v4.1.0b1

Also copy to Pybricks Code for local testing.

.github/workflows/build.yml

@@ -1,47 +1,28 @@
-# This workflow will install Python dependencies, run tests and lint with a variety of Python versions
-# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
-
 name: Build Python package and docs
 
-on: 
-  push:
-    tags-ignore:
-      - '**'
-  pull_request:
-    paths:
-      - doc/**
-      - src/**
-      - poetry.lock
-      - poetry.toml
-      - pyproject.toml
-      - setup.cfg
-
+on: push
 
 jobs:
   build:
 
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v6
       with:
         submodules: recursive
     - name: Install dependencies
       run: |
-        pip install poetry
-        poetry run python -m pip install --upgrade pip
-        poetry run python -m pip install --upgrade setuptools
+        pipx install poetry
         poetry install
     - name: Lint Python code
-      run: poetry run flake8
+      run: poetry run ruff check
+    - name: Check Python formatting
+      run: poetry run ruff format --check
     - name: Build package
       run: poetry build
     - name: Lint docs
       run: poetry run doc8
     - name: Build html docs for Read the Docs
       run: poetry run make -C doc html
-    - name: Install IDE docs dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
     - name: Build html docs for Pybricks Code IDE
       run: poetry run make -C doc html TAG=ide

.github/workflows/jedi.yml

@@ -5,7 +5,7 @@ on: [push, pull_request]
 jobs:
   test:
     if: github.ref_type != 'tag'
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v6
     - run: pipx install poetry

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

@@ -11,7 +11,7 @@ permissions:
 
 jobs:
   publish_ide_docs:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - name: Get version from tag
       run: |
@@ -19,24 +19,15 @@ jobs:
         NPM_VERSION=$(echo "$VERSION" | sed 's/\([0-9]\)a\([0-9]\)/\1-alpha.\2/;s/\([0-9]\)b\([0-9]\)/\1-beta.\2/;s/\([0-9]\)rc\([0-9]\)/\1-rc.\2/')
         echo "VERSION=$VERSION" >> $GITHUB_ENV
         echo "NPM_VERSION=$NPM_VERSION" >> $GITHUB_ENV
-    - name: Ubuntu packages
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y dvisvgm preview-latex-style texlive texlive-fonts-extra texlive-latex-extra
+        echo "NPM_TAG=$(echo "$NPM_VERSION" | grep -q '-' && echo 'next' || echo 'latest')" >> $GITHUB_ENV
     - uses: actions/checkout@v6
       with:
         submodules: recursive
-    - name: Set up Python 3.8
-      uses: actions/setup-python@v5
-      with:
-        python-version: 3.8
     - name: Install dependencies
       run: |
-        pip install poetry
-        poetry run python -m pip install --upgrade pip
-        poetry run python -m pip install --upgrade setuptools
+        pipx install poetry
         poetry install --only=doc
-    - uses: actions/setup-node@v4
+    - uses: actions/setup-node@v6
       with:
         node-version: '24'
         registry-url: 'https://registry.npmjs.org'
@@ -44,5 +35,5 @@ jobs:
       working-directory: npm/ide-docs
     - run: yarn build
       working-directory: npm/ide-docs
-    - run: npm publish
+    - run: npm publish --tag "$NPM_TAG"
       working-directory: npm/ide-docs

.github/workflows/publish-images.yml

@@ -1,23 +0,0 @@
-name: Release @pybricks/images
-
-on:
-  push:
-    tags: 
-    - '@pybricks/images/**'
-
-jobs:
-  publish_ide_docs:
-    runs-on: ubuntu-22.04
-    steps:
-    - uses: actions/checkout@v6
-    # Setup .npmrc file to publish to npm
-    - uses: actions/setup-node@v4
-      with:
-        node-version: '22.x'
-        registry-url: 'https://registry.npmjs.org'
-    - run: ./build.py
-      working-directory: npm/images
-    - run: yarn publish
-      working-directory: npm/images/build
-      env:
-        NODE_AUTH_TOKEN: ${{ secrets.NODE_AUTH_TOKEN }}

