@pybricks/ide-docs v2.1.0

v3.1.0
pybricks.robotics: add type hint for curve()
2026-09-11 09:05:07 +00:00 · 2021-12-16 15:39:57 -06:00 · 2021-12-16 15:35:09 -06:00 · 2021-12-16 15:33:00 -06:00 · 2021-12-16 15:29:44 -06:00 · 2021-12-01 15:39:05 +01:00
585 changed files with 18753 additions and 4419 deletions
@@ -0,0 +1,2 @@
+
+github: [pybricks]
@@ -1,14 +1,14 @@
 # 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, 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 TAG=ide
@@ -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: npm/ide-docs
+    - run: yarn publish
+      working-directory: npm/ide-docs
+      env:
+        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}
@@ -0,0 +1,22 @@
+name: Release to PyPI
+
+on:
+  release:
+    types: [published]
+
+jobs:
+  build_and_publish:
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - uses: abatilo/actions-poetry@v2.0.0
+      with:
+        poetry-version: 1.1.6
+    - run: poetry install
+    - run: poetry build
+    - run: poetry publish
+      env:
+        POETRY_PYPI_TOKEN_PYPI: ${{ secrets.PYPI_TOKEN }}
@@ -1,6 +1,3 @@
-[submodule "pybricks-projects"]
-	path = pybricks-projects
-	url = https://github.com/pybricks/pybricks-projects
 [submodule "media/ev3dev-media"]
 	path = media/ev3dev-media
 	url = https://github.com/ev3dev/ev3dev-media.git
@@ -0,0 +1,22 @@
+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+#
+# Settings in the readthedocs online dashboard will be ignored.
+
+# Required
+version: 2
+
+# Build documentation in the doc/main directory with Sphinx
+sphinx:
+   configuration: doc/main/conf.py
+
+# Build your docs in additional formats such as PDF
+formats:
+   - pdf
+
+# Set the version of Python and requirements required to build the docs
+python:
+   version: 3.8
+   install:
+   - requirements: rtd-requirements.txt
@@ -6,7 +6,7 @@
    "python.linting.enabled": true,
    "python.languageServer": "Pylance",
    "files.associations": {"*.inc": "restructuredtext"},
-    "restructuredtext.confPath": "${workspaceFolder}/doc/api",
+    "restructuredtext.confPath": "${workspaceFolder}/doc/main",
    "spellright.language": [
        "en_US"
    ],
@@ -15,7 +15,7 @@ builtins
 cdot
 Celcius
 cityhub
-cplushub
+technichub
 de
 dev
 en
@@ -2,11 +2,92 @@

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

-## 2.0.0.post2
+## 3.1.0 - 2021-12-16

 ### Added
- Added this changelog.
+- 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 code completion for `DCMotor` and `Motor` classes in MS Python VS Code extension.
- Fixed missing `DCMotor` type in `ev3devices`.
+- 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.
@@ -20,20 +20,23 @@ 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

@@ -59,15 +62,24 @@ 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:

@@ -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
@@ -5,12 +5,13 @@
 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) -t $(TAG) $(O)

