@pybricks/ide-docs v2.10.0

v3.3.0b9
pybricks.pupdevices.Motor: Clarify profile setting.
2026-09-11 17:14:41 +00:00 · 2023-10-26 20:29:33 +02:00 · 2023-10-26 20:29:31 +02:00 · 2023-10-26 14:31:16 +02:00 · 2023-10-26 14:18:56 +02:00 · 2023-10-26 09:21:41 +02:00
53 changed files with 1926 additions and 830 deletions
@@ -6,7 +6,7 @@ name: Build Python package and docs
 on: 
  push:
    tags-ignore:
-      - "*"
+      - '**'
  pull_request:
    paths:
      - doc/**
@@ -20,19 +20,11 @@ on:
 jobs:
  build:

-    runs-on: ubuntu-20.04
-    strategy:
-      matrix:
-        python-version: [3.8, 3.9]
-
+    runs-on: ubuntu-22.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: recursive
-    - name: Set up Python ${{ matrix.python-version }}
-      uses: actions/setup-python@v1
-      with:
-        python-version: ${{ matrix.python-version }}
    - name: Install dependencies
      run: |
        pip install poetry
@@ -7,7 +7,7 @@ on:

 jobs:
  publish_ide_docs:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
    steps:
    - name: Ubuntu packages
      run: |
@@ -17,7 +17,7 @@ jobs:
      with:
        submodules: recursive
    - name: Set up Python 3.8
-      uses: actions/setup-python@v1
+      uses: actions/setup-python@v4
      with:
        python-version: 3.8
    - name: Install dependencies
@@ -25,8 +25,8 @@ jobs:
        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
+        poetry install --only=doc
+    - uses: actions/setup-node@v3
      with:
        node-version: '14.x'
        registry-url: 'https://registry.npmjs.org'
@@ -1,22 +0,0 @@
-# .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
@@ -0,0 +1,25 @@
+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+build:
+  os: "ubuntu-22.04"
+  tools:
+    python: "3.10"
+  jobs:
+    post_create_environment:
+      - pip install poetry
+      - poetry config virtualenvs.create false
+    post_install:
+      - poetry install --only=doc
+
+# Build documentation in the doc/main/ directory with Sphinx
+sphinx:
+  configuration: doc/main/conf.py
+
+# Optionally build your docs in additional formats such as PDF
+formats:
+   - pdf
@@ -4,7 +4,8 @@

 	// List of extensions which should be recommended for users of this workspace.
 	"recommendations": [
-		"ms-python.python"
+		"ms-python.python",
+		"ms-python.black-formatter"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": [
@@ -4,14 +4,14 @@
    },
    "python.defaultInterpreterPath": ".venv/bin/python",
    "python.autoComplete.extraPaths": ["jedi/src"],
-    "python.formatting.provider": "black",
+    "python.formatting.provider": "none",
    "python.linting.pylintEnabled": false,
    "python.linting.flake8Enabled": true,
    "python.linting.pycodestyleEnabled": false,
    "python.linting.enabled": true,
    "[python]": {
        "editor.formatOnSave": true,
-        "editor.defaultFormatter": "ms-python.python"
+        "editor.defaultFormatter": "ms-python.black-formatter"
    },
    "python.languageServer": "Pylance",
    "python.testing.pytestArgs": [
@@ -4,6 +4,23 @@

 ## Unreleased

+## 3.3.0b9 - 2023-10-26
+
+### Changed
+- Changed the beta feature for using the hub's gyro. Gyro control can now be
+  toggled using `use_gyro` instead of using a separate `GyroDriveBase` class.
+- Documentation updates to match firmware 3.3.0b5--3.3.0b9 updates.
+
+## Added
+- Added `set` to `ubuiltins` module.
+- Basic multitasking docs.
+- Awaitable keyword for awaitable methods and functions.
+
+## 3.3.0b5 - 2023-05-16
+
+### Added
+- Documented new `hub.ble` methods.
+
 ## 3.3.0b4 - 2023-04-21

 ### Added
@@ -145,13 +145,10 @@ add_module_names = False  # Hide module name

 # -- Options for HTML output ----------------------------------------------

-if ON_RTD:
-    html_theme = "default"
-else:
-    import sphinx_rtd_theme
+import sphinx_rtd_theme

-    html_theme = "sphinx_rtd_theme"
-    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+html_theme = "sphinx_rtd_theme"
+html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]

 html_context = {
    "disclaimer": _DISCLAIMER,
@@ -321,10 +318,11 @@ def on_missing_reference(
            app.builder, node["refdoc"], "signaltypes", "numbers", contnode
        )

-    # References with special characters can't exist, so we have to supress
+    # References with special characters can't exist, so we have to suppress
    # warnings when Sphinx tries to cross reference units like deg/s. For
    # consistency, we also treat units without special characters this way.
    for unit in [
+        "dBm",
        "deg",
        "deg/s",
        "deg/s²",
@@ -342,13 +340,16 @@ def on_missing_reference(
        "Ω",
        "N",
    ]:
+        try:
+            # If they match on raw source, we are dealing with argument types.
+            if unit == contnode.rawsource:
+                # Return as-is to suppress missing cross reference warning. We
+                # could make this more fancy by returning an xref node that links
+                # to the signals page.
+                return contnode

-        # If they match on raw source, we are dealing with argument types.
-        if unit == contnode.rawsource:
-            # Return as-is to suppress missing cross reference warning. We
-            # could make this more fancy by returning an xref node that links
-            # to the signals page.
-            return contnode
+        except AttributeError:
+            pass

        # Return types are denoted as "int: deg"
        try:
@@ -8,7 +8,7 @@ import sys

 # General information about the project.
 project = "pybricks"
-copyright = "2018-2021 The Pybricks Authors"
+copyright = "2018-2023 The Pybricks Authors"
 author = ""

 _TITLE = "Pybricks Modules and Examples"
@@ -29,7 +29,7 @@ if os.environ.get("READTHEDOCS", None) == "True":
 # HACK: this allows Number type alias to be imported by Sphinx
 os.environ["SPHINX_BUILD"] = "True"

-# Addtional configuration of the IDE docs
+# Additional configuration of the IDE docs
 if "ide" in tags.tags:  # noqa F821
    _DISCLAIMER = ""
    html_show_copyright = False
@@ -45,7 +45,7 @@ if "ide" in tags.tags:  # noqa F821

 exec(open(os.path.abspath("../common/conf.py")).read())

-# Addtional configuration of the IDE docs
+# Additional configuration of the IDE docs
 if "ide" in tags.tags:  # noqa F821

    extensions.remove("sphinx.ext.mathjax")  # noqa F821
@@ -19,6 +19,16 @@ City Hub

    .. automethod:: pybricks.hubs::CityHub.light.animate

+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::CityHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::CityHub.ble.observe
+
+    .. automethod:: pybricks.hubs::CityHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::CityHub.ble.version
+
    .. rubric:: Using the battery

    .. automethod:: pybricks.hubs::CityHub.battery.voltage
@@ -70,6 +80,23 @@ Creating light animations
 .. literalinclude::
    ../../../examples/pup/hub_common/build/light_animate_cityhub.py

+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_cityhub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_cityhub.py
+
+
 Button and system examples
 ----------------------------------

@@ -47,6 +47,16 @@ Essential Hub

    .. automethod:: pybricks.hubs::EssentialHub.imu.settings

+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.observe
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.version
+
    .. rubric:: Using the battery

    .. automethod:: pybricks.hubs::EssentialHub.battery.voltage
@@ -136,6 +146,23 @@ Reading acceleration and angular velocity on one axis
 .. literalinclude::
    ../../../examples/pup/hub_common/build/imu_read_scalar_essentialhub.py

+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_essentialhub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_essentialhub.py
+
+
 System examples
 ----------------------------------

@@ -31,6 +31,16 @@ Move Hub

            Changed acceleration units from m/s² to mm/s².

+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.observe
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::MoveHub.ble.version
+
    .. rubric:: Using the battery

    .. automethod:: pybricks.hubs::MoveHub.battery.voltage
@@ -85,6 +95,23 @@ Reading acceleration
 .. literalinclude::
    ../../../examples/pup/hub_movehub/imu_read_acceleration.py

+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_movehub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_movehub.py
+
+
 Button and system examples
 ----------------------------------

@@ -89,6 +89,16 @@ Prime Hub / Inventor Hub

    .. automethod:: pybricks.hubs::PrimeHub.speaker.play_notes

+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.observe
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::PrimeHub.ble.version
+
    .. rubric:: Using the battery

    .. automethod:: pybricks.hubs::PrimeHub.battery.voltage
@@ -247,6 +257,23 @@ Reading acceleration and angular velocity on one axis
 .. literalinclude::
    ../../../examples/pup/hub_common/build/imu_read_scalar_primehub.py

+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_primehub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_primehub.py
+
+
 System examples
 ----------------------------------

@@ -43,6 +43,16 @@ Technic Hub

    .. automethod:: pybricks.hubs::TechnicHub.imu.settings

+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.observe
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::TechnicHub.ble.version
+
    .. rubric:: Using the battery

    .. automethod:: pybricks.hubs::TechnicHub.battery.voltage
@@ -128,6 +138,23 @@ Reading acceleration and angular velocity on one axis
 .. literalinclude::
    ../../../examples/pup/hub_common/build/imu_read_scalar_technichub.py

+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_technichub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_technichub.py
+
+
 Button and system examples
 ----------------------------------

@@ -72,6 +72,10 @@ Sequences

 .. pybricks-requirements:: stm32-extra

+.. autoclass:: ubuiltins.set
+
+.. pybricks-requirements:: stm32-extra
+
 .. autoclass:: ubuiltins.slice

 .. pybricks-requirements::
@@ -38,7 +38,7 @@ Powers and logarithms

 .. autofunction:: umath.sqrt

-Trigonomety
+Trigonometry
 -------------------------------

 .. autodata:: umath.pi
@@ -39,6 +39,8 @@

    .. automethod:: pybricks.robotics.DriveBase.stop

+    .. automethod:: pybricks.robotics.DriveBase.brake
+
    .. rubric:: Measuring

    .. automethod:: pybricks.robotics.DriveBase.distance
@@ -51,6 +53,33 @@

    .. automethod:: pybricks.robotics.DriveBase.stalled

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

    .. rubric:: Measuring and validating the robot dimensions
@@ -115,34 +144,6 @@

 .. pybricks-requirements:: gyro

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

@@ -151,8 +152,5 @@ Driving straight and turning in place

 The following program shows the basics of driving and turning.