.github/workflows/publish-jedi.yml

@@ -11,7 +11,7 @@ permissions:
 
 jobs:
   publish_jedi:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v6
     - name: Get version from tag
@@ -20,20 +20,20 @@ jobs:
         NPM_VERSION=$(echo "$VERSION" | sed 's/\([0-9]\)a\([0-9]\)/\1-alpha.\2/;s/\([0-9]\)b\([0-9]\)/\1-beta.\2/;s/\([0-9]\)rc\([0-9]\)/\1-rc.\2/')
         echo "VERSION=$VERSION" >> $GITHUB_ENV
         echo "NPM_VERSION=$NPM_VERSION" >> $GITHUB_ENV
-    - name: Set up Python
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.11'
+        echo "NPM_TAG=$(echo "$NPM_VERSION" | grep -q '-' && echo 'next' || echo 'latest')" >> $GITHUB_ENV
     - name: Install poetry
       run: pipx install poetry
     - name: Set pybricks-jedi version
       run: poetry version "$VERSION"
       working-directory: jedi
-    - uses: actions/setup-node@v4
+    - name: Set pybricks version and update jedi dependency pin
+      run: |
+        poetry version "$VERSION"
+        sed -i "s/^pybricks = \".*\"/pybricks = \"$VERSION\"/" jedi/pyproject.toml
+    - uses: actions/setup-node@v6
       with:
         node-version: '24'
         registry-url: 'https://registry.npmjs.org'
-    - run: ./build.py "$NPM_VERSION"
-      working-directory: npm/jedi
-    - run: npm publish
-      working-directory: npm/jedi/build
+    - run: python jedi/build.py "$NPM_VERSION"
+    - run: npm publish --tag "$NPM_TAG"
+      working-directory: jedi/npm-build

.github/workflows/release.yml

@@ -11,7 +11,7 @@ permissions:
 jobs:
   create_release:
     name: Create release on GitHub
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - name: Checkout code
         uses: actions/checkout@v6
@@ -36,7 +36,7 @@ jobs:
               -F CHANGELOG.md \
               $PRERELEASE_FLAG
   build_and_publish:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v6
     - run: pipx run poetry build

.gitignore

@@ -25,6 +25,7 @@
 build/
 build-*/
 _build/
+npm-build/
 
 # Tests
 ######################

.readthedocs.yml

@@ -6,9 +6,9 @@
 version: 2
 
 build:
-  os: "ubuntu-22.04"
+  os: "ubuntu-24.04"
   tools:
-    python: "3.10"
+    python: "3.12"
   jobs:
     post_create_environment:
       - pip install poetry
@@ -18,7 +18,3 @@ build:
 # Build documentation in the doc/main/ directory with Sphinx
 sphinx:
   configuration: doc/main/conf.py
-
-# Optionally build your docs in additional formats such as PDF
-formats:
-   - pdf

.vscode/extensions.json

@@ -5,9 +5,9 @@
 	// List of extensions which should be recommended for users of this workspace.
 	"recommendations": [
 		"ms-python.python",
-		"ms-python.black-formatter"
+		"charliermarsh.ruff"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": [
 	]
-}
+}

.vscode/settings.json

@@ -4,14 +4,9 @@
     },
     "python.defaultInterpreterPath": ".venv/bin/python",
     "python.autoComplete.extraPaths": ["jedi/src"],
-    "python.formatting.provider": "none",
-    "python.linting.pylintEnabled": false,
-    "python.linting.flake8Enabled": true,
-    "python.linting.pycodestyleEnabled": false,
-    "python.linting.enabled": true,
     "[python]": {
         "editor.formatOnSave": true,
-        "editor.defaultFormatter": "ms-python.black-formatter"
+        "editor.defaultFormatter": "charliermarsh.ruff"
     },
     "python.languageServer": "Pylance",
     "python.testing.pytestArgs": [

CHANGELOG.md

@@ -1,333 +1,5 @@
 # Changelog
 
-<!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
+See [pybricks-micropython/CHANGELOG.md][changelog] for the changes in each release.
 