 .PHONY: help Makefile

@@ -21,4 +22,4 @@ diagrams:
 # 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)
@@ -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())
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -1,73 +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>`.
-
-
-**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
-
-.. toctree::
-   :maxdepth: 1
-   :caption: Pybricks Modules
-   :hidden:
-
-   hubs
-   ev3devices
-   nxtdevices
-   iodevices
-   parameters
-   tools
-   robotics
-   media
-   messaging
-
-.. toctree::
-   :maxdepth: 1
-   :caption: Engineering Extras
-   :hidden:
-
-   signaltypes
-   motors
-..    frames
@@ -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
@@ -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
@@ -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
@@ -1,12 +0,0 @@
-EV3 Quick Start
-########################
-
-.. include:: start_ev3_install.inc
-
-.. include:: start_ev3_brick.inc
-
-.. include:: start_ev3_run.inc
-
-.. include:: start_ev3_linux.inc
-
-.. include:: start_ev3_upgrade.inc
@@ -1,81 +0,0 @@
-Using the EV3 Brick
-===================
-
-Make sure the EV3 Brick is turned off. Insert the microSD card you prepared
-into the microSD card slot on the EV3 Brick, as shown in :numref:`fig_sd`.
-
-.. _fig_sd:
-
-.. figure:: ../api/images/sd_label.png
-   :width: 75 %
-   :alt: sd
-   :align: center
-
-   Inserting the flashed microSD card into the EV3 Brick
-
-
-Turning the EV3 Brick on and off
-----------------------------------------------------------
-
-Turn on the EV3 Brick by pressing the dark gray center button.
-
-The boot process may take several minutes. While booting, the EV3 Brick status
-light turns orange and blinks intermittently, and you'll see a lot of text on
-the EV3 screen. The EV3 Brick is ready for use when the status light turns
-green.
-
-To turn the EV3 Brick off, open the shutdown menu with the back button, and
-then select *Power Off* using the center button, as shown
-in :numref:`fig_onoff`.
-
-.. _fig_onoff:
-
-.. figure:: ../api/images/onoff_label.png
-   :width: 65 %
-   :alt: onoff
-   :align: center
-
-   Turning the EV3 Brick off
-
-Viewing motor and sensor values
-----------------------------------------------------------
-
-When you're not running a program, you can view motor and sensor values using
-the device browser, as shown in :numref:`fig_devicebrowser`.
-
-.. _fig_devicebrowser:
-
-.. figure:: ../api/images/devicebrowser_label.png
-   :width: 100 %
-   :alt: devicebrowser
-   :align: center
-
-   Viewing motor and sensor values
-
-Running a program without a computer
-----------------------------------------------------------
-
-You can run previously downloaded programs directly from the EV3 Brick.
-
-To do so, find the program using the *file browser* on the EV3 screen and press
-the center button key to start the program as shown in :numref:`fig_manualrun`.
-
-.. _fig_manualrun:
-
-.. figure:: ../api/images/manualrun_label.png
-   :width: 100 %
-   :alt: manualrun
-   :align: center
-
-   Starting a program using the buttons on the EV3 Brick
-
-Going back to the original firmware
-----------------------------------------------------------
-
-You can go back to the LEGO® firmware and your LEGO programs at any time. To
-do so:
-
-1. Turn the EV3 Brick off as shown above.
-2. Wait for the screen and brick status light to turn off.
-3. Remove the microSD card.
-4. Turn the EV3 on.
@@ -1,5 +0,0 @@
-.. _EV3 MicroPython microSD card image: https://pybricks.com/downloads
-
-1. Download the `EV3 MicroPython microSD card image`_ and save it in a
-convenient location. This file is approximately 360 MB. You do **not** need
-to unzip the file.
@@ -1,115 +0,0 @@
-Installation
-===================
-
-This page guides you through the steps to collect and install everything you
-need to start programming.
-
-What do you need?
-----------------------------------------------------------
-
-To get started, you'll need:
-
- A Windows 10 or Mac OS computer
- Internet access and administrator access
-
-    This is required during the installation only. You will not need special
-    access to write and run programs later on.
-
- A microSD card
-
-    You'll need a card with a minimum capacity of 4GB and a maximum capacity
-    of 32GB. This type of microSD card is also known as microSDHC. We recommend
-    cards with Application Performance Class A1.
-
- A microSD card slot or card reader in your computer
-
-    If your computer does not have a (micro)SD card slot, you can use an
-    external USB (micro)SD card reader.
-
- A mini-USB cable, like the one included with your EV3 set
-
-The typical configuration of this equipment is summarized
-in :numref:`fig_overview`.
-
-.. _fig_overview:
-
-.. figure:: ../api/images/overview_label.png
-   :width: 90 %
-   :alt: overview
-   :align: center
-
-   Setup overview
-
-Preparing your computer
-----------------------------------------------------------
-
-You'll write your MicroPython programs using Visual Studio Code. Follow the
-steps below to download, install, and configure this application:
-
-1. Download `Visual Studio Code <https://code.visualstudio.com/Download>`_.
-2. Follow the on-screen instructions to install the application.
-3. Launch Visual Studio Code.
-4. Open the extensions tab.
-5. Install the EV3 MicroPython extension as shown in :numref:`fig_store`.
-
-.. _fig_store:
-
-.. figure:: ../api/images/store_label.png
-    :alt: store
-    :align: center
-
-    Installing the extension from the Visual Studio Code marketplace
-
-.. _prepsdcard:
-
-Preparing the microSD card
-----------------------------------------------------------
-
-To make it possible to run MicroPython programs on your EV3 Brick, you'll now
-learn how to install the required tools on your microSD card.
-
-If the microSD card contains files you want to keep, make sure to create a
-backup of its contents first.
-See :ref:`managing files on the EV3 <managefiles>` to learn how to backup your
-previous MicroPython programs if necessary.
-
-*This process erases everything on your microSD card, including any previous
-MicroPython programs on it.*
-
-
-To install the MicroPython tools on your microSD card:
-
-.. include:: start_ev3_download.inc
-
-2. Download and install a microSD card flashing tool
-   such as `Etcher <https://www.balena.io/etcher/>`_.
-3. Insert the microSD card into your computer or card reader.
-4. Launch the flashing tool and follow the steps on your screen to install
-   the file you have just downloaded. If you use Etcher, you can follow the
-   instructions below, as shown in :numref:`fig_etcher`.
-
-    a. Select the EV3 MicroPython microSD card image file you have just
-       downloaded.
-    b. Select your microSD card. Make sure that the device and size correspond
-       to your microSD card.
-    c. Start the flashing process. This may take several minutes. Do not remove
-       the card until the flashing process is complete.
-
-.. _fig_etcher:
-
-.. figure:: ../api/images/etcher_label.png
-   :width: 85 %
-   :alt: etcher
-   :align: center
-
-   Using Etcher to flash the EV3 MicroPython microSD card image
-
-Updating the microSD card
-----------------------------------------------------------
-
-To update the microSD card, download a new image file using the link above and
-flash it to the microSD card as described above. Be sure
-to :ref:`back up any MicroPython programs you want to save <managefiles>`.
-
-You do not need to erase the contents of the microSD card first. This is done
-automatically when you flash the new image file.
@@ -1,110 +0,0 @@
-Accessing advanced EV3 features
-===============================
-
-MicroPython runs on top of `ev3dev`_, which is a specific version of Linux.
-Linux is an *operating system*. (Other popular operating
-systems are Microsoft Windows and Apple macOS.) This means that your EV3 is
-almost like a real computer, just much smaller.
-
-.. note::
-
-   *If you just want to write MicroPython programs, you can skip the
-   remaining sections.*
-
-   The remaining sections are aimed at curious users who want go beyond
-   MicroPython and access some of the other built-in features of Linux and
-   ev3dev.
-
-The Linux command line
-----------------------------------------
-
-Although your EV3 Brick is quite like a real computer, you do not interact with
-it using a big screen and a mouse. Instead, you can access files and programs
-on it using the *command line*. It is also called the *terminal*.
-
-Follow the steps in :numref:`fig_terminal` to access the command line. Now
-you can enter commands by typing them in and pressing enter.
-
-.. _fig_terminal:
-
-.. figure:: ../api/images/terminal_label.png
-   :width: 100 %
-   :alt: files
-   :align: center
-
-   Opening the Linux command line and running the ``ls`` command.
-
-**Running basic commands**
-
-For example, if you type the following command and press enter::
-
-   ls
-
-then you will see the contents of the current folder. :numref:`fig_terminal`
-shows the result: it listed the project folder of the ``getting_started``
-project that we just ran.
-
-If you type the following command and press enter::
-
-   exit
-
-then the command line will be closed. Alternatively, click the garbage icon
-shown in :numref:`fig_terminal`.
-
-You can copy text from the command line by selecting it and
-then pressing ``ctrl`` ``shift`` ``c``.
-You can paste text into the command line
-using ``ctrl`` ``shift`` ``v``.
-
-**Running commands as an administrator**
-
-Some commands require a password to run. This is similar to administrative
-tasks on your computer or tablet, such as installing a new app. These commands
-work like any other command, but you add ``sudo`` in front of
-them.
-
-As an exercise, you can run the following command to turn the EV3 Brick off::
-
-   sudo poweroff
-
-You will be prompted for a password. Type ``maker`` and then press ``Enter``.
-
-.. warning::
-
-   Only run commands with ``sudo`` if you know what you are doing.
-
-**Learning more about the command line**
-
-To learn more about the command line and many of the available commands, we
-recommend reading the beginner-friendly free ebook
-called `The Linux Command Line`_.
-
-To learn more about ev3dev-specific tips and tricks, visit the `ev3dev`_
-website.
-
-.. _hostname:
-
-Changing the EV3 Brick name
-----------------------------------------------------------
-
-When you search for your EV3 using Visual Studio Code, you see all EV3 Bricks
-listed by their name. By default, all EV3 Bricks are named *ev3dev*. Follow
-these steps to change that name:
-
-   1. Open Visual Studio Code and connect to your EV3 as usual.
-   2. Read the steps above about running commands as an administrator.
-   3. Think of a good name. In this example, we'll
-      call it ``autonomous-vehicle2``
-   4. Enter the following command and press enter::
-
-         sudo hostnamectl set-hostname autonomous-vehicle2
-
-   5. Reboot the EV3 Brick for the change to take effect.
-   6. You may need to reboot your computer as well.
-
-EV3 Brick names should only contain lowercase letters ``a`` through ``z``,
-the digits ``0`` through ``9``, and the hyphen ``-``. It must start with a
-letter or digit. It cannot include spaces or other symbols.
-
-.. _ev3dev: https://www.ev3dev.org/
-.. _The Linux Command Line: http://linuxcommand.org/tlcl.php
@@ -1,166 +0,0 @@
-Creating and running programs
-=============================
-
-Now that you've set up your computer and EV3 Brick, you're ready to start
-writing programs.
-
-To make it easier to create and manage your programs, let's first have a quick
-look at how MicroPython projects and programs for your EV3 robots are
-organized.
-
-Programs are organized into *project folders*, as shown in
-:numref:`fig_projectstructure`. A project folder is a directory on your
-computer that contains the main program (**main.py**) and other optional
-scripts or files. This project folder and all of its contents will be copied
-to the EV3 Brick, where the main program will be run.
-
-This page shows you how to create such a project and how to transfer it to the
-EV3 Brick.
-
-.. _fig_projectstructure:
-
-.. figure:: ../api/images/projectstructure_label.png
-   :width: 100 %
-   :alt: projectstructure
-   :align: center
-
-   A project contains a program called **main.py** and optional resources like
-   sounds or MicroPython modules.
-
-
-Creating a new project
-----------------------------------------------------------
-
-To create a new project, open the EV3 MicroPython tab and
-click *create a new project*, as shown in :numref:`fig_newproject`. Enter a
-project name in the text field that appears and press *Enter*. When prompted,
-choose a location for this program and confirm by clicking *choose folder*.
-
-.. _fig_newproject:
-
-.. figure:: ../api/images/newproject_label.png
-   :width: 100 %
-   :alt: newproject
-   :align: center
-
-   Creating a new project. This example is called *getting_started*, but you
-   can choose any name.
-
-When you create a new project, it already includes a file called *main.py*. To
-see its contents and to modify it, open it from the file browser as shown in
-:numref:`fig_projectoverview`. This is where you'll write your programs.
-
-If you are new to MicroPython programming, we recommend that you keep the
-existing code in place and add your code to it.
-
-.. _fig_projectoverview:
-
-.. figure:: ../api/images/projectoverview_label.png
-   :width: 100 %
-   :alt: projectoverview
-   :align: center
-
-   Opening the default *main.py* program.
-
-Opening an existing project
-----------------------------------------------------------
-
-To open a project you created previously, click *File* and click
-*Open Folder*, as shown in :numref:`fig_existingproject`. Next, navigate to
-your previously created project folder and click *OK*. You can also open your
-recently used projects using the *Open Recent* menu option.
-
-.. _fig_existingproject:
-
-.. figure:: ../api/images/existingproject_label.png
-   :width: 75 %
-   :alt: existingproject
-   :align: center
-
-   Opening a previously created project.
-
-
-Connecting to the EV3 Brick with Visual Studio Code
-----------------------------------------------------------
-
-To be able to transfer your code to the EV3 Brick, you'll first need to
-connect the EV3 Brick to your computer with the mini-USB cable and configure
-the connection with Visual Studio Code. To do so:
-
- Turn the EV3 Brick on
- Connect the EV3 Brick to your computer with the mini-USB cable
- Configure the USB connection as shown in :numref:`fig_connecting`.
-
-.. _fig_connecting:
-
-.. figure:: ../api/images/connecting_label.png
-   :width: 100 %
-   :alt: connecting
-   :align: center
-
-   Configuring the USB connection between the computer and the EV3 Brick
-
-Downloading and running a program
-----------------------------------------------------------
-
-You can press the F5 key to run the program. Alternatively, you can start it
-manually by going to the *debug* tab and clicking the green start arrow, as
-shown in :numref:`fig_running`.
-
-When the program starts, a pop-up toolbar allows you to stop the program if
-necessary. You can also stop the program at any time using the back button on
-the EV3 Brick.
-
-If your program produces any output with the ``print`` command, this is shown
-in the output window.
-
-.. _fig_running:
-
-.. figure:: ../api/images/running_label.png
-   :width: 100 %
-   :alt: running
-   :align: center
-
-   Running a program
-
-Expanding the example program
-----------------------------------------------------------
-
-Now that you've run the basic code template, you can expand the program to
-make a motor move. First, attach a Large Motor to Port B on the EV3 Brick,
-as shown  in :numref:`fig_firstprogram`.
-
-.. _fig_firstprogram:
-
-.. figure:: ../api/images/firstprogram_label.png
-   :width: 100 %
-   :alt: firstprogram
-   :align: center
-
-   The EV3 Brick with a Large Motor attached to port B.
-
-Next, edit *main.py* to make it look like this:
-
-.. literalinclude::
-   ../../pybricks-projects/snippets/ev3/getting_started/main.py
-
-This program makes your robot beep, rotate the motor, and beep again with a
-higher pitched tone. Run the program to make sure that it works as expected.
-
-.. _managefiles:
-
-Managing files on the EV3 Brick
-----------------------------------------------------------
-
-After you've downloaded a project to the EV3 Brick, you can run, delete, or
-back up programs stored on it using the device browser as shown in
-:numref:`fig_files`.
-
-.. _fig_files:
-
-.. figure:: ../api/images/files_label.png
-   :width: 100 %
-   :alt: files
-   :align: center
-
-   Using the EV3 device browser to manage files on your EV3 Brick
@@ -1,248 +0,0 @@
-Upgrading from v1.0 to v2.0
-===============================
-
-*EV3 MicroPython version 2.0 was released on May 18, 2020.*
-
-This section is for users who have previously used LEGO MINDSTORMS EV3
-MicroPython v1.0. We'll explain what's changed and how you can upgrade to
-benefit from the latest improvements.
-
-If you are a new user and you just got started using version 2.0, you may skip
-this section.
-
-Upgrading the microSD Card
-----------------------------------------
-
-To upgrade, download the latest microSD card file and install it using the
-standard :ref:`instructions <prepsdcard>`.
-
-Note that this will erase all your existing files on the SD Card. Before you
-upgrade, make sure that you still have all your projects on your computer.
-If not, you can upload files back to your computer using
-:ref:`these instructions <managefiles>`.
-
-As with any software update, *be careful about when you update*. For example,
-if you developed your code using version v1.0 and you are halfway into your
-robotics competition season, you may want to stick with v1.0 for now.
-
-
-Upgrading your existing programs
-----------------------------------------
-
-Most changes in v2.0 are *new* features, like support for additional sensors.
-Naturally, this will not affect your existing code.
-However, some changes were made to existing features to improve performance.
-
-All originally documented features in v1.0 will still work after you upgrade.
-This means that most programs originally made for v1.0 will work with the v2.0
-microSD card image without any changes.
-
-To try this, simply download and run your original code as you did before.
-
-However, it is recommended that you upgrade both the microSD card and your
-programs at the same time to ensure everything works as expected.
-
-The new EV3Brick() class replaces the ev3brick module
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Version 2.0 introduces the :class:`EV3Brick() <pybricks.hubs.EV3Brick>` class.
-You can use it instead of the old  ``ev3brick`` module. The old ``ev3brick``
-module can still be used, but it is no longer recommended or documented.
-
-The :class:`EV3Brick() <pybricks.hubs.EV3Brick>` class improves the speed and
-reliability of the EV3 screen and the EV3 speaker. It also adds functionality
-like speech and drawing shapes. The default
-font size is also bigger to make it easier to read text on the screen.
-
-You can use
-the following table as a starting point to upgrade your scripts. See the
-:class:`EV3Brick() <pybricks.hubs.EV3Brick>` class documentation for
-complete details of all methods and arguments.
-
-.. list-table::
-
-  * - **Action**
-    - **v1.0**
-    - **v2.0**
-
-  * - | Initialize
-      | your EV3
-    - ::
-
-          from pybricks import ev3brick as brick
-    - ::
-
-          from pybricks.hubs import EV3Brick
-
-          ev3 = EV3Brick()
-
-  * - | Light on
-    - ::
-
-          brick.light(Color.RED)
-    - ::
-
-          ev3.light.on(Color.RED)
-
-  * - | Light off
-    - ::
-
-          brick.light(None)
-    - ::
-
-          ev3.light.off()
-
-  * - | Read
-      | Buttons
-    - ::
-
-          if Button.LEFT in brick.buttons():
-              print("Left is pressed.")
-    - ::
-
-          if Button.LEFT in ev3.buttons.pressed():
-              print("Left is pressed.")
-
-  * - | Play a
-      | beep
-    - ::
-
-          brick.sound.beep()
-    - ::
-
-          ev3.speaker.beep()
-
-  * - | Play a
-      | sound file
-    - ::
-
-          brick.sound.file(SoundFile.HELLO)
-    - ::
-
-          ev3.speaker.play_file(SoundFile.HELLO)
-
-  * - | Text to
-      | speech
-    -
-    - ::
-
-          ev3.speaker.say("I can say anything!")
-
-  * - | Play
-      | notes
-    -
-    - ::
-
-          ev3.speaker.play_notes(['C4/4', 'G4/4'])
-
-  * - | Write text
-      | at a given
-      | position
-    - ::
-
-          brick.display.text("Hello!", (50, 60))
-    - ::
-
-          ev3.screen.draw_text(50, 60, "Hello!")
-
-  * - | Write text
-      | and scroll
-      | automatically
-    - ::
-
-          brick.display.text("Hello")
-          brick.display.text("world!")
-    - ::
-
-          ev3.screen.print("Hello")