-To use the built-in gyro, just replace the two occurences of
-:class:`DriveBase` with :class:`GyroDriveBase`.
-
 .. literalinclude::
    ../../examples/pup/robotics/drivebase_basics.py
@@ -248,7 +248,7 @@ For example, you can choose the frequency of a beep to change the pitch.
 temperature: °C
 ---------------

-Temperature is measured in degrees Celcius (°C). To convert to degrees
+Temperature is measured in degrees Celsius (°C). To convert to degrees
 Fahrenheit (°F) or Kelvin (K), you can use the following conversion formulas:

    :math:`^{\circ}\kern1pt\!F =\kern1pt^{\circ}\kern1pt\!C \cdot \frac{9}{5} + 32`.
@@ -22,6 +22,18 @@ Timing tools

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

+Input tools
+-----------
+
+.. autofunction:: pybricks.tools.read_input_byte
+
+.. pybricks-requirements:: light-matrix
+
+.. autofunction:: pybricks.tools.hub_menu
+
+.. literalinclude::
+    ../../../examples/pup/tools/hub_menu.py
+
 Linear algebra tools
 --------------------

@@ -43,3 +55,35 @@ Linear algebra tools
 .. autofunction:: pybricks.tools.vector

 .. autofunction:: pybricks.tools.cross
+
+Multitasking
+--------------------
+
+.. versionadded:: 3.3
+
+Pybricks supports cooperative multitasking using the ``async`` and ``await``
+keywords. This allows operations that normally take some time to complete to
+run in parallel with other operations.
+
+.. autofunction:: pybricks.tools.multitask
+
+.. autofunction:: pybricks.tools.run_task
+
+The following example shows how to use multitasking to make a robot drive
+forward, then turn and move a gripper at the same time, and then drive
+backward.
+
+.. literalinclude::
+    ../../../examples/pup/robotics/drivebase_async.py
+
+.. class:: coroutine
+
+.. class:: await
+
+Whenever you see a function or method prefixed by ``await``, this means that
+it supports multitasking. When running a coroutine with ``run_task``, all
+methods and functions prefixed by ``await`` will act as coroutines.
+
+If you don't use multitasking, you can ignore the ``await`` keyword and write
+programs as usual. Specifically, when ``run_task`` is not used, functions
+prefixed by ``await`` will act as normal functions.
@@ -71,6 +71,7 @@ class ThreadingRFCOMMServer(ThreadingMixIn, RFCOMMServer):
    """
    Version of :class:`RFCOMMServer` that handles connections in a new thread.
    """
+
    daemon_threads = True


@@ -103,4 +104,5 @@ class ThreadingRFCOMMClient(ThreadingMixIn, RFCOMMClient):
    """
    Version of :class:`RFCOMMClient` that handles connections in a new thread.
    """
+
    daemon_threads = True
@@ -261,7 +261,7 @@ class BluetoothMailboxServer(MailboxHandlerMixIn, ThreadingRFCOMMServer):
        EV3.

        The remote EV3 can either be running MicroPython or the standard EV3
-        firmare.
+        firmware.
        """
        super().__init__()
        super(ThreadingRFCOMMServer, self).__init__(
@@ -304,7 +304,7 @@ class BluetoothMailboxClient(MailboxHandlerMixIn):
    remote EV3s.

    The remote EV3s can either be running MicroPython or the standard EV3
-    firmare.
+    firmware.
    """

    def __enter__(self):
@@ -36,7 +36,7 @@ def scale(val, src, dst):


 # Create a loop to react to events
-# This loop reacte to all main PS4 button and stick events. I have left out
+# This loop reacts to all main PS4 button and stick events. I have left out
 # buttons like share and options, but can easily be added in by referring
 # to the table at: https://github.com/codeadamca/python-connect-ps4

@@ -0,0 +1,25 @@
+# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Port
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ThisHub(broadcast_channel=1)
+
+# Initialize the motors.
+left_motor = Motor(Port.A)
+right_motor = Motor(Port.B)
+
+while True:
+    # Read the motor angles to be sent to the other hub.
+    left_angle = left_motor.angle()
+    right_angle = right_motor.angle()
+
+    # Set the broadcast data and start broadcasting if not already doing so.
+    data = (left_angle, right_angle)
+    hub.ble.broadcast(data)
+
+    # Broadcasts are only sent every 100 milliseconds, so there is no reason
+    # to call the broadcast() method more often than that.
+    wait(100)
@@ -0,0 +1,38 @@
+# ThisHub = MoveHub CityHub TechnicHub PrimeHub EssentialHub
+from pybricks.hubs import ThisHub
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Color, Port
+from pybricks.tools import wait
+
+# Initialize the hub.
+hub = ThisHub(observe_channels=[1])
+
+# Initialize the motors.
+left_motor = Motor(Port.A)
+right_motor = Motor(Port.B)
+
+while True:
+    # Receive broadcast from the other hub.
+
+    data = hub.ble.observe(1)
+
+    if data is None:
+        # No data has been received in the last 1 second.
+        hub.light.on(Color.RED)
+    else:
+        # Data was received and is less that one second old.
+        hub.light.on(Color.GREEN)
+
+        # *data* contains the same values in the same order
+        # that were passed to hub.ble.broadcast() on the
+        # other hub.
+        left_angle, right_angle = data
+
+        # Make the motors on this hub mirror the position of the
+        # motors on the other hub.
+        left_motor.track_target(left_angle)
+        right_motor.track_target(right_angle)
+
+    # Broadcasts are only sent every 100 milliseconds, so there is
+    # no reason to call the observe() method more often than that.
+    wait(100)
@@ -0,0 +1,27 @@
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Direction, Port
+from pybricks.robotics import DriveBase
+from pybricks.tools import multitask, run_task
+
+# Set up all devices.
+left = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right = Motor(Port.B)
+gripper = Motor(Port.C)
+drive_base = DriveBase(left, right, 56, 114)
+
+
+# Move the gripper up and down.
+async def move_gripper():
+    await gripper.run_angle(500, -90)
+    await gripper.run_angle(500, 90)
+
+
+# Drive forward, turn move gripper at the same time, and drive backward.
+async def main():
+    await drive_base.straight(250)
+    await multitask(drive_base.turn(90), move_gripper())
+    await drive_base.straight(-250)
+
+
+# Runs the main program from start to finish.
+run_task(main())
@@ -11,6 +11,9 @@ right_motor = Motor(Port.B)
 # The distance between the two wheel-ground contact points is 112mm.
 drive_base = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=112)

+# Optionally, uncomment the line below to use the gyro for improved accuracy.
+# drive_base.use_gyro(True)
+
 # Drive forward by 500mm (half a meter).
 drive_base.straight(500)

@@ -0,0 +1,16 @@
+from pybricks.tools import hub_menu
+
+# This example assumes that you have three other programs in Pybricks Code,
+# called "fly_mission", "drive_mission", and "zigzag". This example creates a
+# menu that lets you pick which one to run.
+
+# Choose a letter.
+selected = hub_menu("F", "D", "Z")
+
+# Based on the selection, run a program.
+if selected == "F":
+    import fly_mission
+elif selected == "D":
+    import drive_mission
+elif selected == "Z":
+    import zigzag
@@ -4,6 +4,16 @@

 ## Unreleased

+## 1.9.0 - 2023-05-16
+
+### Changed
+- Updated `pybricks` package to v3.3.0b5.
+
+## 1.8.0 - 2023-04-21
+
+### Changed
+- Updated `pybricks` package to v3.3.0b4.
+
 ## 1.7.0 - 2022-12-28