-## Unreleased
-
-## 4.0.0b4 - 2026-05-29
-
-### Changed
-
-- Bump node version.
-
-## 4.0.0b3 - 2026-05-29
-
-### Changed
-
-- Fixed NPM publishing permissions.
-
-## 4.0.0b2 - 2026-05-29
-
-### Changed
-
-- Change NPM publishing to trusted publishers.
-
-
-## 4.0.0b1 - 2026-05-29
-
-### Changed
-
-- Updated API for firmware 4.0.0bx. See upstream changelog for details.
-- Updated release pipeline to publish rtd, npm/docs and npm/jedi on tag.
-
-### Fixed
-
-- Fixed `DriveBase.angle` reporting an incorrect return type.
-
-## 3.6.1 - 2025-05-01
-
-### Fixed
-
-- Fixed missing `hub.system.info` method on some hubs.
-
-## 3.6.0 - 2025-03-11
-
-### Changed
-
-- Update API for firmware 3.6.0. See upstream changelog for details.
-
-## 3.6.0b5 - 2025-02-26
-
-### Changed
-
-- Update API for firmware 3.6.0b5. See upstream changelog for details.
-
-## 3.5.0 - 2024-04-11
-
-### Changed
-- Bump version to 3.5.0 without additional changes.
-
-## 3.5.0b2 - 2024-04-05
-
-### Added
-
-- Added `pybricks.pupdevices.Remote.disconnect` method.
-- Added blocks for `up`, `ready` and `stationary` for IMUs.
-- Added `last` and `chr` parameters to `read_input_byte` and add blocks.
-- Added block for the `in` operation.
-- Add double ternary block.
-
-## 3.5.0b1 - 2024-03-11
-
-### Added
-
-- Added `XboxController.rumble` method.
-- Added block icons for `hub.system.set_stop_button` and `hub.system.shutdown`.
-- Added program stop block (`raise SystemExit`).
-
-## 3.4.1 - 2024-03-11
-
-### Fixed
-
-- Fixed Read The Docs virtual environment workflow.
-
-## 3.4.0 - 2024-03-11
-
-### Changed
-
-- Update list block screenshots to match implementation.
-
-## 3.4.0b5 - 2024-03-05
-
-### Changed
-
-- Updates for v3.4.0b3 firmware (out of sync with docs).
-- Changed `hub.button` to `hub.buttons` on single button hubs. Access via
- `hub.button` will keep working in the firmware for backwards compatibility.
-
-## 3.4.0b4 - 2024-02-14
-
-### Added
-
-- Added `pybricks.iodevices.XboxController` class.
-
-### Changed
-
-- Changed `buttons.pressed` return type to set.
-
-## 3.4.0b3 - 2024-01-30
-
-### Added
-
-- Added `pybricks.robotics.Car` class.
-
-### Changed
-
-- Changed `pybricks.robotics.DriveBase` icon to two wheels instead of steering
-  wheel, which will be used for the new car class.
-
-## 3.4.0b2 - 2023-11-28
-
-### Changed
-- Include first batch of block coding images.
-
-## 3.3.0 - 2023-11-24
-
-### Changed
-- Bump beta version to release version with no further changes.
-
-## 3.3.0c1 - 2023-11-20
-
-### Added
-- Enabled tilt and orientation config for `MoveHub()`.
-- Documented `Motor.close()`
-
-## Fixed
-- Fixed missing awaitable for `Remote.light` and LWP3 writes.
-
-## 3.3.0b9 - 2023-10-26
-
-### Changed
-- Changed the beta feature for using the hub's gyro. Gyro control can now be
-  toggled using `use_gyro` instead of using a separate `GyroDriveBase` class.
-- Documentation updates to match firmware 3.3.0b5--3.3.0b9 updates.
-
-### Added
-- Added `set` to `ubuiltins` module.
-- Basic multitasking docs.
-- Awaitable keyword for awaitable methods and functions.
-
-## 3.3.0b5 - 2023-05-16
-
-### Added
-- Documented new `hub.ble` methods.
-
-## 3.3.0b4 - 2023-04-21
-
-### Added
-- Documented `integral_deadzone` in `Control.pid()`.
-- Documented `Motor.model`. This can be used to view the estimated motor
-  state and change its settings.
-- Added `rotation`, `orientation`, `ready`, `stationary` and `settings` methods
-  to `IMU` class.
-- Added `GyroDriveBase` class to `pybricks.robotics`.
-
-### Changed
-- Change implementation status of `IMU.heading` and `IMU.reset_heading`. They
-  are now implemented, with some limitations as noted in a note box.
-- Moved `Matrix` and `vector` from `pybricks.geometry` to `pybricks.tools`.
-- Moved `Axis` from `pybricks.geometry` to `pybricks.parameters`.
-
-### Removed
-- Removed `pybricks.geometry` module.
-
-## 3.2.0 - 2022-12-20
-
-### Changed
-- Changed module TOC headings to make it easier to find things.
