@pybricks/ide-docs v1.3.1

This is mainly to pull in the requirement of docutils < 0.17 from
sphinx-rtd-theme. Just bumping to latest sphinx doc while we are at it.

Issue: https://github.com/pybricks/pybricks-api/issues/55

.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

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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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/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 +1,38 @@
+:mod:`hubs <pybricks.hubs>` -- Programmable Hubs
+================================================
+
+.. module:: pybricks.hubs
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   movehub
+   cityhub
+   technichub
+   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:: EV3Brick
+
+.. figure:: ../../api/images/ev3brick.png
+    :height: 10 em
+    :target: ev3brick.html
+

doc/api/hubs/movehub.rst

@@ -0,0 +1,42 @@
+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/technichub.rst

@@ -0,0 +1,50 @@
+Technic Hub
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/technichub.png
+    :height: 15 em
+
+.. class:: TechnicHub
+
+    .. 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 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

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

@@ -1,4 +1,4 @@
-Welcome to Pybricks!
+Pybricks API Documentation
 ==================================================================
 
 This documentation has everything you need to install Pybricks and
@@ -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: https://pybricks.com/install/mindstorms-ev3/installation
+
+     - .. figure:: ../api/images/powereduphubs.png
+         :target: https://pybricks.com/install/technic-boost-city/
+
+     - .. figure:: ../api/images/primeinventorhub.png
+          :target: https://pybricks.com/install/spike-mindstorms/
 
 
 **Step 2: Start coding!**
@@ -36,29 +53,20 @@ findings on our `support page`_ so we can make Pybricks even better.
     :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
+    Installation <https://pybricks.com/install/>
 
 .. 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

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

@@ -41,7 +41,7 @@ The connection will be made when you run your programs, as described below.
    Pairing one EV3 Brick to another EV3 Brick.
 
 When you scan for Bluetooth devices, you'll see a list of device names. By
-default, all EV3 Bricks are named *ev3dev*. Click :ref:`here <hostname>` to
+default, all EV3 Bricks are named *ev3dev*. Click `here`_ to
 learn how to change that name. This makes it easy to tell them apart.
 
 Repeat the steps in :numref:`fig_bluetooth_pair` if you want to pair more than
@@ -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
 ----------------------
 
@@ -138,3 +134,5 @@ is shown in :numref:`fig_messaging_network`.
    :align: center
 
    An example network with one server and two clients.
+
+.. _here: https://pybricks.com/install/mindstorms-ev3/beyond-micropython

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 +1,26 @@
+:mod:`parameters <pybricks.parameters>` -- Parameters and Constants
+===================================================================
+
+.. automodule:: pybricks.parameters
+    :no-members:
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   button
+   color
+   direction
+   port
+   stop
+
+.. pybricks-classlink:: Button
+
+.. pybricks-classlink:: Color
+
+.. pybricks-classlink:: Direction
+
+.. pybricks-classlink:: Port
+
+.. 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/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 no color, 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 no color, 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 +1,80 @@
+: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
+
+.. 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

