %
+   :target: uartdevice.html
+
+.. pybricks-classlink:: AnalogSensor
+
+.. figure:: ../../api/images/sensor_rj12_brown.png
+   :width: 25 %
+   :target: analogsensor.html
+
+.. pybricks-classlink:: LUMPDevice
+
+.. figure:: ../../api/images/sensor_rj12_green.png
+   :width: 25 %
+   :target: lumpdevice.html
+
+.. pybricks-classlink:: DCMotor
+
+.. figure:: ../../api/images/rcxmotor.png
+   :width: 40 %
+   :target: dcmotor.html
+
+.. pybricks-classlink:: Ev3devSensor
+
+.. figure:: ../../api/images/sensor_ev3dev.png
+   :width: 70 %
+   :target: ev3devsensor.html

doc/api/iodevices/lumpdevice.rst

@@ -0,0 +1,11 @@
+EV3 UART Device
+^^^^^^^^^^^^^^^^^
+
+.. note::
+
+   This class is only available on EV3.
+
+.. figure:: ../../api/images/sensor_rj12_green.png
+   :width: 25 %
+
+.. autoclass:: pybricks.iodevices.LUMPDevice

doc/api/iodevices/pupdevice.rst

@@ -0,0 +1,14 @@
+Powered Up Device
+^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/sensor_pup.png
+   :width: 70 %
+
+.. autoclass:: pybricks.iodevices.PUPDevice
+    :no-members:
+
+    .. automethod:: pybricks.iodevices.PUPDevice.info
+
+    .. automethod:: pybricks.iodevices.PUPDevice.read
+
+    .. automethod:: pybricks.iodevices.PUPDevice.write

doc/api/iodevices/uartdevice.rst

@@ -0,0 +1,20 @@
+Generic UART Device
+^^^^^^^^^^^^^^^^^^^
+
+.. note::
+
+   This class is **only supported on the EV3** at this time. It could be added
+   to Powered Up hubs in a future release. If you'd like to see this happen,
+   be sure to ask us on our `support page`_.
+
+.. _support page: https://github.com/pybricks/support/issues/
+
+.. figure:: ../../api/images/sensor_rj12_gray.png
+   :width: 25 %
+
+.. autoclass:: pybricks.iodevices.UARTDevice
+
+**Example: Read and write to a UART device**
+
+.. literalinclude::
+   ../../../examples/ev3/uart_basics/main.py

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/messaging.rst

@@ -64,25 +64,6 @@ and the client can send a message to the server.
 
    An example network with one server and one clients.
 
-.. toggle-header::
-    :header: **Show/hide full server example**
-
-    **Example: EV3 Bluetooth Server.**
-
-    This is the full version of the excerpt shown in :numref:`fig_messaging`.
-
-    .. literalinclude:: ../../pybricks-projects/snippets/ev3/bluetooth_server/server.py
-
-.. toggle-header::
-    :header: **Show/hide full client example**
-
-    **Example: EV3 Bluetooth Client.**
-
-    This is the full version of the excerpt shown in :numref:`fig_messaging`.
-
-    .. literalinclude:: ../../pybricks-projects/snippets/ev3/bluetooth_client/client.py
-
-
 The only difference between the client and the server is which one initiates
 the connection at the beginning of the program:
 
@@ -123,6 +104,21 @@ numbers, or text), you can choose one of the Mailboxes below.
 .. autoclass:: TextMailbox
     :no-members:
 
+Examples
+-----------------
+
+**EV3 Bluetooth Server**
+
+This is the full version of the excerpt shown in :numref:`fig_messaging`.
+
+.. literalinclude:: ../../examples/ev3/bluetooth_server/server.py
+
+**EV3 Bluetooth Client**
+
+This is the full version of the excerpt shown in :numref:`fig_messaging`.
+
+.. literalinclude:: ../../examples/ev3/bluetooth_client/client.py
+
 Making bigger networks
 ----------------------
 

doc/api/motors.rst

@@ -126,6 +126,8 @@ the settings.
 