-
-## 3.2.0c1 - 2022-12-09
-
-### Changed
-- Updated "front" side of the Technic Hub to be consistent with
-  the Prime Hub.
-
-## 3.2.0b6 - 2022-12-02
-
-### Added
-- Documented ``Stop.NONE`` and ``Stop.COAST_SMART``.
-- Documented ``ujson`` module.
-- Added `done` and `stalled` methods for `DriveBase`.
-
-### Changed
-- Changed `PrimeHub.display.image()` to `PrimeHub.display.icon()` and renamed
-  its kwarg from `image` to `icon`.
-- Improved presentation and docstrings of the ``ubuiltins`` and other
-  MicroPython modules
-- Moved the random numbers example for Move Hub to the Move Hub page.
-- Moved `done()`, `stalled()`, `load()` from `Control` to `Motor` object.
-
-## 3.2.0b5 - 2022-11-11
-
-### Fixed
-- Fixed Jedi code completion for `Color` and `Icon` classes in `pybricks.parameters`.
-
-## 3.2.0b4 - 2022-10-21
-
-### Added
-- Code auto-completion for `EssentialHub`.
-- Added `System.storage` method.
-
-### Fixed
-- Fixed some type hints in `parameters` submodule.
-
-## 3.2.0b1-r3 - 2022-06-26
-
-### Fixed
-- Fixed more type hints and improved compatibility with jedi.
-
-## 3.2.0b1-r2 - 2022-06-24
-
-### Changed
-- Moved remaining type hints from `.pyi` files to the python stub modules, and
-  fixed numerous errors in the type hints throughout.
-
-## 3.2.0b1-r1 - 2022-06-09
-
-### Added
-- Added `__init__.py` to `pybricks` package.
-
-## 3.2.0b1 - 2022-06-02
-
-### Added
-- Code auto-completion for `hub.charger`, `hub.imu` and `hub.system`.
-- Moved typing from several `.pyi` files to the actual python modules.
-
-### Fixed
-- Fixed code completion for `DCMotor` and `Motor` classes in MS Python VS Code extension.
-- Fixed missing `DCMotor` type in `ev3devices`.
-- Fixed type hint for `Motor.reset_angle()` in `pupdevices`.
-
-### Changed
-- Setter for acceleration can now also be used to set acceleration and
-  deceleration to different values, using a two-valued tuple.
-
-## 3.1.0 - 2021-12-16
-
-### Added
-- Added maximum voltage setter for `DCMotor` and `Motor`.
-- Documented `DriveBase.curve()` method.
-
-### Changed
-- Removed `duty` setting from `Control.limits` method.
-- Removed `integral_range` setting from `Control.pid` method.
-
-### Fixed
-- Fixed link to Color Light Matrix page.
-- Fixed link to Inventor Hub page.
-
-## 3.1.0rc1 - 2021-11-19
-
-### Added
-- Added `ColorLightMatrix` class.
-- Added `LWP3Device` class.
-
-**NOTE: version number after this point were from JavaScript package and do
-not correspond to Pybricks firmware version numbers.**
-
-## 1.6.0 - 2021-08-30
-
-### Added
-- MicroPython module documentation.
-- Examples for hub system functions including stop button and shutdown.
-
-### Changed
-- Build IDE docs as main docs with minor changes, instead of a completely
-  separate build.
-- Moved motor control documentation to the motor page.
-
-## 1.5.0 - 2021-07-01
-
-### Added
-- Documentation for Powered Up Remote Control.
-
-## 1.4.0 - 2021-06-23
-
-### Added
-- Enabled beta content that was hidden for the 3.0 release.
-- Added notice about using the latest beta version.
-
-## 1.3.3 - 2021-05-21
-
-### Changed
-- Match example snippet styling to IDE.
-- Add more examples.
-
-## 1.3.2 - 2021-04-26
-
-### Changed
-- Theme style fixes.
-- Example code fixes
-- Match doc version to firmware version.
-
-## 1.3.1 - 2021-04-12
-
-### Changed
-- Upgrade sphinx and rtd-theme to fix style issues.
-
-## 1.3.0 - 2021-04-12
-
-### Removed
-- Removed features which not be in the official 3.0 release. These features
-  are still in beta. They'll come back in future releases once tested.
-
-## 1.2.0 - 2021-04-09
-
-### Changed
-- Moved installation guide to external site.
-
-## 1.1.1 - 2021-02-14
-
-### Added
-- Added installation guide.
-- Various documentation fixes.
-
-## 1.1.0 - 2021-01-28
-
-### Added
-- Scrollbar styling.
-
-## 1.0.0 - 2021-01-25
-
-### Added
-- Sphinx build output.
+[changelog]: https://github.com/pybricks/pybricks-micropython/blob/master/CHANGELOG.md