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

 [package.extras]
 dev = ["cloudpickle", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "mypy (>=0.900,!=0.940)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "sphinx", "sphinx-notfound-page", "zope.interface"]
@@ -19,252 +25,7 @@ description = "The uncompromising code formatter."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
-
-[package.dependencies]
-click = ">=8.0.0"
-mypy-extensions = ">=0.4.3"
-pathspec = ">=0.9.0"
-platformdirs = ">=2"
-tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
-
-[package.extras]
-colorama = ["colorama (>=0.4.3)"]
-d = ["aiohttp (>=3.7.4)"]
-jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
-uvloop = ["uvloop (>=0.15.2)"]
-
-[[package]]
-name = "click"
-version = "8.1.3"
-description = "Composable command line interface toolkit"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-colorama = {version = "*", markers = "platform_system == \"Windows\""}
-
-[[package]]
-name = "colorama"
-version = "0.4.6"
-description = "Cross-platform colored terminal text."
-category = "dev"
-optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
-
-[[package]]
-name = "docstring-parser"
-version = "0.14.1"
-description = "Parse Python docstrings in reST, Google and Numpydoc format"
-category = "main"
-optional = false
-python-versions = ">=3.6,<4.0"
-
-[[package]]
-name = "exceptiongroup"
-version = "1.0.4"
-description = "Backport of PEP 654 (exception groups)"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-test = ["pytest (>=6)"]
-
-[[package]]
-name = "flake8"
-version = "4.0.1"
-description = "the modular source code checker: pep8 pyflakes and co"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-mccabe = ">=0.6.0,<0.7.0"
-pycodestyle = ">=2.8.0,<2.9.0"
-pyflakes = ">=2.4.0,<2.5.0"
-
-[[package]]
-name = "iniconfig"
-version = "1.1.1"
-description = "iniconfig: brain-dead simple config-ini parsing"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "jedi"
-version = "0.18.1"
-description = "An autocompletion tool for Python that can be used for text editors."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-parso = ">=0.8.0,<0.9.0"
-
-[package.extras]
-qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
-testing = ["Django (<3.1)", "colorama", "docopt", "pytest (<7.0.0)"]
-
-[[package]]
-name = "mccabe"
-version = "0.6.1"
-description = "McCabe checker, plugin for flake8"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "mypy-extensions"
-version = "0.4.3"
-description = "Experimental type system extensions for programs checked with the mypy typechecker."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "packaging"
-version = "21.3"
-description = "Core utilities for Python packages"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
-
-[[package]]
-name = "parso"
-version = "0.8.3"
-description = "A Python Parser"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
-testing = ["docopt", "pytest (<6.0.0)"]
-
-[[package]]
-name = "pathspec"
-version = "0.10.2"
-description = "Utility library for gitignore style pattern matching of file paths."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "platformdirs"
-version = "2.5.4"
-description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
-test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
-
-[[package]]
-name = "pluggy"
-version = "1.0.0"
-description = "plugin and hook calling mechanisms for python"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-dev = ["pre-commit", "tox"]
-testing = ["pytest", "pytest-benchmark"]
-
-[[package]]
-name = "pybricks"
-version = "3.2.0c1"
-description = "Documentation and user-API stubs for Pybricks MicroPython"
-category = "main"
-optional = false
-python-versions = "^3.8"
-develop = true
-
-[package.source]
-type = "directory"
-url = ".."
-
-[[package]]
-name = "pycodestyle"
-version = "2.8.0"
-description = "Python style guide checker"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[[package]]
-name = "pyflakes"
-version = "2.4.0"
-description = "passive checker of Python programs"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "pyparsing"
-version = "3.0.9"
-description = "pyparsing module - Classes and methods to define and execute parsing grammars"
-category = "dev"
-optional = false
-python-versions = ">=3.6.8"
-
-[package.extras]
-diagrams = ["jinja2", "railroad-diagrams"]
-
-[[package]]
-name = "pytest"
-version = "7.2.0"
-description = "pytest: simple powerful testing with Python"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-attrs = ">=19.2.0"
-colorama = {version = "*", markers = "sys_platform == \"win32\""}
-exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""}
-iniconfig = "*"
-packaging = "*"
-pluggy = ">=0.12,<2.0"
-tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
-
-[package.extras]
-testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "xmlschema"]
-
-[[package]]
-name = "tomli"
-version = "2.0.1"
-description = "A lil' TOML parser"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "typing-extensions"
-version = "4.2.0"
-description = "Backported and Experimental Type Hints for Python 3.7+"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[metadata]
-lock-version = "1.1"
-python-versions = ">= 3.10, < 3.11"
-content-hash = "971c6d0dddd9bb8e33a942e2360905a7d80a1a9d33015c0defc08345df5c1019"
-
-[metadata.files]
-attrs = [
-    {file = "attrs-22.1.0-py2.py3-none-any.whl", hash = "sha256:86efa402f67bf2df34f51a335487cf46b1ec130d02b8d39fd248abfd30da551c"},
-    {file = "attrs-22.1.0.tar.gz", hash = "sha256:29adc2665447e5191d0e7c568fde78b21f9672d344281d0c6e1ab085429b22b6"},
-]
-black = [
+files = [
    {file = "black-22.10.0-1fixedarch-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:5cc42ca67989e9c3cf859e84c2bf014f6633db63d1cbdf8fdb666dcd9e77e3fa"},
    {file = "black-22.10.0-1fixedarch-cp311-cp311-macosx_11_0_x86_64.whl", hash = "sha256:5d8f74030e67087b219b032aa33a919fae8806d49c867846bfacde57f43972ef"},
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@@ -287,84 +48,323 @@ black = [
    {file = "black-22.10.0-py3-none-any.whl", hash = "sha256:c957b2b4ea88587b46cf49d1dc17681c1e672864fd7af32fc1e9664d572b3458"},
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 ]
-click = [
+
+[package.dependencies]
+click = ">=8.0.0"
+mypy-extensions = ">=0.4.3"
+pathspec = ">=0.9.0"
+platformdirs = ">=2"
+tomli = {version = ">=1.1.0", markers = "python_full_version < \"3.11.0a7\""}
+
+[package.extras]
+colorama = ["colorama (>=0.4.3)"]
+d = ["aiohttp (>=3.7.4)"]
+jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
+uvloop = ["uvloop (>=0.15.2)"]
+
+[[package]]
+name = "click"
+version = "8.1.3"
+description = "Composable command line interface toolkit"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
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 ]
-colorama = [
+
+[package.dependencies]
+colorama = {version = "*", markers = "platform_system == \"Windows\""}
+
+[[package]]
+name = "colorama"
+version = "0.4.6"
+description = "Cross-platform colored terminal text."
+category = "dev"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
+files = [
    {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
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 ]
-docstring-parser = [
+
+[[package]]
+name = "docstring-parser"
+version = "0.14.1"
+description = "Parse Python docstrings in reST, Google and Numpydoc format"
+category = "main"
+optional = false
+python-versions = ">=3.6,<4.0"
+files = [
    {file = "docstring_parser-0.14.1-py3-none-any.whl", hash = "sha256:14ac6ec1f1ba6905c4d8cb90fd0bc55394f5678183752c90e44812bf28d7a515"},
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 ]
-exceptiongroup = [
+
+[[package]]
+name = "exceptiongroup"
+version = "1.0.4"
+description = "Backport of PEP 654 (exception groups)"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "exceptiongroup-1.0.4-py3-none-any.whl", hash = "sha256:542adf9dea4055530d6e1279602fa5cb11dab2395fa650b8674eaec35fc4a828"},
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 ]
-flake8 = [
+
+[package.extras]
+test = ["pytest (>=6)"]
+
+[[package]]
+name = "flake8"
+version = "4.0.1"
+description = "the modular source code checker: pep8 pyflakes and co"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+files = [
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 ]
-iniconfig = [
+
+[package.dependencies]
+mccabe = ">=0.6.0,<0.7.0"
+pycodestyle = ">=2.8.0,<2.9.0"
+pyflakes = ">=2.4.0,<2.5.0"
+
+[[package]]
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+version = "1.1.1"
+description = "iniconfig: brain-dead simple config-ini parsing"
+category = "dev"
+optional = false
+python-versions = "*"
+files = [
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 ]
-jedi = [
+
+[[package]]
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+version = "0.18.1"
+description = "An autocompletion tool for Python that can be used for text editors."
+category = "main"
+optional = false
+python-versions = ">=3.6"
+files = [
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-mccabe = [
+
+[package.dependencies]
+parso = ">=0.8.0,<0.9.0"
+
+[package.extras]
+qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
+testing = ["Django (<3.1)", "colorama", "docopt", "pytest (<7.0.0)"]
+
+[[package]]
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+category = "dev"
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+python-versions = "*"
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-mypy-extensions = [
+
+[[package]]
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-packaging = [
+
+[[package]]
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+description = "Core utilities for Python packages"
+category = "dev"
+optional = false
+python-versions = ">=3.6"
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-parso = [
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+[package.dependencies]
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+
+[[package]]
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 ]
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+
+[[package]]
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 ]
-platformdirs = [
+
+[[package]]
+name = "platformdirs"
+version = "2.5.4"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "platformdirs-2.5.4-py3-none-any.whl", hash = "sha256:af0276409f9a02373d540bf8480021a048711d572745aef4b7842dad245eba10"},
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 ]
-pluggy = [
+
+[package.extras]
+docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
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+
+[[package]]
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+category = "dev"
+optional = false
+python-versions = ">=3.6"
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 ]
-pybricks = []
-pycodestyle = [
+
+[package.extras]
+dev = ["pre-commit", "tox"]
+testing = ["pytest", "pytest-benchmark"]
+
+[[package]]
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+description = "Documentation and user-API stubs for Pybricks MicroPython"
+category = "main"
+optional = false
+python-versions = "^3.8"
+files = []
+develop = true
+
+[package.source]
+type = "directory"
+url = ".."
+
+[[package]]
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+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
    {file = "pycodestyle-2.8.0-py2.py3-none-any.whl", hash = "sha256:720f8b39dde8b293825e7ff02c475f3077124006db4f440dcbc9a20b76548a20"},
    {file = "pycodestyle-2.8.0.tar.gz", hash = "sha256:eddd5847ef438ea1c7870ca7eb78a9d47ce0cdb4851a5523949f2601d0cbbe7f"},
 ]
-pyflakes = [
+
+[[package]]
+name = "pyflakes"
+version = "2.4.0"
+description = "passive checker of Python programs"
+category = "dev"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
    {file = "pyflakes-2.4.0-py2.py3-none-any.whl", hash = "sha256:3bb3a3f256f4b7968c9c788781e4ff07dce46bdf12339dcda61053375426ee2e"},
    {file = "pyflakes-2.4.0.tar.gz", hash = "sha256:05a85c2872edf37a4ed30b0cce2f6093e1d0581f8c19d7393122da7e25b2b24c"},
 ]
-pyparsing = [
+
+[[package]]
+name = "pyparsing"
+version = "3.0.9"
+description = "pyparsing module - Classes and methods to define and execute parsing grammars"
+category = "dev"
+optional = false
+python-versions = ">=3.6.8"
+files = [
    {file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
    {file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
 ]
-pytest = [
+
+[package.extras]
+diagrams = ["jinja2", "railroad-diagrams"]
+
+[[package]]
+name = "pytest"
+version = "7.2.0"
+description = "pytest: simple powerful testing with Python"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "pytest-7.2.0-py3-none-any.whl", hash = "sha256:892f933d339f068883b6fd5a459f03d85bfcb355e4981e146d2c7616c21fef71"},
    {file = "pytest-7.2.0.tar.gz", hash = "sha256:c4014eb40e10f11f355ad4e3c2fb2c6c6d1919c73f3b5a433de4708202cade59"},
 ]
-tomli = [
+
+[package.dependencies]
+attrs = ">=19.2.0"
+colorama = {version = "*", markers = "sys_platform == \"win32\""}
+exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""}
+iniconfig = "*"
+packaging = "*"
+pluggy = ">=0.12,<2.0"
+tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
+
+[package.extras]
+testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "xmlschema"]
+
+[[package]]
+name = "tomli"
+version = "2.0.1"
+description = "A lil' TOML parser"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
 ]
-typing-extensions = [
+
+[[package]]
+name = "typing-extensions"
+version = "4.2.0"
+description = "Backported and Experimental Type Hints for Python 3.7+"
+category = "main"
+optional = false
+python-versions = ">=3.7"
+files = [
    {file = "typing_extensions-4.2.0-py3-none-any.whl", hash = "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708"},
    {file = "typing_extensions-4.2.0.tar.gz", hash = "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"},
 ]
+
+[metadata]
+lock-version = "2.0"
+python-versions = ">= 3.10, < 3.12"
+content-hash = "25da309474c7393923efe8ea98d47ed5759f373fdf8f4c71f6ccdc76c5f21882"
@@ -1,13 +1,13 @@
 [tool.poetry]
 name = "pybricks_jedi"
-version = "1.7.0"
+version = "1.9.0"
 description = "Code completion for Pybricks."
 authors = ["The Pybricks Authors <team@pybricks.com>"]
 license = "MIT"

 [tool.poetry.dependencies]
-python = ">= 3.10, < 3.11"
-pybricks = "3.2.0c1"
+python = ">= 3.10, < 3.12"
+pybricks = "3.3.0a5"
 jedi = "0.18.1"
 typing-extensions = "4.2.0"
 docstring-parser = "0.14.1"
@@ -33,6 +33,7 @@ def test_hub_dot():
    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
    assert [c["insertText"] for c in completions] == [
        "battery",
+        "ble",
        "button",
        "light",
        "system",
@@ -33,6 +33,7 @@ def test_hub_dot():
    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
    assert [c["insertText"] for c in completions] == [
        "battery",
+        "ble",
        "button",
        "charger",
        "imu",
@@ -148,7 +148,7 @@ def test_from_pybricks_pupdevices_import():
 def test_from_pybricks_robotics_import():
    code = "from pybricks.robotics import "
    completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
-    assert [c["insertText"] for c in completions] == ["DriveBase", "GyroDriveBase"]
+    assert [c["insertText"] for c in completions] == ["DriveBase"]


 def test_from_pybricks_tools_import():
@@ -157,7 +157,11 @@ def test_from_pybricks_tools_import():
    assert [c["insertText"] for c in completions] == [
        "cross",
        "DataLog",
+        "hub_menu",
        "Matrix",
+        "multitask",
+        "read_input_byte",
+        "run_task",
        "StopWatch",
        "vector",
        "wait",
@@ -33,6 +33,7 @@ def test_hub_dot():
    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
    assert [c["insertText"] for c in completions] == [
        "battery",
+        "ble",
        "button",
        "imu",
        "light",
@@ -33,6 +33,7 @@ def test_hub_dot():
    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
    assert [c["insertText"] for c in completions] == [
        "battery",
+        "ble",
        "buttons",
        "charger",
        "display",
@@ -33,6 +33,7 @@ def test_hub_dot():
    completions: list[CompletionItem] = json.loads(complete(code, 3, len(line) + 1))
    assert [c["insertText"] for c in completions] == [
        "battery",
+        "ble",
        "button",
        "imu",
        "light",
@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2022 The Pybricks Authors
+# Copyright (c) 2022-2023 The Pybricks Authors

 """
 Tests for correct signatures of the pupdevices.Motor class.
@@ -29,7 +29,8 @@ def _get_function_signature(module: str, function: str) -> SignatureHelp:


 FUNCTION_PARAMS = [
-    pytest.param("pybricks.tools", "wait", [(["time: Number"], "None")]),
+    pytest.param("pybricks.tools", "read_input_byte", [([], "Optional[int]")]),
+    pytest.param("pybricks.tools", "wait", [(["time: Number"], "MaybeAwaitable")]),
    pytest.param(
        "pybricks.tools",
        "vector",
@@ -78,17 +79,51 @@ def _get_constructor_signature(module: str, type: str) -> SignatureHelp:


 CONSTRUCTOR_PARAMS = [
-    pytest.param("pybricks.hubs", "MoveHub", [[]]),
-    pytest.param("pybricks.hubs", "CityHub", [[]]),
+    pytest.param(
+        "pybricks.hubs",
+        "MoveHub",
+        [["broadcast_channel: int=0", "observe_channels: Sequence[int]=[]"]],
+    ),
+    pytest.param(
+        "pybricks.hubs",
+        "CityHub",
+        [["broadcast_channel: int=0", "observe_channels: Sequence[int]=[]"]],
+    ),
    pytest.param(
        "pybricks.hubs",
        "TechnicHub",
-        [["top_side: Axis=Axis.Z", "front_side: Axis=Axis.X"]],
+        [
+            [
+                "top_side: Axis=Axis.Z",
+                "front_side: Axis=Axis.X",
+                "broadcast_channel: int=0",
+                "observe_channels: Sequence[int]=[]",
+            ]
+        ],
    ),
    pytest.param(
        "pybricks.hubs",
        "PrimeHub",
-        [["top_side: Axis=Axis.Z", "front_side: Axis=Axis.X"]],
+        [
+            [
+                "top_side: Axis=Axis.Z",
+                "front_side: Axis=Axis.X",
+                "broadcast_channel: int=0",
+                "observe_channels: Sequence[int]=[]",
+            ]
+        ],
+    ),
+    pytest.param(
+        "pybricks.hubs",
+        "EssentialHub",
+        [
+            [
+                "top_side: Axis=Axis.Z",
+                "front_side: Axis=Axis.X",
+                "broadcast_channel: int=0",
+                "observe_channels: Sequence[int]=[]",
+            ]
+        ],
    ),
    pytest.param(
        "pybricks.pupdevices",
@@ -429,13 +464,13 @@ METHOD_PARAMS = [
        "pybricks.hubs",
        "PrimeHub",
        "speaker.beep",
-        [(["frequency: Number=500", "duration: Number=100"], "None")],
+        [(["frequency: Number=500", "duration: Number=100"], "MaybeAwaitable")],
    ),
    pytest.param(
        "pybricks.hubs",
        "PrimeHub",
        "speaker.play_notes",
-        [(["notes: Iterable[str]", "tempo: Number=120"], "None")],
+        [(["notes: Iterable[str]", "tempo: Number=120"], "MaybeAwaitable")],
    ),
    pytest.param("pybricks.hubs", "PrimeHub", "battery.voltage", [([], "int")]),
    pytest.param("pybricks.hubs", "PrimeHub", "battery.current", [([], "int")]),
@@ -571,7 +606,7 @@ METHOD_PARAMS = [
                    "then: Stop=Stop.HOLD",
                    "wait: bool=True",
                ],
-                "None",
+                "MaybeAwaitable",
            )
        ],
    ),
@@ -587,7 +622,7 @@ METHOD_PARAMS = [
                    "then: Stop=Stop.HOLD",
                    "wait: bool=True",
                ],
-                "None",
+                "MaybeAwaitable",
            )
        ],
    ),
@@ -603,7 +638,7 @@ METHOD_PARAMS = [
                    "then: Stop=Stop.HOLD",
                    "wait: bool=True",
                ],
-                "None",
+                "MaybeAwaitable",
            )
        ],
    ),
@@ -624,7 +659,7 @@ METHOD_PARAMS = [
                    "then: Stop=Stop.COAST",
                    "duty_limit: Optional[Number]=None",
                ],
-                "int",
+                "MaybeAwaitableInt",
            )
        ],
    ),
@@ -703,24 +738,53 @@ METHOD_PARAMS = [
        ],
    ),
    pytest.param(
-        "pybricks.pupdevices", "TiltSensor", "tilt", [([], "Tuple[int, int]")]
-    ),
-    pytest.param("pybricks.pupdevices", "InfraredSensor", "distance", [([], "int")]),
-    pytest.param("pybricks.pupdevices", "InfraredSensor", "reflection", [([], "int")]),
-    pytest.param("pybricks.pupdevices", "InfraredSensor", "count", [([], "int")]),
-    pytest.param(
-        "pybricks.pupdevices", "ColorDistanceSensor", "color", [([], "Color")]
+        "pybricks.pupdevices",
+        "TiltSensor",
+        "tilt",
+        [([], "MaybeAwaitableTuple[int, int]")],
    ),
    pytest.param(
-        "pybricks.pupdevices", "ColorDistanceSensor", "reflection", [([], "int")]
+        "pybricks.pupdevices", "InfraredSensor", "distance", [([], "MaybeAwaitableInt")]
    ),
    pytest.param(
-        "pybricks.pupdevices", "ColorDistanceSensor", "ambient", [([], "int")]
+        "pybricks.pupdevices",
+        "InfraredSensor",
+        "reflection",
+        [([], "MaybeAwaitableInt")],
    ),
    pytest.param(
-        "pybricks.pupdevices", "ColorDistanceSensor", "distance", [([], "int")]
+        "pybricks.pupdevices", "InfraredSensor", "count", [([], "MaybeAwaitableInt")]
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "color",
+        [([], "MaybeAwaitableColor")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "reflection",
+        [([], "MaybeAwaitableInt")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "ambient",
+        [([], "MaybeAwaitableInt")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "distance",
+        [([], "MaybeAwaitableInt")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "hsv",
+        [([], "MaybeAwaitableColor")],
    ),
-    pytest.param("pybricks.pupdevices", "ColorDistanceSensor", "hsv", [([], "Color")]),
    pytest.param(
        "pybricks.pupdevices",
        "ColorDistanceSensor",
@@ -731,27 +795,36 @@ METHOD_PARAMS = [
        "pybricks.pupdevices",
        "ColorDistanceSensor",
        "light.on",
-        [(["color: Color"], "None")],
+        [(["color: Color"], "MaybeAwaitable")],
    ),
    pytest.param(
-        "pybricks.pupdevices", "ColorDistanceSensor", "light.off", [([], "None")]
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "light.off",
+        [([], "MaybeAwaitable")],
    ),
-    pytest.param("pybricks.pupdevices", "PFMotor", "dc", [(["duty: Number"], "None")]),
-    pytest.param("pybricks.pupdevices", "PFMotor", "stop", [([], "None")]),
-    pytest.param("pybricks.pupdevices", "PFMotor", "brake", [([], "None")]),
+    pytest.param(
+        "pybricks.pupdevices", "PFMotor", "dc", [(["duty: Number"], "MaybeAwaitable")]
+    ),
+    pytest.param("pybricks.pupdevices", "PFMotor", "stop", [([], "MaybeAwaitable")]),
+    pytest.param("pybricks.pupdevices", "PFMotor", "brake", [([], "MaybeAwaitable")]),
    pytest.param(
        "pybricks.pupdevices",
        "ColorSensor",
        "color",
-        [(["surface: bool=True"], "Optional[Color]")],
+        [(["surface: bool=True"], "MaybeAwaitableColor")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ColorSensor", "reflection", [([], "MaybeAwaitableInt")]
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ColorSensor", "ambient", [([], "MaybeAwaitableInt")]
    ),
-    pytest.param("pybricks.pupdevices", "ColorSensor", "reflection", [([], "int")]),
-    pytest.param("pybricks.pupdevices", "ColorSensor", "ambient", [([], "int")]),
    pytest.param(
        "pybricks.pupdevices",
        "ColorSensor",
        "hsv",
-        [(["surface: bool=True"], "Color")],
+        [(["surface: bool=True"], "MaybeAwaitableColor")],
    ),
    pytest.param(
        "pybricks.pupdevices",
@@ -763,11 +836,28 @@ METHOD_PARAMS = [
        "pybricks.pupdevices",
        "ColorSensor",
        "lights.on",
-        [(["brightness: Union[Number, Tuple[Number, Number, Number]]"], "None")],
+        [
+            (
+                ["brightness: Union[Number, Tuple[Number, Number, Number]]"],
+                "MaybeAwaitable",
+            )
+        ],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ColorSensor", "lights.off", [([], "MaybeAwaitable")]
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "UltrasonicSensor",
+        "distance",
+        [([], "MaybeAwaitableInt")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "UltrasonicSensor",
+        "presence",
+        [([], "MaybeAwaitableBool")],
    ),
-    pytest.param("pybricks.pupdevices", "ColorSensor", "lights.off", [([], "None")]),
-    pytest.param("pybricks.pupdevices", "UltrasonicSensor", "distance", [([], "int")]),
-    pytest.param("pybricks.pupdevices", "UltrasonicSensor", "presence", [([], "bool")]),
    pytest.param(
        "pybricks.pupdevices",
        "UltrasonicSensor",
@@ -775,29 +865,40 @@ METHOD_PARAMS = [
        [
            (
                ["brightness: Union[Number, Tuple[Number, Number, Number, Number]]"],
-                "None",
+                "MaybeAwaitable",
            )
        ],
    ),
    pytest.param(
-        "pybricks.pupdevices", "UltrasonicSensor", "lights.off", [([], "None")]
+        "pybricks.pupdevices",
+        "UltrasonicSensor",
+        "lights.off",
+        [([], "MaybeAwaitable")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ForceSensor", "force", [([], "MaybeAwaitableFloat")]
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ForceSensor", "distance", [([], "MaybeAwaitableFloat")]
    ),
-    pytest.param("pybricks.pupdevices", "ForceSensor", "force", [([], "float")]),
-    pytest.param("pybricks.pupdevices", "ForceSensor", "distance", [([], "float")]),
    pytest.param(
        "pybricks.pupdevices",
        "ForceSensor",
        "pressed",
-        [(["force: Number=3"], "bool")],
+        [(["force: Number=3"], "MaybeAwaitableBool")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ForceSensor", "touched", [([], "MaybeAwaitableBool")]
    ),
-    pytest.param("pybricks.pupdevices", "ForceSensor", "touched", [([], "bool")]),
    pytest.param(
        "pybricks.pupdevices",
        "ColorLightMatrix",
        "on",
-        [(["color: Union[Color, Collection[Color]]"], "None")],
+        [(["color: Union[Color, Collection[Color]]"], "MaybeAwaitable")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ColorLightMatrix", "off", [([], "MaybeAwaitable")]
    ),
-    pytest.param("pybricks.pupdevices", "ColorLightMatrix", "off", [([], "None")]),
    pytest.param(
        "pybricks.pupdevices", "Light", "on", [(["brightness: Number=100"], "None")]
    ),
@@ -826,13 +927,23 @@ METHOD_PARAMS = [
        "pybricks.robotics",
        "DriveBase",
        "straight",
-        [(["distance: Number", "then: Stop=Stop.HOLD", "wait: bool=True"], "None")],
+        [
+            (
+                ["distance: Number", "then: Stop=Stop.HOLD", "wait: bool=True"],
+                "MaybeAwaitable",
+            )
+        ],
    ),
    pytest.param(
        "pybricks.robotics",
        "DriveBase",
        "turn",
-        [(["angle: Number", "then: Stop=Stop.HOLD", "wait: bool=True"], "None")],
+        [
+            (
+                ["angle: Number", "then: Stop=Stop.HOLD", "wait: bool=True"],
+                "MaybeAwaitable",
+            )
+        ],
    ),
    pytest.param(
        "pybricks.robotics",
@@ -846,7 +957,7 @@ METHOD_PARAMS = [
                    "then: Stop=Stop.HOLD",
                    "wait: bool=True",
                ],
-                "None",
+                "MaybeAwaitable",
            )
        ],
    ),
@@ -874,6 +985,7 @@ METHOD_PARAMS = [
        [(["speed: Number", "turn_rate: Number"], "None")],
    ),
    pytest.param("pybricks.robotics", "DriveBase", "stop", [([], "None")]),
+    pytest.param("pybricks.robotics", "DriveBase", "brake", [([], "None")]),
    pytest.param("pybricks.robotics", "DriveBase", "distance", [([], "int")]),
    pytest.param("pybricks.robotics", "DriveBase", "angle", [([], "int")]),
    pytest.param(
@@ -2,6 +2,21 @@