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

doc/api/pupdevices/motor.rst

@@ -0,0 +1,152 @@
+Motors with Rotation Sensors
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. _fig_pupmotors:
+
+.. figure:: ../../api/images/pupmotors_label.png
+   :width: 100 %
+   :alt: pupmotors
+
+   Powered Up motors with rotation sensors. The arrows indicate the default
+   positive direction. See the :mod:`hubs <pybricks.hubs>` module for default
+   directions of built-in motors.
+
+.. autoclass:: pybricks.pupdevices.Motor
+    :no-members:
+
+    .. rubric:: Measuring
+
+    .. automethod:: pybricks.pupdevices.Motor.speed
+
+    .. automethod:: pybricks.pupdevices.Motor.angle
+
+    .. automethod:: pybricks.pupdevices.Motor.reset_angle
+
+    .. rubric:: Stopping
+
+    .. automethod:: pybricks.pupdevices.Motor.stop
+
+    .. automethod:: pybricks.pupdevices.Motor.brake
+
+    .. automethod:: pybricks.pupdevices.Motor.hold
+
+    .. rubric:: Action
+
+    .. automethod:: pybricks.pupdevices.Motor.run
+
+    .. automethod:: pybricks.pupdevices.Motor.run_time
+
+    .. automethod:: pybricks.pupdevices.Motor.run_angle
+
+    .. automethod:: pybricks.pupdevices.Motor.run_target
+
+    .. automethod:: pybricks.pupdevices.Motor.run_until_stalled
+
+    .. automethod:: pybricks.pupdevices.Motor.dc
+
+    .. rubric:: Advanced motion control
+
+    .. automethod:: pybricks.pupdevices.Motor.track_target
+
+    .. autoattribute:: pybricks.ev3devices.Motor.control
+        :annotation:
+        :noindex:
+
+.. FIXME: above should point to pupdevices but inherited class attributes
+   do not work yet (https://github.com/sphinx-doc/sphinx/issues/741).
+
+
+Initialization Examples
+-----------------------
+
+Making the motor move back and forth
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_init_basic.py
+
+Initializing multiple motors
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_init_multiple.py
+
+Setting the positive direction as counterclockwise
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_init_direction.py
+
+Using gears
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_init_gears.py
+
+Measurement Examples
+-----------------------
+
+Measuring the angle and speed
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_measure.py
+
+Resetting the measured angle
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_reset_angle.py
+
+
+Movement Examples
+-----------------------
+
+Basic usage of all run methods
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_action_basic.py
+
+Stopping ongoing movements in different ways
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_stop.py
+
+Using the ``then`` argument to change how a run command stops
+*************************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_action_then.py
+
+Stall Examples
+-----------------------
+
+Running a motor until a mechanical endpoint
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_until_stalled.py
+
+Centering a steering mechanism
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_until_stalled.py
+
+
+Parallel Movement Examples
+--------------------------
+
+Using the ``wait`` argument to run motors in parallel
+*********************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_action_wait.py
+
+Waiting for two parallel actions to complete
+*******************************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor/motor_action_wait_advanced.py

doc/api/pupdevices/pfmotor.rst

@@ -0,0 +1,45 @@
+Power Functions
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The :class:`ColorDistanceSensor <pybricks.pupdevices.ColorDistanceSensor>` can
+send infrared signals to control Power Functions infrared receivers. You can
+use this technique to control medium, large, extra large, and train
+motors. The infrared range is limited to about 30 cm, depending on the angle
+and ambient conditions.
+
+.. figure:: ../../api/images/pfmotor.png
+   :width: 95 %
+
+   Powered Up
+   :class:`ColorDistanceSensor <pybricks.pupdevices.ColorDistanceSensor>`
+   (left), Power Functions infrared receiver (middle), and a Power Functions
+   motor (right). Here, the receiver uses channel
+   1 with a motor on the red port.
+
+.. autoclass:: pybricks.pupdevices.PFMotor
+    :noindex:
+    :no-members:
+
+    .. automethod:: pybricks.pupdevices.PFMotor.dc
+        :noindex:
+
+    .. automethod:: pybricks.pupdevices.PFMotor.stop
+        :noindex:
+
+    .. automethod:: pybricks.pupdevices.PFMotor.brake
+        :noindex:
+
+Examples
+-------------------
+
+Control a Power Functions motor
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/motor_pf/motor_pf_basics.py
+
+Controlling multiple Power Functions motors
+*******************************************
+
+.. literalinclude::
+    ../../../examples/pup/motor_pf/motor_pf_pwm.py

doc/api/pupdevices/tiltsensor.rst

@@ -0,0 +1,19 @@
+Tilt Sensor
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/sensor_tilt.png
+   :width: 35 %
+
+.. autoclass:: pybricks.pupdevices.TiltSensor
+    :no-members:
+
+    .. automethod:: tilt
+
+Examples
+-------------------
+
+Measuring pitch and roll
+************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_tilt/basics.py

doc/api/pupdevices/ultrasonicsensor.rst

@@ -0,0 +1,36 @@
+Ultrasonic Sensor
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../api/images/sensor_ultrasonic_lights_label.png
+   :width: 80 %
+
+.. autoclass:: pybricks.pupdevices.UltrasonicSensor
+    :no-members:
+
+    .. automethod:: pybricks.pupdevices.UltrasonicSensor.distance
+
+    .. automethod:: pybricks.pupdevices.UltrasonicSensor.presence
+
+    .. rubric:: Built-in lights
+
+    This sensor has 4 built-in lights. You can adjust the brightness of each
+    light.
+
+    .. automethod:: pybricks.pupdevices::UltrasonicSensor.lights.on
+
+    .. automethod:: pybricks.pupdevices::UltrasonicSensor.lights.off
+
+Examples
+-------------------
+
+Measuring distance and switching on the lights
+**********************************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_ultrasonic/basics.py
+
+Gradually change the brightness of the lights
+**********************************************
+
+.. literalinclude::
+    ../../../examples/pup/sensor_ultrasonic/math.py