CONTRIBUTING.md

@@ -168,6 +168,18 @@ Building all release artifacts (docs, jedi, npm packages):
     # Linux/macOS only
     ./build-all.sh
 
+** version notes **
+
+This repository is frequently updated to stay in sync with the firmware
+implementation.
+
+Major and minor versions are synchronized with `pybricks-micropython`, which
+leads. Patch versions and prerelease version numbers may differ, as they may
+be bumped for every small change or typo in the docs.
+
+The version for this repository is also used for the `@pybricks/jedi` and
+`@pybricks/ide-docs` npm packages.
+
 [vscode]: https://code.visualstudio.com/
 [git]: https://git-scm.com/
 [python]: https://www.python.org/

build-all.sh

@@ -4,6 +4,26 @@ set -euo pipefail
 
 REPO_ROOT="$(realpath "$(dirname "${BASH_SOURCE[0]}")")"
 
+# Option: --pybricks-code <path> copies built npm packages into that
+# checkout's node_modules/@pybricks/ for easy local testing.
+PYBRICKS_CODE=""
+while [[ $# -gt 0 ]]; do
+    case "$1" in
+        --pybricks-code)
+            PYBRICKS_CODE="$(realpath "$2")"
+            shift 2
+            ;;
+        *)
+            echo "usage: $0 [--pybricks-code <path-to-pybricks-code-checkout>]" >&2
+            exit 1
+            ;;
+    esac
+done
+if [[ -n "$PYBRICKS_CODE" && ! -d "$PYBRICKS_CODE/node_modules/@pybricks" ]]; then
+    echo "error: $PYBRICKS_CODE/node_modules/@pybricks not found (run yarn install there first)" >&2
+    exit 1
+fi
+
 # Activate the project venv so python/make/etc. all use it without poetry run
 source "$REPO_ROOT/.venv/bin/activate"
 