-          ev3.screen.print("world!")
-
-  * - | Change font
-      | size
-    -
-    - ::
-
-          from pybricks.media.ev3dev import Font
-
-          big_font = Font(size=24)
-          ev3.screen.set_font(big_font)
-
-  * - | Display an
-      | image on
-      | the screen
-    - ::
-
-          from pybricks.parameters import ImageFile
-
-          brick.display.image(ImageFile.QUESTION_MARK)
-    - ::
-
-          from pybricks.media.ev3dev import ImageFile
-
-          ev3.screen.load_image(ImageFile.Question_MARK)
-
-  * - | Draw shapes
-      | on the screen
-    -
-    - ::
-
-          ev3.screen.draw_line(30, 30, 30, 100)
-          ev3.screen.draw_box(50, 30, 90, 60)
-          ev3.screen.draw_circle(70, 90, 20, fill=True)
-
-  * - | Read
-      | battery
-      | voltage
-    - ::
-
-          brick.battery.voltage()
-    - ::
-
-          ev3.battery.voltage()
-
-
-Other internal changes to existing features
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
- Most methods of the :class:`Motor() <pybricks.ev3devices.Motor>` class now
-  have ``Stop.HOLD`` as the default instead of ``Stop.COAST``. This improves
-  accuracy in most applications. You can still select ``Stop.COAST`` if you
-  like.
- The internal PID controllers for the motors are more accurate than before.
-  If you give a motor command when it is already running, it smoothly adjusts
-  the speed to the newly given command. This works even if you keep
-  adjusting the speed in a fast loop.
- Methods to configure motor settings have changed. You can change settings
-  using the :doc:`control <motors>` attribute now. The old settings setters
-  continue to exist in the implementation, but they are no longer documented.
- So-called Python *keyword arguments* are now supported. Previously, you
-  could only enter the argument *values*. For example:
-
-   ::
-
-       my_motor.run_angle(500, 90, Stop.HOLD, False)
-
-  This is still possible. But you can now choose to omit optional arguments
-  and specify others with *keywords*. This can make your code easier to read.
-  For example:
-
-   ::
-
-      my_motor.run_angle(500, 90, wait=False)
- It is no longer necessary to import ``pybricks.tools.print``. The ``print``
-  function is now built-in. It works just like Python or MicroPython.
- Most parameters in the :mod:`parameters <pybricks.parameters>` now have a
-  specific type and representation. For example, suppose you measure a color
-  and print the result. If you do ``print(Color.RED)``, you will see the
-  parameter instead of a technical number.
- Sound and image files have moved to a dedicated :doc:`media <media>` module.
-  Importing them from the old location will continue to work in this release,
-  to make sure existing scripts will still work.
-
-**Installing an older version of the Visual Studio Code extension**
-
-The Visual Studio Code extension and this documentation are updated
-automatically. You can still use your existing scripts with the updated
-extension. If you absolutely wish to keep the old version, look for the EV3
-extension on the extension tab, click the gear icon, and
-click *install another version*.
@@ -1,89 +0,0 @@
-:mod:`tools <pybricks.tools>` -- Timing and Data logging
-========================================================
-
-.. automodule:: pybricks.tools
-    :no-members:
-
-.. autofunction:: wait
-
-.. autoclass:: pybricks.tools.StopWatch
-    :no-members:
-
-    .. automethod:: pybricks.tools.StopWatch.time
-
-    .. automethod:: pybricks.tools.StopWatch.pause
-
-    .. automethod:: pybricks.tools.StopWatch.resume
-
-    .. automethod:: pybricks.tools.StopWatch.reset
-
-.. autoclass:: pybricks.tools.DataLog
-    :no-members:
-
-    .. automethod:: pybricks.tools.DataLog.log
-
-    By default, this class creates a ``csv`` file on the EV3 brick with the
-    name ``log`` and the current date and time. For example, if you
-    use this class on 13 February 2020 on 10:07 and 44.431260
-    seconds, the file is called ``log_2020_02_13_10_07_44_431260.csv``.
-
-    See :ref:`managing files on the EV3 <managefiles>` to learn how to upload
-    the log file back to your computer.
-
-.. toggle-header::
-    :header: **Show/hide example: Logging and visualizing measurements**
-
-
-
-    **Example**
-
-    This example shows how to log the angle of a rotating wheel as time passes.
-
-    .. literalinclude:: ../../pybricks-projects/snippets/ev3/datalog/main.py
-
-    In this example, the generated file has the following contents::
-
-        time, angle
-        3, 0
-        108, 6
-        212, 30
-        316, 71
-        419, 124
-        523, 176
-        628, 228
-        734, 281
-        838, 333
-        942, 385
-
-    When you upload the file to your computer as shown above, you can open it
-    in a spreadsheet editor. You can then generate a graph of the data, as
-    shown in :numref:`fig_datalog_graph`.
-
-    In this example, we see that the motor angle changes slowly at first. Then
-    the angle begins to change faster, and the graph becomes a straight line.
-    This means that the motor has reached a constant speed. You can verify that
-    the angle increases by 500 degrees per second.
-
-    .. _fig_datalog_graph:
-
-    .. figure:: ../api/images/datalog_graph.png
-        :width: 100 %
-
-        Original file contents (left) and a generated graph (right).
-
-
-.. toggle-header::
-    :header: **Show/hide example: Using the optional arguments**
-
-    **Example**
-
-    This example shows how to log data beyond just numbers. It also shows how
-    you can use the optional arguments of the ``DataLog`` class to choose the
-    file name and extension.
-
-    In this example, ``timestamp=False``, which means that the date and time
-    are not added to the file name. This can be convenient because the file
-    name will always be the same. However, this means that the contents of
-    ``my_file.txt`` will be overwritten every time you run this script.
-
-    .. literalinclude:: ../../pybricks-projects/snippets/ev3/datalog_extra/main.py
@@ -0,0 +1,42 @@
+
+/* These styles only apply to the ide build */
+
+.wy-breadcrumbs li.wy-breadcrumbs-aside {
+    display: none;
+}
+
+/* Scrollbar styling to match Pybricks Code. */
+/* https://github.com/pybricks/pybricks-code/blob/master/src/index.scss */
+
+::-webkit-scrollbar {
+    width: 16px;
+}
+
+.bp3-dark ::-webkit-scrollbar-track {
+    background: #293742;
+}
+
+::-webkit-scrollbar-track {
+    background: #e8e8e8;
+}
+
+.bp3-dark ::-webkit-scrollbar-thumb {
+    border-color: #293742;
+    background: #a7b6c2;
+}
+
+::-webkit-scrollbar-thumb {
+    border-width: 3px;
+    border-style: solid;
+    border-radius: 8px;
+    border-color: #e8e8e8;
+    background: #5c7080;
+}
+
+.bp3-dark ::-webkit-scrollbar-thumb:hover {
+    background: #f5f8fa;
+}
+
+::-webkit-scrollbar-thumb:hover {
+    background: #182026;
+}
@@ -26,17 +26,6 @@ span.caption-number:after {
    margin-bottom: 24px !important;
 }