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

+## 2.10.0 - 2023-10-26
+
+### Changed
+- Updated docs to v3.3.0b9.
+
+## 2.9.0 - 2023-05-16
+
+### Changed
+- Updated docs to v3.3.0b5.
+
+## 2.8.0 - 2023-04-21
+
+### Changed
+- Updated docs to v3.3.0b4.
+
 ## 2.7.0 - 2022-12-20

 ### Changed
@@ -1,6 +1,6 @@
 MIT License

-Copyright (c) 2018-2021 The Pybricks Authors
+Copyright (c) 2018-2023 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
@@ -1,6 +1,6 @@
 {
  "name": "@pybricks/ide-docs",
-  "version": "2.7.0",
+  "version": "2.10.0",
  "description": "Special build of Pybricks API docs for embedding in an IDE.",
  "repository": {
    "type": "git",
@@ -4,6 +4,16 @@

 ## Unreleased

+## 1.9.0 - 2023-05-16
+
+### Changed
+- Updated `pybricks_jedi` Python package to v1.9.0.
+
+## 1.8.0 - 2023-04-21
+
+### Changed
+- Updated `pybricks_jedi` Python package to v1.8.0.
+
 ## 1.7.0 - 2022-12-28

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

 package_json = {
    "name": "@pybricks/jedi",
-    "version": "1.7.0",
+    "version": "1.9.0",
    "description": "Binary distribution of pybricks-jedi Python package and dependencies for use with Pyodide.",
    "repository": {
        "type": "git",
@@ -30,7 +30,7 @@ whl_map: dict[str, str] = {}
 shutil.rmtree(BUILD_DIR, True)
 BUILD_DIR.mkdir()

-# download package and depedencies (*.whl files)
+# download package and dependencies (*.whl files)
 subprocess.check_call(
    [
        sys.executable,
@@ -38,7 +38,7 @@ subprocess.check_call(
        "pip",
        "download",
        "--only-binary=any",
-        "pybricks-jedi==1.7.0",
+        "pybricks-jedi==1.9.0",
    ],
    cwd=BUILD_DIR,
 )
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.3.0a4"
+version = "3.3.0b9"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 authors = ["The Pybricks Authors <dev@pybricks.com>"]
 maintainers = ["Laurens Valk <laurens@pybricks.com>", "David Lechner <david@pybricks.com>" ]
@@ -10,7 +10,6 @@ homepage = "https://pybricks.com"
 repository = "https://github.com/pybricks/pybricks-api"
 documentation = "https://docs.pybricks.com"
 classifiers = [
-    "Development Status :: 3 - Alpha",
    "Programming Language :: Python :: Implementation :: MicroPython",
 ]
 packages = [
@@ -29,11 +28,13 @@ packages = [
 [tool.poetry.dependencies]
 python = "^3.8"

-[tool.poetry.dev-dependencies]
+[tool.poetry.group.lint.dependencies]
 black = "^22.3.0"
 doc8 = "^0.8.1"
 flake8 = "^4.0"
-Sphinx = { git = "https://github.com/pybricks/sphinx.git", rev = "b00124cb" }
+
+[tool.poetry.group.doc.dependencies]
+Sphinx = { git = "https://github.com/pybricks/sphinx.git", rev = "cd277d09" }
 sphinx-rtd-theme = "^1.0.0"
 toml = "^0.10.0"

@@ -1,5 +0,0 @@
-# This file is strictly for building docs on readthedocs.org
-# See pyproject.toml for local development
-git+https://github.com/pybricks/sphinx@b00124c#egg=Sphinx
-sphinx-rtd-theme==1.0.0
-toml
@@ -1,6 +1,6 @@

 [flake8]
-exclude = .venv/,*.pyi,jedi/
+exclude = .venv/,*.pyi,jedi/,examples/pup/tools/hub_menu.py
 max-line-length = 88
 ignore = E203,E501,W503

@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2021 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors

 """Generic cross-platform module for typical devices like lights, displays,
 speakers, and batteries."""
@@ -12,8 +12,31 @@ from .tools import Matrix
 from .parameters import Axis, Direction, Stop, Button, Port, Color, Side

 if TYPE_CHECKING:
+    from typing import Any, Awaitable, TypeVar
+
    from .parameters import Number

+    _T_co = TypeVar("_T_co", covariant=True)
+
+    class MaybeAwaitable(None, Awaitable[None]):
+        ...
+
+    # HACK: Cannot subclass bool, so using Any instead.
+    class MaybeAwaitableBool(Any, Awaitable[bool]):
+        ...
+
+    class MaybeAwaitableFloat(float, Awaitable[float]):
+        ...
+
+    class MaybeAwaitableInt(int, Awaitable[int]):
+        ...
+
+    class MaybeAwaitableTuple(Tuple[_T_co], Awaitable[Tuple[_T_co]]):
+        ...
+
+    class MaybeAwaitableColor(Color, Awaitable[Color]):
+        ...
+

 class System:
    """System control actions for a hub."""
@@ -78,8 +101,8 @@ class System:

    def storage(self, offset, read=None, write=None):
        """
-        storage(self, offset, write=)
-        storage(self, offset, read=) -> bytes
+        storage(offset, write=)
+        storage(offset, read=) -> bytes

        Reads or writes binary data to persistent storage.

@@ -393,10 +416,12 @@ class Motor(DCMotor):
                Choose ``False`` to keep the
                current value, so your program knows where it left off last
                time.
-            profile (Number, deg): Precision profile. A lower value
-                means more precise movement; a larger value means
-                smoother movement. If no value is given, a suitable profile for
-                this motor type will be selected automatically.
+            profile (Number, deg): Precision profile. This is the approximate
+                position tolerance in degrees that is acceptable in your
+                application. A lower value gives more precise but more erratic
+                movement; a higher value gives less precise but smoother
+                movement. If no value is given, a suitable profile for this
+                motor type will be selected automatically (about 11 degrees).
        """

    def angle(self) -> int:
@@ -476,7 +501,7 @@ class Motor(DCMotor):

    def run_time(
        self, speed: Number, time: Number, then: Stop = Stop.HOLD, wait: bool = True
-    ) -> None:
+    ) -> MaybeAwaitable:
        """run_time(speed, time, then=Stop.HOLD, wait=True)

        Runs the motor at a constant speed for a given amount of time.
@@ -499,7 +524,7 @@ class Motor(DCMotor):
        rotation_angle: Number,
        then: Stop = Stop.HOLD,
        wait: bool = True,
-    ) -> None:
+    ) -> MaybeAwaitable:
        """run_angle(speed, rotation_angle, then=Stop.HOLD, wait=True)

        Runs the motor at a constant speed by a given angle.
@@ -519,7 +544,7 @@ class Motor(DCMotor):
        target_angle: Number,
        then: Stop = Stop.HOLD,
        wait: bool = True,
-    ) -> None:
+    ) -> MaybeAwaitable:
        """run_target(speed, target_angle, then=Stop.HOLD, wait=True)

        Runs the motor at a constant speed towards a given target angle.
@@ -540,7 +565,7 @@ class Motor(DCMotor):
        speed: Number,
        then: Stop = Stop.COAST,
        duty_limit: Optional[Number] = None,
-    ) -> int:
+    ) -> MaybeAwaitableInt:
        """
        run_until_stalled(speed, then=Stop.COAST, duty_limit=None) -> int: deg

@@ -604,7 +629,7 @@ class Speaker:
            volume (Number, %): Volume of the speaker in the 0-100 range.
        """

-    def beep(self, frequency: Number = 500, duration: Number = 100) -> None:
+    def beep(self, frequency: Number = 500, duration: Number = 100) -> MaybeAwaitable:
        """beep(frequency=500, duration=100)

        Play a beep/tone.
@@ -618,7 +643,7 @@ class Speaker:
                play continues to play indefinitely.
        """

-    def play_notes(self, notes: Iterable[str], tempo: Number = 120) -> None:
+    def play_notes(self, notes: Iterable[str], tempo: Number = 120) -> MaybeAwaitable:
        """play_notes(notes, tempo=120)

        Plays a sequence of musical notes. For example:
@@ -705,10 +730,31 @@ class ColorLight:
        """


+class ExternalColorLight:
+    """Control a multi-color light."""
+
+    def on(self, color: Color) -> MaybeAwaitable:
+        """on(color)
+
+        Turns on the light at the specified color.
+
+        Arguments:
+            color (Color): Color of the light.
+        """
+
+    def off(self) -> MaybeAwaitable:
+        """off()
+
+        Turns off the light.
+        """
+
+
 class LightArray3:
    """Control an array of three single-color lights."""

-    def on(self, brightness: Union[Number, Tuple[Number, Number, Number]]) -> None:
+    def on(
+        self, brightness: Union[Number, Tuple[Number, Number, Number]]
+    ) -> MaybeAwaitable:
        """on(brightness)

        Turns on the lights at the specified brightness.
@@ -720,10 +766,11 @@ class LightArray3:
                of each light individually.
        """

-    def off(self) -> None:
+    def off(self) -> MaybeAwaitable:
        """off()

-        Turns off all the lights."""
+        Turns off all the lights.
+        """


 class LightArray4(LightArray3):
@@ -731,7 +778,7 @@ class LightArray4(LightArray3):

    def on(
        self, brightness: Union[Number, Tuple[Number, Number, Number, Number]]
-    ) -> None:
+    ) -> MaybeAwaitable:
        """on(brightness)

        Turns on the lights at the specified brightness.
@@ -1164,7 +1211,7 @@ class CommonColorSensor:
            port (Port): Port to which the sensor is connected.
        """

-    def color(self) -> Color:
+    def color(self) -> MaybeAwaitableColor:
        """color() -> Color

        Scans the color of a surface.
@@ -1178,7 +1225,7 @@ class CommonColorSensor:
            Detected color.
        """

-    def hsv(self) -> Color:
+    def hsv(self) -> MaybeAwaitableColor:
        """hsv() -> Color

        Scans the color of a surface.
@@ -1192,7 +1239,7 @@ class CommonColorSensor:
            saturation (0--100), and a brightness value (0--100).
        """

-    def ambient(self) -> int:
+    def ambient(self) -> MaybeAwaitableInt:
        """ambient() -> int: %

        Measures the ambient light intensity.
@@ -1202,7 +1249,7 @@ class CommonColorSensor:
            to 100% (bright).
        """

-    def reflection(self) -> int:
+    def reflection(self) -> MaybeAwaitableInt:
        """reflection() -> int: %

        Measures how much a surface reflects the light emitted by the
@@ -1248,7 +1295,7 @@ class AmbientColorSensor(CommonColorSensor):
    """Like CommonColorSensor, but also detects ambient colors when the sensor
    light is turned off"""