     .. automethod:: pybricks._common.Control.stalled
 
+    .. automethod:: pybricks._common.Control.load
+
     .. rubric:: Settings
 
     .. automethod:: pybricks._common.Control.limits

doc/api/nxtdevices.rst

@@ -90,9 +90,6 @@ Vernier Adapter
 ^^^^^^^^^^^^^^^^^
 .. autoclass:: pybricks.nxtdevices.VernierAdapter
 
-.. toggle-header::
-    :header: **Show/hide example**
+**Example: Using the Surface Temperature Sensor.**
 
-    **Example: Using the Surface Temperature Sensor.**
-
-    .. literalinclude:: ../../pybricks-projects/snippets/ev3/vernier_surface_temperature/main.py
+.. literalinclude:: ../../examples/ev3/vernier_surface_temperature/main.py

doc/api/parameters/button.rst

@@ -0,0 +1,48 @@
+Button
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. class:: Button
+
+    Buttons on a hub or remote.
+
+    .. autoattribute:: pybricks.parameters.Button.LEFT_DOWN
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.LEFT_MINUS
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.DOWN
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.RIGHT_DOWN
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.RIGHT_MINUS
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.LEFT
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.CENTER
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.RIGHT
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.LEFT_UP
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.LEFT_PLUS
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.UP
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.BEACON
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.RIGHT_UP
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Button.RIGHT_PLUS
+        :annotation:

doc/api/parameters/color.rst

@@ -0,0 +1,84 @@
+Color
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+.. autoclass:: pybricks.parameters.Color
+    :no-members:
+
+    .. rubric:: Saturated colors
+
+    These colors have maximum saturation and brightness value.
+    They differ only in hue.
+
+    .. autoattribute:: RED
+
+        .. pybricks-color:: RED
+
+    .. autoattribute:: ORANGE
+
+        .. pybricks-color:: ORANGE
+
+    .. autoattribute:: YELLOW
+
+        .. pybricks-color:: YELLOW
+
+    .. autoattribute:: GREEN
+
+        .. pybricks-color:: GREEN
+
+    .. autoattribute:: CYAN
+
+        .. pybricks-color:: CYAN
+
+    .. autoattribute:: BLUE
+
+        .. pybricks-color:: BLUE
+
+    .. autoattribute:: VIOLET
+
+        .. pybricks-color:: VIOLET
+
+    .. autoattribute:: MAGENTA
+
+        .. pybricks-color:: MAGENTA
+
+    .. rubric:: Unsaturated colors
+
+    These colors have zero hue and saturation. They differ only in brightness
+    value.
+
+    When detecting these colors using sensors, their values depend a lot
+    on the distance to the object. If the distance between the sensor and the
+    object is not constant in your robot, it is better to use only one of these
+    colors in your programs.
+
+    .. autoattribute:: WHITE
+
+        .. pybricks-color:: WHITE
+
+    .. autoattribute:: GRAY
+
+        .. pybricks-color:: GRAY
+
+    .. autoattribute:: BLACK
+
+        This represents dark objects that still reflect
+        a very small amount of light.
+
+        .. pybricks-color:: BLACK
+
+    .. autoattribute:: NONE
+
+        This is total darkness, with no reflection or light at all.
+
+        .. pybricks-color:: NONE
+
+.. rubric:: Making your own colors
+
+This example shows the basics of color properties, and how to define new colors.
+
+.. literalinclude::
+    ../../../examples/pup/parameters/color_basics.py
+
+This example shows more advanced use cases of the ``Color`` class.
+
+.. literalinclude::
+    ../../../examples/pup/parameters/color_advanced.py

doc/api/parameters/direction.rst

@@ -0,0 +1,24 @@
+Direction
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. class:: Direction
+
+    Rotational direction for positive speed or angle values.
+
+    .. autoattribute:: pybricks.parameters.Direction.CLOCKWISE
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Direction.COUNTERCLOCKWISE
+        :annotation:
+
+    +--------------------------------+-------------------+-----------------+
+    | ``positive_direction =``       | Positive speed:   | Negative speed: |
+    +================================+===================+=================+
+    | ``Direction.CLOCKWISE``        | clockwise         | counterclockwise|
+    +--------------------------------+-------------------+-----------------+
+    | ``Direction.COUNTERCLOCKWISE`` | counterclockwise  | clockwise       |
+    +--------------------------------+-------------------+-----------------+
+
+    In general, clockwise is defined by **looking at the motor shaft, just
+    like looking at a clock**. Some motors have two shafts. If in doubt,
+    refer to the diagram in the ``Motor`` class documentation.