-/* 
-    sphinx-contrib contentui sets max-width to none,
-    giving a very wide page which makes text hard to
-    read. This sets it to a finite value.
-*/
-@media screen and (min-width: 1300px) {
-    .wy-nav-content {
-        max-width: 800px;
-    }
-}
-
 /* decorate external links in navigation side bar */
 .wy-nav-side a.reference.external:after {
    font-family: FontAwesome;
@@ -46,3 +35,9 @@ span.caption-number:after {
    font-size: 60%;
    margin: 0 0.2em;
 }
+
+/* don't show external link on figures */
+/* https://github.com/readthedocs/sphinx_rtd_theme/pull/494#issuecomment-354063112 */
+.figure > a.reference.external::after {
+    content: none !important;
+}
@@ -0,0 +1,5 @@
+// Since Pybricks Code is an "app", all external links get opened in new tab/window
+// https://stackoverflow.com/a/62742435/1976323
+$(document).ready(function () {
+    $('a[href^="http://"], a[href^="https://"]').not('a[class*=internal]').attr('target', '_blank');
+});
@@ -1,5 +1,5 @@
 {% extends '!footer.html' %}

 {% block extrafooter %}
-<div class="disclaimer">{{ disclaimer }}</div>
+{% if disclaimer %}<div class="disclaimer">{{ disclaimer }}</div>{% endif %}
 {% endblock %}
@@ -20,17 +20,18 @@
 # flake8: noqa