-    def color(self, surface: bool = True) -> Optional[Color]:
+    def color(self, surface: bool = True) -> MaybeAwaitableColor:
        """color(surface=True) -> Color

        Scans the color of a surface or an external light source.
@@ -1267,7 +1314,7 @@ class AmbientColorSensor(CommonColorSensor):
            Detected color.`
        """

-    def hsv(self, surface: bool = True) -> Color:
+    def hsv(self, surface: bool = True) -> MaybeAwaitableColor:
        """hsv(surface=True) -> Color

        Scans the color of a surface or an external light source.
@@ -1285,3 +1332,77 @@ class AmbientColorSensor(CommonColorSensor):
            Measured color. The color is described by a hue (0--359), a
            saturation (0--100), and a brightness value (0--100).
        """
+
+
+class BLE:
+    """
+    Bluetooth Low Energy.
+
+    .. versionadded:: 3.3
+    """
+
+    def broadcast(self, data: Union[bool, int, float, str, bytes]) -> None:
+        """broadcast(data)
+
+        Starts broadcasting the given data on
+        the *broadcast_channel* you selected when initializing the hub.
+
+        Data may be of type ``int``, ``float``, ``str``, ``bytes``,
+        ``True``, or ``False``, or a tuple thereof.
+
+        The total data size is quite limited (26 bytes). ``True`` and
+        ``False`` take 1 byte each. ``float`` takes 5 bytes. ``int`` takes 2 to
+        5 bytes depending on how big the number is. ``str`` and ``bytes`` take
+        the number of bytes in the object plus one extra byte.
+
+        Args:
+            data: The value or values to be broadcast.
+
+        .. versionadded:: 3.3
+        """
+
+    def observe(
+        self, channel: int
+    ) -> Optional[Tuple[Union[bool, int, float, str, bytes], ...]]:
+        """observe(channel) -> bool | int | float | str | bytes | tuple | None
+
+        Retrieves the last observed data for a given channel.
+
+        Receiving data is more reliable when the hub is not connected
+        to a computer or other devices at the same time.
+
+        Args:
+            channel (int): The channel to observe (0 to 255).
+
+        Returns:
+            The received data in the same format as it was sent, or ``None``
+            if no recent data is available.
+
+        .. versionadded:: 3.3
+        """
+
+    def signal_strength(self, channel: int) -> int:
+        """signal_strength(channel) -> int: dBm
+
+        Gets the average signal strength in dBm for the given channel.
+
+        This indicates how near the broadcasting device is. Nearby devices
+        may have a signal strength around -40 dBm, while far away devices
+        might have a signal strength around -70 dBm.
+
+        Args:
+            channel (int): The channel number (0 to 255).
+
+        Returns:
+            The signal strength or ``-128`` if there is no recent observed data.
+
+        .. versionadded:: 3.3
+        """
+
+    def version(self) -> str:
+        """version() -> str
+
+        Gets the firmware version from the Bluetooth chip.
+
+        .. versionadded:: 3.3
+        """
@@ -1,7 +1,10 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2022 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors

 """LEGO® Programmable Hubs."""
+
+from typing import Sequence
+
 from . import _common
 from .ev3dev import _speaker
 from .media.ev3dev import Image as _Image
@@ -38,6 +41,25 @@ class MoveHub:
    imu = _common.SimpleAccelerometer()
    system = _common.System()
    button = _common.Keypad([_Button.CENTER])
+    ble = _common.BLE()
+
+    def __init__(
+        self, broadcast_channel: int = 0, observe_channels: Sequence[int] = []
+    ):
+        """MoveHub(broadcast_channel=0, observe_channels=[])
+
+        Arguments:
+            broadcast_channel:
+                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                will use. Default is channel 0.
+            observe_channels:
+                A list of channels to listen to when ``hub.ble.observe()`` is
+                called. Listening to more channels requires more memory.
+                Default is an empty list (no channels).
+
+        .. versionchanged:: 3.3
+            Added *broadcast_channel* and *observe_channels* arguments.
+        """


 class CityHub:
@@ -49,6 +71,25 @@ class CityHub:
    light = _common.ColorLight()
    system = _common.System()
    button = _common.Keypad([_Button.CENTER])
+    ble = _common.BLE()
+
+    def __init__(
+        self, broadcast_channel: int = 0, observe_channels: Sequence[int] = []
+    ):
+        """CityHub(broadcast_channel=0, observe_channels=[])
+
+        Arguments:
+            broadcast_channel:
+                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                will use. Default is channel 0.
+            observe_channels:
+                A list of channels to listen to when ``hub.ble.observe()`` is
+                called. Listening to more channels requires more memory.
+                Default is an empty list (no channels).
+
+        .. versionchanged:: 3.3
+            Added *broadcast_channel* and *observe_channels* arguments.
+        """


 class TechnicHub:
@@ -61,9 +102,16 @@ class TechnicHub:
    imu = _common.IMU()
    system = _common.System()
    button = _common.Keypad([_Button.CENTER])
+    ble = _common.BLE()

-    def __init__(self, top_side: Axis = Axis.Z, front_side: Axis = Axis.X):
-        """TechnicHub(top_side=Axis.Z, front_side=Axis.X)
+    def __init__(
+        self,
+        top_side: Axis = Axis.Z,
+        front_side: Axis = Axis.X,
+        broadcast_channel: int = 0,
+        observe_channels: Sequence[int] = [],
+    ):
+        """TechnicHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[])

        Initializes the hub. Optionally, specify how the hub is
        :ref:`placed in your design <robotframe>` by saying in which
@@ -75,6 +123,16 @@ class TechnicHub:
                the hub.
            front_side (Axis): The axis that passes through the *front side* of
                the hub.
+            broadcast_channel:
+                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                will use. Default is channel 0.
+            observe_channels:
+                A list of channels to listen to when ``hub.ble.observe()`` is
+                called. Listening to more channels requires more memory.
+                Default is an empty list (no channels).
+
+        .. versionchanged:: 3.3
+            Added *broadcast_channel* and *observe_channels* arguments.
        """


@@ -89,9 +147,16 @@ class EssentialHub:
    light = _common.ColorLight()
    imu = _common.IMU()
    system = _common.System()
+    ble = _common.BLE()

-    def __init__(self, top_side=Axis.Z, front_side=Axis.X):
-        """__init__(top_side=Axis.Z, front_side=Axis.X)
+    def __init__(
+        self,
+        top_side: Axis = Axis.Z,
+        front_side: Axis = Axis.X,
+        broadcast_channel: int = 0,
+        observe_channels: Sequence[int] = [],
+    ):
+        """EssentialHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[])

        Initializes the hub. Optionally, specify how the hub is
        :ref:`placed in your design <robotframe>` by saying in which
@@ -103,6 +168,16 @@ class EssentialHub:
                the hub.
            front_side (Axis): The axis that passes through the *front side* of
                the hub.
+            broadcast_channel:
+                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                will use. Default is channel 0.
+            observe_channels:
+                A list of channels to listen to when ``hub.ble.observe()`` is
+                called. Listening to more channels requires more memory.
+                Default is an empty list (no channels).
+
+        .. versionchanged:: 3.3
+            Added *broadcast_channel* and *observe_channels* arguments.
        """
        pass

@@ -127,9 +202,16 @@ class PrimeHub:
    speaker = _common.Speaker()
    imu = _common.IMU()
    system = _common.System()
+    ble = _common.BLE()

-    def __init__(self, top_side: Axis = Axis.Z, front_side: Axis = Axis.X):
-        """PrimeHub(top_side=Axis.Z, front_side=Axis.X)
+    def __init__(
+        self,
+        top_side: Axis = Axis.Z,
+        front_side: Axis = Axis.X,
+        broadcast_channel: int = 0,
+        observe_channels: Sequence[int] = [],
+    ):
+        """PrimeHub(top_side=Axis.Z, front_side=Axis.X, broadcast_channel=0, observe_channels=[])

        Initializes the hub. Optionally, specify how the hub is
        :ref:`placed in your design <robotframe>` by saying in which
@@ -141,6 +223,16 @@ class PrimeHub:
                the hub.
            front_side (Axis): The axis that passes through the *front side* of
                the hub.
+            broadcast_channel:
+                A value from 0 to 255 indicating which channel ``hub.ble.broadcast()``
+                will use. Default is channel 0.
+            observe_channels:
+                A list of channels to listen to when ``hub.ble.observe()`` is
+                called. Listening to more channels requires more memory.
+                Default is an empty list (no channels).
+
+        .. versionchanged:: 3.3
+            Added *broadcast_channel* and *observe_channels* arguments.
        """


@@ -1,13 +1,18 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2020 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors

 """Generic input/output devices."""

-from typing import Dict, Tuple, Optional, overload
+from __future__ import annotations
+
+from typing import Dict, Tuple, Optional, overload, TYPE_CHECKING

 from . import _common
 from .parameters import Port as _Port

+if TYPE_CHECKING:
+    from ._common import MaybeAwaitable, MaybeAwaitableTuple
+

 class PUPDevice:
    """Powered Up motor or sensor."""
@@ -28,7 +33,7 @@ class PUPDevice:
            Dictionary with information, such as the device ``id``.
        """

-    def read(self, mode: int) -> Tuple:
+    def read(self, mode: int) -> MaybeAwaitableTuple:
        """read(mode) -> Tuple

        Reads values from a given mode.
@@ -40,7 +45,7 @@ class PUPDevice:
            Values read from the sensor.
        """

-    def write(self, mode: int, data: Tuple) -> None:
+    def write(self, mode: int, data: Tuple) -> MaybeAwaitable:
        """write(mode, data)

        Writes values to the sensor. Only selected sensors and modes support
@@ -62,7 +67,7 @@ class LUMPDevice:
            port (Port): Port to which the device is connected.
        """

-    def read(self, mode: int) -> Tuple:
+    def read(self, mode: int) -> MaybeAwaitableTuple:
        """read(mode) -> Tuple

        Reads values from a given mode.
@@ -95,7 +100,7 @@ class Ev3devSensor:
            port (Port): Port to which the device is connected.
        """

-    def read(self, mode: str) -> Tuple:
+    def read(self, mode: str) -> MaybeAwaitableTuple:
        """read(mode) -> Tuple

        Reads values at a given mode.
@@ -331,3 +336,9 @@ class LWP3Device:
        Returns:
            The raw binary message.
        """
+
+
+# hide from jedi
+if TYPE_CHECKING:
+    del MaybeAwaitable
+    del MaybeAwaitableTuple
@@ -1,16 +1,23 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2022 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors

 """LEGO® Powered Up motor, sensors, and lights."""

 from __future__ import annotations

-from typing import TYPE_CHECKING, Collection, Optional, Union, overload, Tuple
+from typing import TYPE_CHECKING, Collection, Optional, Union, overload

 from . import _common
 from .parameters import Button, Color, Direction

 if TYPE_CHECKING:
+    from ._common import (
+        MaybeAwaitable,
+        MaybeAwaitableBool,
+        MaybeAwaitableFloat,
+        MaybeAwaitableInt,
+        MaybeAwaitableTuple,
+    )
    from .parameters import Number, Port


@@ -63,10 +70,12 @@ class Motor(_common.Motor):
                Choose ``False`` to keep the
                current value, so your program knows where it left off last
                time.
-            profile (Number, deg): Precision profile. A lower value
-                means more precise movement; a larger value means
-                smoother movement. If no value is given, a suitable profile for
-                this motor type will be selected automatically.
+            profile (Number, deg): Precision profile. This is the approximate
+                position tolerance in degrees that is acceptable in your
+                application. A lower value gives more precise but more erratic
+                movement; a higher value gives less precise but smoother
+                movement. If no value is given, a suitable profile for this
+                motor type will be selected automatically (about 11 degrees).
        """

    def reset_angle(self, angle: Optional[Number] = None) -> None:
@@ -97,7 +106,7 @@ class Remote:
            Button.RIGHT_PLUS,
        )
    )
-    addresss: Union[str, None]
+    address: Union[str, None]

    def __init__(self, name: Optional[str] = None, timeout: int = 10000):
        """Remote(name=None, timeout=10000)
@@ -144,7 +153,7 @@ class TiltSensor:
            port (Port): Port to which the sensor is connected.
        """

-    def tilt(self) -> Tuple[int, int]:
+    def tilt(self) -> MaybeAwaitableTuple[int, int]:
        """tilt() -> Tuple[int, int]: deg

        Measures the tilt relative to the horizontal plane.
@@ -157,7 +166,7 @@ class TiltSensor:
 class ColorDistanceSensor(_common.CommonColorSensor):
    """LEGO® Powered Up Color and Distance Sensor."""