@@ -13,35 +33,57 @@ VERSION=$(grep '^version = ' "$REPO_ROOT/pyproject.toml" | head -1 | sed 's/vers
 NPM_VERSION=$(echo "$VERSION" | sed 's/\([0-9]\)a\([0-9]\)/\1-alpha.\2/;s/\([0-9]\)b\([0-9]\)/\1-beta.\2/;s/\([0-9]\)rc\([0-9]\)/\1-rc.\2/')
 echo "==> Building version $VERSION (npm: $NPM_VERSION)"
 
-# lint
+# lint (same as CI build.yml)
 echo "==> Linting"
 cd "$REPO_ROOT"
-flake8
+ruff check
+ruff format --check
 doc8
 
-# pybricks-jedi wheel (from local source)
+# Python package
+echo "==> Building Python package"
+rm -rf "$REPO_ROOT/dist"  # stale wheels would get globbed into the jedi npm package
+poetry build
+
+# pybricks-jedi tests (own poetry env, same as CI jedi.yml)
 echo "==> Testing pybricks-jedi"
 cd "$REPO_ROOT/jedi"
 poetry run pytest -vv
 
-echo "==> Building pybricks-jedi wheel"
-cd "$REPO_ROOT/jedi"
-rm -rf dist/
-poetry build --format=wheel
-
 # @pybricks/jedi npm package
 echo "==> Building @pybricks/jedi"
-cd "$REPO_ROOT"
-python3 npm/jedi/build.py "$NPM_VERSION"
+cd "$REPO_ROOT/jedi"
+rm -rf dist  # build.py globs dist/*.whl, stale wheels would get shipped
+python3 build.py "$NPM_VERSION"
 
-# @pybricks/ide-docs npm package
-echo "==> Building @pybricks/ide-docs"
+# html docs for Read the Docs
+echo "==> Building Read the Docs html docs"
 cd "$REPO_ROOT"
+make -C doc clean html
+
+# @pybricks/ide-docs npm package (builds the TAG=ide docs)
+echo "==> Building @pybricks/ide-docs"
 make -C doc clean
 cd "$REPO_ROOT/npm/ide-docs"
 yarn build
 
 echo ""
 echo "Build complete."
-echo "  jedi npm package : npm/jedi/build/"
+echo "  python package   : dist/"
+echo "  jedi npm package : jedi/npm-build/"
 echo "  ide-docs         : npm/ide-docs/html/"
+
+if [[ -n "$PYBRICKS_CODE" ]]; then
+    DEST="$PYBRICKS_CODE/node_modules/@pybricks"
+    echo "==> Copying packages to $DEST"
+    rm -rf "$DEST/jedi" "$DEST/ide-docs"
+    mkdir -p "$DEST/jedi" "$DEST/ide-docs"
+    cp -r "$REPO_ROOT/jedi/npm-build/." "$DEST/jedi/"
+    cp -r "$REPO_ROOT/npm/ide-docs/package.json" \
+        "$REPO_ROOT/npm/ide-docs/LICENSE" \
+        "$REPO_ROOT/npm/ide-docs/README.md" \
+        "$REPO_ROOT/npm/ide-docs/html" \
+        "$DEST/ide-docs/"
+    echo "Copied @pybricks/jedi and @pybricks/ide-docs. Restart the dev server to pick them up."
+fi
+

doc/common/conf.py

@@ -22,6 +22,7 @@
 import os
 import re
 import sys
+import tomllib
 
 from docutils import nodes
 from docutils.parsers.rst.directives import flag
@@ -30,7 +31,6 @@ from sphinx.application import Sphinx
 from sphinx.addnodes import pending_xref
 from sphinx.environment import BuildEnvironment
 from sphinx.util.nodes import make_refnode
-import toml
 