 import os
+import re
 import sys

 from docutils import nodes
 from docutils.parsers.rst.directives import flag
 from docutils.parsers.rst import Directive
 from sphinx.application import Sphinx
-from sphinx.domains.python import PyClassmember, PythonDomain
 import toml

 TOP_DIR = os.path.abspath(os.path.join('..', '..'))
-sys.path.insert(0, TOP_DIR)
+sys.path.insert(0, os.path.join(TOP_DIR, 'src'))
+sys.path.append(os.path.abspath('../common/extensions'))

 from pybricks.hubs import EV3Brick  # noqa E402
 from pybricks.media.ev3dev import Image  # noqa E402
@@ -56,7 +57,10 @@ extensions = [
    'sphinx.ext.napoleon',
    'sphinx.ext.todo',
    'sphinx.ext.mathjax',
-    'sphinxcontrib.contentui',
+    'color',
+    'classlink',
+    'requirements',
+    'requirements-static',
 ]

 # Add any paths that contain templates here, relative to this directory.
@@ -75,10 +79,10 @@ master_doc = 'index'
 # |version| and |release|, also used in various other places throughout the
 # built documents.
 #
-# The short X.Y version.
-version = _pyproject["tool"]["poetry"]["version"]
 # The full version, including alpha/beta/rc tags.
-release = version
+release = "v" + _pyproject["tool"]["poetry"]["version"]
+# The short X.Y version.
+version = re.match(r'(v\d+\.\d+)', release)[0]

 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
@@ -88,7 +92,7 @@ release = version
 language = None

 # The name of the Pygments (syntax highlighting) style to use.
-pygments_style = 'sphinx'
+pygments_style = 'xcode'

 # If true, `todo` and `todoList` produce output, else they produce nothing.
 todo_include_todos = True
@@ -125,10 +129,27 @@ nitpick_ignore = [
    ('py:exc', 'ValueError'),
 ]

+# not sure why, but this is needed for typing.IO in uselect
+nitpick_ignore.append(('py:class', 'IO'))
+
+# Workaround until change below is released.
+# https://github.com/sphinx-doc/sphinx/commit/86091934db5ec593b4b0c982b7f08f3231ef995b
+nitpick_ignore.extend([
+    ('py:class', '0'),
+    ('py:class', '1'),
+    ('py:class', '2'),
+    ('py:class', '3'),
+    ('py:class', 'big'),
+    ('py:class', 'little'),
+])
+
 # -- Autodoc options ------------------------------------------------------

 autodoc_member_order = 'bysource'
-autodoc_default_flags = ['members', 'undoc-members']
+autodoc_default_options = {
+    'members': True,
+    'undoc-members': True,
+}
 autoclass_content = 'both'  # This ensures init arguments are not ignored
 add_module_names = False  # Hide module name

@@ -238,7 +259,27 @@ latex_documents = [
     author, 'manual'),
 ]

-# -- Options for manual page output ---------------------------------------
+# -- Content control -----------------------------------------------------
+
+
+exclude_patterns = [
+    'ev3devices.rst',
+    'hubs/ev3brick.rst',
+    'hubs/primehub.rst',
+    'geometry.rst',
+    'iodevices/analogsensor.rst',
+    'iodevices/dcmotor.rst',
+    'iodevices/ev3devsensor.rst',
+    'iodevices/i2cdevice.rst',
+    'iodevices/lumpdevice.rst',
+    'iodevices/lwp3device.rst',
+    'iodevices/uartdevice.rst',
+    'media.rst',
+    'messaging.rst',
+    'nxtdevices.rst',
+    'tools/datalog.rst'
+]
+

 # One entry per manual page. List of tuples
 # (source start file, name, description, authors, manual section).
@@ -267,7 +308,7 @@ class AvailabilityDirective(Directive):
    option_spec = {
        'movehub': flag,
        'cityhub': flag,
-        'cplushub': flag,
+        'technichub': flag,
        'ev3dev-stretch': flag,
    }