-    light = _common.ColorLight()
+    light = _common.ExternalColorLight()

    # HACK: jedi can't find inherited __init__ so docs have to be duplicated
    def __init__(self, port: Port):
@@ -167,7 +176,7 @@ class ColorDistanceSensor(_common.CommonColorSensor):
            port (Port): Port to which the sensor is connected.
        """

-    def distance(self) -> int:
+    def distance(self) -> MaybeAwaitableInt:
        """distance() -> int: %

        Measures the relative distance between the sensor and an object
@@ -178,7 +187,7 @@ class ColorDistanceSensor(_common.CommonColorSensor):
        """


-class PFMotor(DCMotor):
+class PFMotor:
    """Control Power Functions motors with the infrared functionality of the
    :class:`ColorDistanceSensor <pybricks.pupdevices.ColorDistanceSensor>`."""

@@ -204,6 +213,32 @@ class PFMotor(DCMotor):
                turn when you give a positive duty cycle value.
        """

+    def dc(self, duty: Number) -> MaybeAwaitable:
+        """dc(duty)
+
+        Rotates the motor at a given duty cycle (also known as "power").
+
+        Arguments:
+            duty (Number, %): The duty cycle (-100.0 to 100).
+        """
+
+    def stop(self) -> MaybeAwaitable:
+        """stop()
+
+        Stops the motor and lets it spin freely.
+
+        The motor gradually stops due to friction.
+        """
+
+    def brake(self) -> MaybeAwaitable:
+        """brake()
+
+        Passively brakes the motor.
+
+        The motor stops due to friction, plus the voltage that
+        is generated while the motor is still moving.
+        """
+

 class ColorSensor(_common.AmbientColorSensor):
    """LEGO® SPIKE Color Sensor."""
@@ -232,7 +267,7 @@ class UltrasonicSensor:

        """

-    def distance(self) -> int:
+    def distance(self) -> MaybeAwaitableInt:
        """distance() -> int: mm

        Measures the distance between the sensor and an object using
@@ -244,7 +279,7 @@ class UltrasonicSensor:

        """

-    def presence(self) -> bool:
+    def presence(self) -> MaybeAwaitableBool:
        """presence() -> bool

        Checks for the presence of other ultrasonic sensors by detecting
@@ -265,7 +300,7 @@ class ForceSensor:
            port (Port): Port to which the sensor is connected.
        """

-    def force(self) -> float:
+    def force(self) -> MaybeAwaitableFloat:
        """force() -> float: N

        Measures the force exerted on the sensor.
@@ -274,7 +309,7 @@ class ForceSensor:
            Measured force (up to approximately 10.00 N).
        """

-    def distance(self) -> float:
+    def distance(self) -> MaybeAwaitableFloat:
        """distance() -> float: mm

        Measures by how much the sensor button has moved.
@@ -283,7 +318,7 @@ class ForceSensor:
            Movement up to approximately 8.00 mm.
        """

-    def pressed(self, force: Number = 3) -> bool:
+    def pressed(self, force: Number = 3) -> MaybeAwaitableBool:
        """pressed(force=3) -> bool

        Checks if the sensor button is pressed.
@@ -295,7 +330,7 @@ class ForceSensor:
            ``True`` if the sensor is pressed, ``False`` if it is not.
        """

-    def touched(self) -> bool:
+    def touched(self) -> MaybeAwaitableBool:
        """touched() -> bool

        Checks if the sensor is touched.
@@ -323,7 +358,7 @@ class ColorLightMatrix:
        """
        ...

-    def on(self, color: Union[Color, Collection[Color]]) -> None:
+    def on(self, color: Union[Color, Collection[Color]]) -> MaybeAwaitable:
        """on(colors)

        Turns the lights on.
@@ -336,7 +371,7 @@ class ColorLightMatrix:
        """
        ...

-    def off(self) -> None:
+    def off(self) -> MaybeAwaitable:
        """off()

        Turns all lights off.
@@ -354,7 +389,7 @@ class InfraredSensor:
            port (Port): Port to which the sensor is connected.
        """

-    def reflection(self) -> int:
+    def reflection(self) -> MaybeAwaitableInt:
        """reflection() -> int: %

        Measures the reflection of a surface using an infrared light.
@@ -364,7 +399,7 @@ class InfraredSensor:
            100% (high reflection).
        """

-    def distance(self) -> int:
+    def distance(self) -> MaybeAwaitableInt:
        """distance() -> int: %

        Measures the relative distance between the sensor and an object
@@ -374,7 +409,7 @@ class InfraredSensor:
            Distance ranging from 0% (closest) to 100% (farthest).
        """

-    def count(self) -> int:
+    def count(self) -> MaybeAwaitableInt:
        """count() -> int

        Counts the number of objects that have passed by the sensor.
@@ -415,5 +450,10 @@ if TYPE_CHECKING:
    del Button
    del Color
    del Direction
+    del MaybeAwaitable
+    del MaybeAwaitableBool
+    del MaybeAwaitableFloat
+    del MaybeAwaitableInt
+    del MaybeAwaitableTuple
    del Number
    del Port
@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2022 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors

 """Robotics module for the Pybricks API."""

@@ -11,7 +11,7 @@ from . import _common
 from .parameters import Stop

 if TYPE_CHECKING:
-    from ._common import Motor
+    from ._common import Motor, MaybeAwaitable
    from .parameters import Number


@@ -86,6 +86,12 @@ class DriveBase:

        Stops the robot by letting the motors spin freely."""

+    def brake(self) -> None:
+        """brake()
+
+        Stops the robot by passively braking the motors.
+        """
+
    def distance(self) -> int:
        """distance() -> int: mm

@@ -161,7 +167,7 @@ class DriveBase:

    def straight(
        self, distance: Number, then: Stop = Stop.HOLD, wait: bool = True
-    ) -> None:
+    ) -> MaybeAwaitable:
        """straight(distance, then=Stop.HOLD, wait=True)

        Drives straight for a given distance and then stops.
@@ -173,7 +179,9 @@ class DriveBase:
                         with the rest of the program.
        """

-    def turn(self, angle: Number, then: Stop = Stop.HOLD, wait: bool = True) -> None:
+    def turn(
+        self, angle: Number, then: Stop = Stop.HOLD, wait: bool = True
+    ) -> MaybeAwaitable:
        """turn(angle, then=Stop.HOLD, wait=True)

        Turns in place by a given angle and then stops.
@@ -187,7 +195,7 @@ class DriveBase:

    def curve(
        self, radius: Number, angle: Number, then: Stop = Stop.HOLD, wait: bool = True
-    ) -> None:
+    ) -> MaybeAwaitable:
        """curve(radius, angle, then=Stop.HOLD, wait=True)

        Drives an arc along a circle of a given radius, by a given angle.
@@ -221,15 +229,21 @@ class DriveBase:
            ``True`` if the drivebase is stalled, ``False`` if not.
        """

+    def use_gyro(self, use_gyro: bool) -> None:
+        """use_gyro(use_gyro)

-class GyroDriveBase(DriveBase):
-    """A robotic vehicle with two powered wheels and an optional support
-    wheel or caster. It measures the heading using the hub's built-in gyroscope,
-    which can make turning and driving straight more accurate."""
+        Choose ``True`` to use the gyro sensor for turning and driving
+        straight. Choose ``False`` to rely only on the motor's built-in
+        rotation sensors.
+
+        Arguments:
+            use_gyro (bool): ``True`` to enable, ``False`` to disable.
+        """


 # HACK: hide from jedi
 if TYPE_CHECKING:
    del Motor
    del Number
+    del MaybeAwaitable
    del Stop
@@ -5,13 +5,14 @@

 from __future__ import annotations

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

 if TYPE_CHECKING:
+    from ._common import MaybeAwaitable, MaybeAwaitableTuple
    from .parameters import Number


-def wait(time: Number) -> None:
+def wait(time: Number) -> MaybeAwaitable:
    """wait(time)

    Pauses the user program for a specified amount of time.
@@ -222,6 +223,72 @@ def cross(a: Matrix, b: Matrix) -> Matrix:
    """


+def read_input_byte() -> Optional[int]:
+    """
+    read_input_byte() -> int | None
+
+    Reads one byte from standard input without blocking.
+
+    Returns:
+        The numeric value of the byte read or ``None`` if no data is available.
+    """
+
+
+def hub_menu(*symbols: int | str) -> int | str:
+    """
+    hub_menu(symbol1, symbol2, ...) -> int | str
+
+    Shows a menu on the hub display and waits for the user to select an item
+    using the buttons. Can be used in your own menu-program that lets you
+    choose which of your other programs to run.
+
+    Note that this is just a convenience function that combines the display,
+    buttons, and waits to make a simple menu. This means that it can be used
+    anywhere in a program, not just at the start.
+
+    Arguments:
+        symbol1 (int or str): The first symbol to show in the menu.
+        symbol2 (int or str): The second symbol, and so on...
+
+    Returns:
+        The selected symbol.
+    """
+
+
+def multitask(*coroutines: Coroutine, race=False) -> MaybeAwaitableTuple:
+    """
+    multitask(coroutine1, coroutine2, ...) -> Tuple
+
+    Runs multiple coroutines concurrently. This creates a new coroutine that
+    can be used like any other, including in another ``multitask`` statement.
+
+    Arguments:
+        coroutines (coroutine, coroutine, ...): One or more coroutines to run
+            in parallel.
+        race (bool): Choose ``False`` to wait for all coroutines to finish.
+            Choose ``True`` to wait for one coroutine to finish and then
+            cancel the others, as if it's a "race".
+
+    Returns:
+        Tuple of the return values of each coroutine. Unfinished coroutines
+        will have ``None`` as their return value.
+    """
+
+
+def run_task(coroutine: Coroutine):
+    """
+    run_task(coroutine)
+
+    Runs a coroutine from start to finish while blocking the rest of the
+    program. This is used primarily to run the main coroutine of a program.
+
+    Arguments:
+        coroutine (coroutine): The main coroutine to run.
+    """
+
+
 # HACK: hide from jedi
 if TYPE_CHECKING:
    del Number
+    del MaybeAwaitable
+    del MaybeAwaitableTuple
@@ -23,6 +23,7 @@ from typing import (
    Any,
    Callable,
    Dict,
+    Hashable,
    Iterable,
    Iterator,
    List,
@@ -33,6 +34,7 @@ from typing import (
    SupportsFloat,
    SupportsInt,
    Tuple,
+    TypeVar,
    Union,
    overload,
 )
@@ -55,6 +57,8 @@ _int = int
 _str = str
 _type = type