doc/api/parameters/index.rst

@@ -0,0 +1,29 @@
+:mod:`parameters <pybricks.parameters>` -- Parameters and Constants
+===================================================================
+
+.. automodule:: pybricks.parameters
+    :no-members:
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   button
+   color
+   direction
+   port
+   side
+   stop
+
+.. pybricks-classlink:: Button
+
+.. pybricks-classlink:: Color
+
+.. pybricks-classlink:: Direction
+
+.. pybricks-classlink:: Port
+
+.. pybricks-classlink:: Side
+
+.. pybricks-classlink:: Stop
+

doc/api/parameters/port.rst

@@ -0,0 +1,38 @@
+Port
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. class:: Port
+
+    Input and output ports:
+
+    .. autoattribute:: pybricks.parameters.Port.A
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.B
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.C
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.D
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.E
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.F
+        :annotation:
+
+    EV3 Sensor ports:
+
+    .. autoattribute:: pybricks.parameters.Port.S1
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.S2
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.S3
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Port.S4
+        :annotation:

doc/api/parameters/side.rst

@@ -0,0 +1,55 @@
+Side
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. class:: Side
+
+    Side of a hub or a sensor. These devices are
+    mostly rectangular boxes with six sides:
+
+    .. autoattribute:: pybricks.parameters.Side.TOP
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Side.BOTTOM
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Side.FRONT
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Side.BACK
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Side.LEFT
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Side.RIGHT
+        :annotation:
+
+
+    Screens or light matrices have only four sides. For those,
+    ``TOP`` is treated the same as ``FRONT``, and ``BOTTOM`` is treated the
+    same as ``BACK``. The diagrams below define the sides for relevant devices.
+
+    **Prime Hub**
+
+    .. figure:: ../../api/images/orientation_primehub_label.png
+        :height: 17 em
+
+    **Inventor Hub**
+
+    .. figure:: ../../api/images/orientation_inventorhub_label.png
+        :height: 17 em
+
+    **Move Hub**
+
+    .. figure:: ../../api/images/orientation_movehub_label.png
+        :height: 17 em
+
+    **Technic Hub**
+
+    .. figure:: ../../api/images/orientation_technichub_label.png
+        :height: 17 em
+
+    **Tilt Sensor**
+
+    .. figure:: ../../api/images/orientation_tiltsensor_label.png
+        :height: 17 em

doc/api/parameters/stop.rst

@@ -1,42 +1,22 @@
-:mod:`parameters <pybricks.parameters>` -- Parameters and Constants
-===================================================================
+Stop
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-.. automodule:: pybricks.parameters
-    :no-members:
+.. class:: Stop
 
-.. autoclass:: pybricks.parameters.Port
-    :no-members:
+    Action after the motor stops.
 
-    Motor ports:
+    .. autoattribute:: pybricks.parameters.Stop.COAST
+        :annotation:
 
-    .. data:: A
-    .. data:: B
-    .. data:: C
-    .. data:: D
+    .. autoattribute:: pybricks.parameters.Stop.BRAKE
+        :annotation:
 
-    Sensor ports:
+    .. autoattribute:: pybricks.parameters.Stop.HOLD
+        :annotation:
 
-    .. data:: S1
-    .. data:: S2
-    .. data:: S3
-    .. data:: S4
-
-.. autoclass:: pybricks.parameters.Direction
-    :no-members:
-
-    In general, clockwise is defined by **looking at the motor shaft, just
-    like looking at a clock**.
-
-    Some motors have two shafts. If in doubt, refer to the following diagrams:
-
-        - Clockwise direction for :ref:`EV3/NXT motors <fig_ev3motors>`
-
-.. autoclass:: pybricks.parameters.Stop
-    :no-members:
-
-    The following table show how each stop type adds an extra level of
+    The following table shows how each stop type adds an extra level of
     resistance to motion. In these examples, ``m`` is a
-    :class:`Motor <pybricks.ev3devices.Motor>` and
+    :class:`Motor <pybricks.pupdevices.Motor>` and
     and ``d`` is a :class:`DriveBase <pybricks.robotics.DriveBase>`. The
     examples also show how running at zero speed compares to these stop types.
 