@@ -284,44 +325,3 @@ def setup(app: Sphinx):


 # -- Python domain hacks ---------------------------------------------------
-
-real_get_signature_prefix = PyClassmember.get_signature_prefix
-
-
-def get_signature_prefix(self, sig):
-    # hacks for battery and light
-    if sig.count('.') >= 2:
-        return ''
-    return real_get_signature_prefix(self, sig)
-
-
-PyClassmember.get_signature_prefix = get_signature_prefix
-
-
-# HACK: For certain hub attributes, we list the class members of the attributes
-# class as if the attribute was a nested class so that readers don't have to
-# skip around the docs as much. To make this work, we replace the attribute
-# values with the type and override PythonDomain.find_obj so that references
-# still work.
-
-base_find_obj = PythonDomain.find_obj
-
-
-def find_obj(self, env, modname, classname, name, type, searchmode=0):
-    if modname == 'pybricks.hubs':
-        if classname == 'screen':
-            if name.startswith('Font.') or name == 'Font':
-                modname = 'pybricks.media.ev3dev'
-            elif name.startswith('Image.') or name == 'Image':
-                modname = 'pybricks.media.ev3dev'
-            else:
-                classname = 'EV3Brick.screen'
-        elif classname == 'speaker':
-            classname = 'EV3Brick.speaker'
-    return base_find_obj(self, env, modname, classname, name, type, searchmode)
-
-
-PythonDomain.find_obj = find_obj
-
-EV3Brick.screen = Image
-EV3Brick.speaker = Speaker
@@ -0,0 +1,33 @@
+from docutils import nodes
+from docutils.parsers.rst import Directive
+
+
+class PybricksClasslinkDirective(Directive):
+
+    required_arguments = 1
+    optional_arguments = 1
+
+    def run(self):
+        # Get link and name from sphinx-directive
+        name = self.arguments[0]
+        link = name if len(self.arguments) == 1 else self.arguments[1]
+
+        html = (
+            '<a href="{0}.html">'.format(link.lower()) +
+            '<dl class="py class">' +
+            '<dt>' +
+            '<em class="property">class </em>' +
+            '<code class="sig-name descname">' + name + '</code>' +
+            '</dt>' +
+            '<dd></dd>' +
+            '</dl>' +
+            '</a>'
+        )
+
+        # Return the node
+        node = nodes.raw('', html, format="html")
+        return [node]
+
+
+def setup(app):
+    app.add_directive_to_domain('py', 'pybricks-classlink', PybricksClasslinkDirective)
@@ -0,0 +1,43 @@
+from docutils import nodes
+from docutils.parsers.rst import Directive
+from pybricks.parameters import Color
+from colorsys import hsv_to_rgb
+
+
+class PybricksColorDirective(Directive):
+
+    required_arguments = 1
+
+    def run(self):
+        # Get color name from sphinx-directive
+        name = self.arguments[0]
+
+        # Get Color class attribute
+        color = getattr(Color, name)
+
+        # Convert HSV to RGB
+        r, g, b = hsv_to_rgb(color.h/360, color.s/100, color.v/100)
+
+        # Convert RGB to HEX
+        rgbhex = '#{0:02x}{1:02x}{2:02x}'.format(
+            round(r*255),
+            round(g*255),
+            round(b*255)
+        )
+
+        # Render a small block of the given color
+        css = "background-color: {0}; color: {0}; width: 50px;".format(rgbhex)
+
+        if name == "WHITE":
+            css += "border-style: solid; border-width: 0.5px;" + \
+                   "border-color: #666666;"
+
+        html = '<div id="test" style="{0}">_</div>'.format(css)
+
+        # Return the node
+        node = nodes.raw('', html, format="html")
+        return [node]
+
+
+def setup(app):
+    app.add_directive_to_domain('py', 'pybricks-color', PybricksColorDirective)
@@ -0,0 +1,101 @@
+from os import path, makedirs
+
+from docutils import nodes
+from docutils.parsers.rst import Directive
+
+from sphinx.util.osutil import copyfile
+
+# Base feature set.
+FEATURES_SMALL = set()
+
+# Medium feature set.
+FEATURES_MEDIUM = FEATURES_SMALL | {
+    'pybricks-geometry',
+    'pybricks-iodevices',
+    'stm32-extra',
+    'stm32-float',
+}
+
+# Large feature set.
+FEATURES_LARGE = FEATURES_MEDIUM | set()
+
+# Features per hub.
+HUB_FEATURES = {
+    'movehub': {'movehub'} | FEATURES_SMALL,
+    'cityhub': {'cityhub'} | FEATURES_MEDIUM,
+    'technichub': {'technichub'} | FEATURES_MEDIUM,
+    'primehub':  {'primehub', 'inventorhub'} | FEATURES_LARGE,
+    'inventorhub':  {'primehub', 'inventorhub'} | FEATURES_LARGE,
+}
+
+
+class PybricksRequirementsStaticDirective(Directive):
+
+    required_arguments = 0
+    optional_arguments = 10
+
+    def run(self):
+
+        # Copy required resources to static
+        # CC BY-SA 4.0 via https://stackoverflow.com/a/63728208
+        env = self.state.document.settings.env
+
+        destdir = path.join(env.app.builder.outdir, '_images')
+        if not path.exists(destdir):
+            makedirs(destdir)
+
+        for hub in HUB_FEATURES:
+            for compat in ("true", "false"):
+                uri = 'compat_{0}_{1}_label.png'.format(hub, compat)
+                src_uri = path.join(env.app.builder.srcdir, 'images', uri)
+                build_uri = path.join(env.app.builder.outdir, '_images', uri)
+                copyfile(src_uri, build_uri)
+
+        # Get requirements from sphinx-directive.
+        requirements = set(self.arguments)
+
+        # Cell with image of a hub.
+        hub_cell = """
+        <th><div class="align-default">
+        <img alt="" src="{0}_images/compat_{1}_{2}_label.png">
+        </div></th>
+        """
+
+        # Determine how far up the tree we are to set correct image path.
+        current_document = env.docname
+        depth = len(current_document.split("/")) - 1
+        depth_path = "../" * depth
+
+        # Table row with hub images.
+        compat_row = "".join([
+            hub_cell.format(
+                depth_path,
+                hub,
+                "true" if requirements <= features else "false")
+            for hub, features in HUB_FEATURES.items()
+        ])
+
+        # Generate full table.
+        html = """
+        <div class="wy-table-responsive">
+            <table class="docutils align-default">
+                <tbody>
+                    <tr>
+                        {0}
+                    </tr>
+                </tbody>
+            </table>
+        </div>
+        """.format(compat_row)
+
+        # Return the node.
+        node = nodes.raw('', html, format="html")
+        return [node]
+
+
+def setup(app):
+    app.add_directive_to_domain(
+        'py',
+        'pybricks-requirements-static',
+        PybricksRequirementsStaticDirective
+    )
@@ -0,0 +1,44 @@
+/*MIT License
+
+Copyright (c) 2017 Robert, https://github.com/ulrobix/sphinxcontrib-contentui
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE. */
+
+.toggle-header {
+    display: block;
+    float: right;
+    clear: both;
+    cursor: pointer;
+}
+.toggle-header p {display: inline;}
+.toggle-header strong {color: #2980b9 }
+
+.toggle-header:after {
+    content: "Compatibility ▼";
+}
+
+.toggle-header.open:after {
+    content: "▲";
+}
+
+.toggle-content {
+    display: none;
+    margin-bottom: 0px;
+}
+
@@ -0,0 +1,33 @@
+/*MIT License
+
+Copyright (c) 2017 Robert, https://github.com/ulrobix/sphinxcontrib-contentui
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE. */
+
+$(function() {
+    /**
+     * Toggle logic
+     */
+    $('.toggle-content').hide()
+    $('.toggle-header').click(function () {
+        $(this).toggleClass("open");
+        $(this).next('.toggle-content').toggle('400');
+    })
+});
+
@@ -0,0 +1,79 @@
+# MIT License
+
+# Copyright (c) 2017 Robert, https://github.com/ulrobix/sphinxcontrib-requirements
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+
+import os
+from docutils.parsers.rst import Directive, directives
+from docutils import nodes
+from docutils.statemachine import StringList
+from sphinx.util.osutil import copyfile
+from sphinx.util import logging
+
+
+CSS_FILE = 'requirements.css'
+JS_FILE = 'requirements.js'
+
+
+class PybricksRequirementsDirective(Directive):
+    has_content = True
+    option_spec = {'header': directives.unchanged}
+
+    required_arguments = 0
+    optional_arguments = 10
+
+    def run(self):
+        node = nodes.container()
+        node['classes'].append('toggle-content')
+
+        par = nodes.container()
+        par['classes'].append('toggle-header')
+
+        content = '.. pybricks-requirements-static:: ' + " ".join(self.arguments)
+
+        self.state.nested_parse(StringList([content]), self.content_offset, node)
+
+        return [par, node]
+
+
+def add_assets(app):
+    app.add_css_file(CSS_FILE)
+    app.add_js_file(JS_FILE)
+
+
+def copy_assets(app, exception):
+    if app.builder.name not in ['html', 'readthedocs'] or exception:
+        return
+    logger = logging.getLogger(__name__)
+    logger.info('Copying requirements stylesheet/javascript... ', nonl=True)
+    dest = os.path.join(app.builder.outdir, '_static', CSS_FILE)
+    source = os.path.join(os.path.abspath(os.path.dirname(__file__)), CSS_FILE)
+    copyfile(source, dest)
+    dest = os.path.join(app.builder.outdir, '_static', JS_FILE)
+    source = os.path.join(os.path.abspath(os.path.dirname(__file__)), JS_FILE)
+    copyfile(source, dest)
+    logger.info('done')
+
+
+def setup(app):
+    app.add_directive('pybricks-requirements', PybricksRequirementsDirective)
+    app.connect('builder-inited', add_assets)
+    app.connect('build-finished', copy_assets)
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Pybricks documentation build configuration file
+#
+import os
+
+# General information about the project.
+project = 'pybricks'
+copyright = '2018-2021 The Pybricks Authors'
+author = ''
+
+_TITLE = 'Pybricks Modules and Examples'
+_DISCLAIMER = 'LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are\
+               trademarks and/or copyrights of the LEGO Group of companies \
+               which does not sponsor, authorize or endorse this site.'
+
+html_favicon = '../common/images/favicon.ico'
+html_logo = '../common/images/pybricks-logo-rtd.png'
+latex_logo = '../common/images/pybricks-logo-large.png'
+
+# Build main docs for RTD by default.
+# Since tags cannot be passed via the TAG make variable on read the docs,
+# add it manually.
+if os.environ.get('READTHEDOCS', None) == 'True':
+    tags.add('main')  # noqa F821
+
+
+# Addtional configuration of the IDE docs
+if 'ide' in tags.tags:  # noqa F821
+    _DISCLAIMER = ''
+    html_show_copyright = False
+    html_show_sphinx = False
+    html_css_files = ['css/ide.css']
+    html_js_files = ['js/ide.js']
+
+    imgmath_image_format = 'svg'
+    imgmath_use_preview = True  # requires Sphinx v3
+    imgmath_latex_preamble = r'''
+    \usepackage{newtxsf}
+    '''
+
+exec(open(os.path.abspath("../common/conf.py")).read())
+
+# Addtional configuration of the IDE docs
+if 'ide' in tags.tags:  # noqa F821
+
+    extensions.remove('sphinx.ext.mathjax')  # noqa F821
+    extensions.append('sphinx.ext.imgmath')  # noqa F821
+    html_theme_options['prev_next_buttons_location'] = None  # noqa F821
@@ -0,0 +1,104 @@
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--- a/Show More
+++ b/Show More