+_Self = TypeVar("_Self")
+
 # Functions and types


@@ -1084,6 +1088,207 @@ def round(*args):
    """


+class set:
+    @overload
+    def __init__(self) -> None:
+        ...
+
+    @overload
+    def __init__(self, iterable: Iterable[Hashable]) -> None:
+        ...
+
+    def __init__(self, *args) -> None:
+        """
+        set()
+        set(iterable)
+
+        Creates a new set.
+
+        With no arguments, creates a new empty set, otherwise creates a set
+        containing unique items of *iterable*.
+
+        Sets can also be created using a set literal::
+
+            my_set = {1, 2, 3}
+
+        Elements of a set must be hashable. There are only a few types, like
+        :class:`list` that aren't hashable.
+
+        Args:
+            iterable: An iterable of hashable objects.
+        """
+
+    def copy(self: _Self) -> _Self:
+        """
+        copy() -> set
+
+        Returns a shallow copy of the set.
+
+        Returns:
+            A new set.
+        """
+
+    def difference(self: _Self, *others: set) -> _Self:
+        """
+        difference(other1, other2, ...) -> set
+
+        Returns a new set with elements that are not in any of the other sets.
+
+        The difference can also be computed using the ``-`` operator::
+
+            diff = s - other
+
+        Args:
+            others: 1 or more other sets.
+
+        Returns:
+            A new set.
+        """
+
+    def intersection(self: _Self, *others: set) -> _Self:
+        """
+        intersection(other1, other2, ...) -> set
+
+        Returns a new set with elements that are common between this set and
+        all other sets.
+
+        The intersection can also be computed using the ``&`` operator::
+
+            intersect = s & other
+
+        Args:
+            others: 1 or more other sets.
+
+        Returns:
+            A new set.
+        """
+
+    def isdisjoint(self, other: set) -> bool:
+        """
+        isdisjoint(other) -> bool
+
+        Tests if a set and *other* have no elements in common.
+
+        Args:
+            other: Another set.
+
+        Returns:
+            ``True`` if this set has no elements in common with *other*,
+            otherwise ``False``.
+        """
+
+    def issubset(self, other: set) -> bool:
+        """
+        issubset(other) -> bool
+
+        Tests if a set is a subset of *other*.
+
+        The test can also be performed using using the ``<=`` operator::
+
+            if s <= other:
+                # s is subset of other
+                ...
+
+        Args:
+            other: Another set.
+
+        Returns:
+            ``True`` if this set is a subset of *other*, otherwise ``False``.
+        """
+
+    def issuperset(self, other: set) -> bool:
+        """
+        issuperset(other) -> bool
+
+        Tests if a set is a superset of *other*.
+
+        The test can also be performed using using the ``>=`` operator::
+
+            if s >= other:
+                # s is superset of other
+                ...
+
+        Args:
+            other: Another set.
+
+        Returns:
+            ``True`` if this set is a superset of *other*, otherwise ``False``.
+        """
+
+    def symmetric_difference(self: _Self, other: set) -> _Self:
+        """
+        symmetric_difference(other) -> bool
+
+        Returns a new set with elements in one set or the other but not in both.
+
+        The symmetric difference can also be computed using the ``^`` operator::
+
+            diff = s ^ other
+
+        Args:
+            other: Another set.
+
+        Returns:
+            A new set.
+        """
+
+    def union(self: _Self, *others: set) -> _Self:
+        """
+        union(other1, other2, ...) -> set
+
+        Returns a new set with elements from this set and all other sets.
+
+        The union can also be computed using the ``|`` operator::
+
+            u = s | other
+
+        Args:
+            others: 1 or more other sets.
+
+        Returns:
+            A new set.
+        """
+
+    def __contains__(self, item: Hashable) -> bool:
+        ...
+
+    def __len__(self) -> int:
+        ...
+
+    def __bool__(self) -> bool:
+        ...
+
+    def __gt__(self, other: set) -> bool:
+        ...
+
+    def __lt__(self, other: set) -> bool:
+        ...
+
+    def __ge__(self, other: set) -> bool:
+        ...
+
+    def __le__(self, other: set) -> bool:
+        ...
+
+    def __eq__(self, other: set) -> bool:
+        ...
+
+    def __ne__(self, other: set) -> bool:
+        ...
+
+    def __sub__(self: _Self, other: set) -> _Self:
+        ...
+
+    def __and__(self: _Self, other: set) -> _Self:
+        ...
+
+    def __or__(self: _Self, other: set) -> _Self:
+        ...
+
+    def __xor__(self: _Self, other: set) -> _Self:
+        ...
+
+
 def setattr(object: Any, name: _str, value: Any) -> None:
    """
    setattr(object, name, value)
@@ -1170,7 +1375,7 @@ class str:
        If no argument is given, this creates an empty ``str`` object.

        Arguments:
-            object: If only this argument is given, this returns the stirng
+            object: If only this argument is given, this returns the string
              representation of the object.
            encoding (str): If the first argument is a ``bytearray`` or ``bytes``
              object and the encoding argument is ``"utf-8"``, this will decode
Author	SHA1	Message	Date
Laurens Valk	36ed5917e9	@pybricks/ide-docs v2.10.0	2023-10-26 20:29:33 +02:00
Laurens Valk	bec6aaa76e	v3.3.0b9	2023-10-26 20:29:31 +02:00
Laurens Valk	e7377dff31	pybricks.pupdevices.Motor: Clarify profile setting.	2023-10-26 14:31:16 +02:00
Laurens Valk	d935841399	pybricks.robotics.DriveBase: Add brake.	2023-10-26 14:18:56 +02:00
David Lechner	3335042218	ubuiltins: add set class Add type stubs and docs for builtin `set` type. Issue: https://github.com/pybricks/support/issues/402	2023-10-26 09:21:41 +02:00
Laurens Valk	209fba5c7e	pybricks.tools: Document multitasking.	2023-10-24 17:05:10 +02:00
Laurens Valk	faf11581c0	pybricks.tools: Document hub_menu. Fixes https://github.com/pybricks/pybricks-api/issues/144	2023-10-24 16:23:59 +02:00
Laurens Valk	8819446513	pybricks.common.BLE: Update broadcast API. Match firmware updates.	2023-10-24 10:40:52 +02:00
Laurens Valk	b97eef8152	conf: Fix RTD theme. Fixes https://github.com/pybricks/pybricks-api/issues/150	2023-10-23 20:49:35 +02:00
Laurens Valk	6bbdccb25f	pybricks.hubs.ThisHub.storage: Fix duplicate self. Fixes https://github.com/pybricks/pybricks-api/issues/146	2023-10-23 16:36:13 +02:00
Laurens Valk	578abab24e	signaltypes: Bare minimal async docs. This is nowhere near complete, but provides handles to start documenting async for the relevant methods.	2023-10-23 16:28:50 +02:00
Laurens Valk	1a49d396d2	pybricks.robotics: Document use_gyro.	2023-10-23 15:39:52 +02:00
Laurens Valk	397663d631	poetry: Update deps and fix Sphinx breakage.	2023-10-23 15:30:19 +02:00
David Lechner	821a3e4455	pybricks.*: add MaybeAwaitable types Many blocking functions now return Awaitable[T] when the async run loop is running. The static analysis tools don't have a way of knowing this, so the best we can do is return both types so that x = method() and x = await method() both work mostly as expected.	2023-06-12 17:04:09 -05:00
David Lechner	41b9ce71dd	pybricks.tools: add read_input_byte() This adds stubs and docs for the new `pybricks.tools.read_input_byte()` function.	2023-06-12 11:06:20 -05:00
David Lechner	6d69f04fe5	docs/cityhub: add ble.broadcast A workaround has been implemented in the firmware so this is available now.	2023-05-23 13:37:05 -05:00
dependabot[bot]	00ded2e2a0	build(deps): bump requests from 2.28.1 to 2.31.0 Bumps [requests](https://github.com/psf/requests) from 2.28.1 to 2.31.0. - [Release notes](https://github.com/psf/requests/releases) - [Changelog](https://github.com/psf/requests/blob/main/HISTORY.md) - [Commits](https://github.com/psf/requests/compare/v2.28.1...v2.31.0) --- updated-dependencies: - dependency-name: requests dependency-type: indirect ... Signed-off-by: dependabot[bot] <support@github.com>	2023-05-23 09:36:46 -05:00
David Lechner	dd1d167ad9	pyproject: drop alpha status We accidentally published the last few versions as alpha. It should have been beta to match the firmware.	2023-05-19 14:59:25 -05:00
David Lechner	4dc289ad61	pybricks.common.BLE.broadcast: fix missing ` This caused bad formatting.	2023-05-16 16:02:13 -05:00
David Lechner	bc592b4469	npm/jedi: v1.9.0	2023-05-16 15:45:40 -05:00
David Lechner	784c7ec5fc	jedi: v1.9.0 Update pybricks package for next beta.	2023-05-16 15:43:09 -05:00
David Lechner	9e2bac457a	github/workflows/publish-ide-docs: poetry install --only=doc We don't need to install other dependencies to build the docs.	2023-05-16 15:39:14 -05:00
David Lechner	61d18ebe6f	@pybricks/ide-docs v2.9.0	2023-05-16 15:33:45 -05:00
David Lechner	ff0b767e3e	v3.3.0a5	2023-05-16 15:27:22 -05:00
David Lechner	3274cef849	pybricks.common: Add new BLE class. This adds a new BLE class that is used for connectionless broadcasting/ observing on hubs with built-in Bluetooth Low Energy. Also see https://github.com/pybricks/pybricks-micropython/pull/158.	2023-05-16 14:46:53 -05:00
David Lechner	b4ff3af36d	pyproject: split lint and doc dependencies This allows a subset of dependencies to be installed if needed and allows sharing requirements with readthedocs.	2023-05-10 14:35:08 -05:00
David Lechner	8e5891d9e8	all: spelling Misc spelling fixes.	2023-05-10 14:16:15 -05:00
David Lechner	7de67852f7	vscode: change to ms-python.black-formatter Microsoft is breaking out various Python tools into separate extensions.	2023-05-10 13:43:49 -05:00
David Lechner	31d3a117d6	doc/main/conf: update copyright year	2023-04-21 17:39:28 -05:00
David Lechner	263fe3a1cb	npm/jedi: v1.8.0	2023-04-21 17:31:17 -05:00
David Lechner	db8de447d5	jedi: v1.8.0	2023-04-21 17:26:38 -05:00
David Lechner	46d6189eb1	jedi: update pybricks package version also bump python requirement since Pyodide is now using Python 3.11.	2023-04-21 17:24:47 -05:00
David Lechner	2278c7bcda	@pybricks/ide-docs v2.8.0	2023-04-21 17:10:51 -05:00