@@ -58,9 +38,3 @@
     |        |            |        |             |               | | ``d.straight(0)``                     |
     |        |            |        |             |               | | ``d.straight(100)``                   |
     +--------+------------+--------+-------------+---------------+-----------------------------------------+
-
-.. autoclass:: pybricks.parameters.Color
-    :no-members:
-
-.. autoclass:: pybricks.parameters.Button
-    :no-members:

doc/api/pupdevices/colordistancesensor.rst

@@ -0,0 +1,79 @@
+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.reflection
+
+    .. automethod:: pybricks.pupdevices.ColorDistanceSensor.ambient
+
+    .. automethod:: pybricks.pupdevices.ColorDistanceSensor.distance
+
+    .. automethod:: pybricks.pupdevices.ColorDistanceSensor.hsv
+
+    .. automethod:: pybricks.pupdevices.ColorDistanceSensor.detectable_colors
+
+    .. 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
+
+Examples
+-------------------
+
+Measuring color
+***************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color_distance/color_print.py
+
+
+Waiting for a color
+*******************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color_distance/wait_for_color.py
+
+Measuring distance
+******************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color_distance/distance_blink.py
+
+Blinking the built-in light
+***************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color_distance/distance_blink.py
+
+Reading hue, saturation, value
+**********************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color_distance/hsv.py
+
+Changing the detectable colors
+******************************
+
+By default, the sensor is configured to detect red, yellow, green,
+blue, white, or ``None``, which suits many applications.
+
+For better results in your application, you can measure your desired
+colors in advance, and tell the sensor to look only for those colors.
+Be sure to measure them at the **same distance and light conditions**
+as in your final application. Then you'll get very accurate results
+even for colors that are otherwise hard to detect.
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color_distance/detectable_colors.py

doc/api/pupdevices/colorsensor.rst

@@ -0,0 +1,82 @@
+Color Sensor
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/sensor_color_lights_label.png
+   :width: 70 %
+
+.. autoclass:: pybricks.pupdevices.ColorSensor
+    :no-members:
+
+    .. automethod:: pybricks.pupdevices.ColorSensor.color
+
+    .. automethod:: pybricks.pupdevices.ColorSensor.reflection
+
+    .. automethod:: pybricks.pupdevices.ColorSensor.ambient
+
+    .. rubric:: Advanced color sensing
+
+    .. automethod:: pybricks.pupdevices.ColorSensor.hsv
+
+    .. automethod:: pybricks.pupdevices.ColorSensor.detectable_colors
+
+    .. rubric:: Built-in lights
+
+    This sensor has 3 built-in lights. You can adjust the brightness of each
+    light. If you use the sensor to measure something, the lights will
+    be turned on or off as needed for the measurement.
+
+    .. automethod:: pybricks.pupdevices::ColorSensor.lights.on
+
+    .. automethod:: pybricks.pupdevices::ColorSensor.lights.off
+
+
+Examples
+-------------------
+
+Measuring color and reflection
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color/color_print.py
+
+
+Waiting for a color
+*******************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color/wait_for_color.py
+
+
+Reading *reflected* hue, saturation, and value
+************************************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color/hsv.py
+
+
+Changing the detectable colors
+******************************
+
+By default, the sensor is configured to detect red, yellow, green,
+blue, white, or ``None``, which suits many applications.
+
+For better results in your application, you can measure your desired
+colors in advance, and tell the sensor to look only for those colors.
+Be sure to measure them at the **same distance and light conditions**
+as in your final application. Then you'll get very accurate results
+even for colors that are otherwise hard to detect.
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color/detectable_colors.py
+
+Reading *ambient* hue, saturation, value, and color
+***************************************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color/color_ambient.py
+
+Blinking the built-in lights
+****************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_color/lights_blink.py

doc/api/pupdevices/dcmotor.rst

@@ -0,0 +1,45 @@
+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.pupdevices.DCMotor
+    :no-members:
+
+    .. automethod:: pybricks.pupdevices.DCMotor.dc
+        :noindex:
+
+    .. automethod:: pybricks.pupdevices.DCMotor.stop
+        :noindex:
+
+    .. automethod:: pybricks.pupdevices.DCMotor.brake
+        :noindex:
+
+Examples
+-------------------
+
+Making the motor move back and forth
+************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor_dc/motor_dc_init_basic.py
+
+Changing the positive direction
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/motor_dc/motor_dc_init_direction.py
+
+Starting and stopping
+*********************
+
+.. literalinclude::
+    ../../../examples/pup/motor_dc/motor_dc_stop.py

doc/api/pupdevices/forcesensor.rst

@@ -0,0 +1,31 @@
+Force Sensor
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/sensor_force.png
+   :width: 35 %
+
+.. autoclass:: pybricks.pupdevices.ForceSensor
+    :no-members:
+
+    .. automethod:: pybricks.pupdevices.ForceSensor.force
+
+    .. automethod:: pybricks.pupdevices.ForceSensor.distance
+
+    .. automethod:: pybricks.pupdevices.ForceSensor.pressed
+
+    .. automethod:: pybricks.pupdevices.ForceSensor.touched
+
+Examples
+-------------------
+
+Measuring force and movement
+****************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_force/basics.py
+
+Measuring peak force
+********************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_force/peak.py

doc/api/pupdevices/index.rst

@@ -0,0 +1,87 @@
+:mod:`pupdevices <pybricks.pupdevices>` -- Powered Up Devices
+=============================================================
+
+.. automodule:: pybricks.pupdevices
+    :no-members:
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   dcmotor
+   motor
+   tiltsensor
+   infraredsensor
+   colordistancesensor
+   pfmotor
+   colorsensor
+   ultrasonicsensor
+   forcesensor
+   light
+   remote
+
+.. pybricks-classlink:: DCMotor
+
+.. figure:: ../../api/images/pupdcmotors_label.png
+    :width: 70 %
+    :target: dcmotor.html
+
+.. pybricks-classlink:: Motor
+
+.. figure:: ../../api/images/pupmotors_label.png
+    :width: 100 %
+    :target: motor.html
+
+.. pybricks-classlink:: TiltSensor
+
+.. figure:: ../../api/images/sensor_tilt.png
+   :width: 35 %
+   :target: tiltsensor.html
+
+.. pybricks-classlink:: InfraredSensor
+
+.. figure:: ../../api/images/sensor_proximity.png
+   :width: 35 %
+   :target: infraredsensor.html
+
+.. pybricks-classlink:: ColorDistanceSensor
+
+.. figure:: ../../api/images/sensor_colordistance.png
+   :width: 32 %
+   :target: colordistancesensor.html
+
+.. pybricks-classlink:: PFMotor
+
+.. figure:: ../../api/images/pfmotor.png
+   :width: 95 %
+   :target: pfmotor.html
+
+.. pybricks-classlink:: ColorSensor
+
+.. figure:: ../../api/images/sensor_color.png
+   :width: 32 %
+   :target: colorsensor.html
+
+.. pybricks-classlink:: UltrasonicSensor
+
+.. figure:: ../../api/images/sensor_ultrasonic.png
+   :width: 37 %
+   :target: ultrasonicsensor.html
+
+.. pybricks-classlink:: ForceSensor
+
+.. figure:: ../../api/images/sensor_force.png
+   :width: 35 %
+   :target: forcesensor.html
+
+.. pybricks-classlink:: Light
+
+.. figure:: ../../api/images/light.png
+   :width: 90 %
+   :target: light.html
+
+.. pybricks-classlink:: Remote
+
+.. figure:: ../../api/images/pupremote.png
+   :width: 50 %
+   :target: remote.html

doc/api/pupdevices/infraredsensor.rst

@@ -0,0 +1,23 @@
+Infrared Sensor
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/sensor_proximity.png
+   :width: 35 %
+
+.. autoclass:: pybricks.pupdevices.InfraredSensor
+    :no-members:
+
+    .. automethod:: pybricks.pupdevices.InfraredSensor.distance
+
+    .. automethod:: pybricks.pupdevices.InfraredSensor.reflection
+
+    .. automethod:: pybricks.pupdevices.InfraredSensor.count
+
+Examples
+-------------------
+
+Measuring distance, object count, and reflection
+************************************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_infrared/basics.py

doc/api/pupdevices/light.rst

@@ -0,0 +1,27 @@
+Light
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/light.png
+   :width: 90 %
+
+.. autoclass:: pybricks.pupdevices.Light
+    :no-members:
+
+    .. automethod:: pybricks.pupdevices.Light.on
+
+    .. automethod:: pybricks.pupdevices.Light.off
+
+Examples
+-------------------
+
+Making the light blink
+**********************
+
+.. literalinclude::
+    ../../../examples/pup/light/basics.py
+
+Gradually change the brightness
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/light/math.py