 TOP_DIR = os.path.abspath(os.path.join("..", ".."))
 sys.path.insert(0, os.path.join(TOP_DIR, "src"))
@@ -40,7 +40,8 @@ sys.path.append(os.path.abspath("../common/extensions"))
 # this line of code grabbed from docs.readthedocs.org
 ON_RTD = os.environ.get("READTHEDOCS", None) == "True"
 
-_pyproject = toml.load(os.path.join(TOP_DIR, "pyproject.toml"))
+with open(os.path.join(TOP_DIR, "pyproject.toml"), "rb") as _f:
+    _pyproject = tomllib.load(_f)
 
 # -- General configuration ------------------------------------------------
 
@@ -55,11 +56,13 @@ extensions = [
     "sphinx.ext.autodoc",
     "sphinx.ext.napoleon",
     "sphinx.ext.todo",
-    "sphinx.ext.mathjax",
     # Custom Pybricks extensions
+    "awaitable",
     "blockimg",
     "color",
     "classlink",
+    "docstring_signature",
+    "nestedmethod",
     "requirements",
     "requirements-static",
     "versionchanged",
@@ -71,8 +74,7 @@ templates_path = ["../common/_templates"]
 # The suffix(es) of source filenames.
 # You can specify multiple suffix as a list of string:
 #
-# source_suffix = ['.rst', '.md']
-source_suffix = ".rst"
+source_suffix = {".rst": "restructuredtext"}
 
 # The master toctree document.
 master_doc = "index"
@@ -134,6 +136,15 @@ nitpick_ignore = [
 # not sure why, but this is needed for typing.IO in uselect
 nitpick_ignore.append(("py:obj", "typing.IO"))
 
+# MaybeAwaitable* stub types have no documented target; the awaitable
+# extension renders them as an "await" prefix instead, but the raw names can
+# still leak into signatures (e.g. overloads), so suppress those warnings.
+# Likewise, collections.abc types have no link target without intersphinx.
+nitpick_ignore_regex = [
+    ("py:class", r"MaybeAwaitable\w*"),
+    ("py:class", r"collections\.abc\.\w+"),
+]
+
 # -- Autodoc options ------------------------------------------------------
 
 autodoc_member_order = "bysource"
@@ -146,10 +157,18 @@ add_module_names = False  # Hide module name
 
 # -- Options for HTML output ----------------------------------------------
 
-import sphinx_rtd_theme
-
+# The theme to use for HTML and HTML Help pages.  Since sphinx-rtd-theme 1.2
+# themes are registered via entry points, so setting html_theme is all that
+# is needed (no extensions entry or html_theme_path).
 html_theme = "sphinx_rtd_theme"
-html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+html_theme_options = {
+    # Hide the next/previous buttons at the bottom of each page.
+    "prev_next_buttons_location": None,
+}
 
 html_show_sourcelink = False
 html_copy_source = False
@@ -158,38 +177,11 @@ html_context = {
     "disclaimer": _DISCLAIMER,
 }
 
-# The theme to use for HTML and HTML Help pages.  See the documentation for
-# a list of builtin themes.
-#
-# html_theme = 'alabaster'
-
-# Theme options are theme-specific and customize the look and feel of a theme
-# further.  For a list of options available for each theme, see the
-# documentation.
-#
-html_theme_options = {
-    "style_external_links": True,
-    "logo_only": True,
-    "style_nav_header_background": "#0088ce",  # Pybricks blue
-}
-
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
 html_static_path = ["../common/_static"]
 
-# Custom sidebar templates, must be a dictionary that maps document names
-# to template names.
-#
-# This is required for the alabaster theme
-# refs: http://alabaster.readthedocs.io/en/latest/installation.html#sidebars
-html_sidebars = {
-    "**": [
-        "relations.html",  # needs 'show_related': True theme option to display
-        "searchbox.html",
-    ]
-}
-
 # Don't hyperlink to larger images for scaled images.
 html_scaled_image_link = False
 
@@ -199,64 +191,11 @@ html_scaled_image_link = False
 htmlhelp_basename = "Pybricksdoc"
 
 
-# -- Options for LaTeX output ---------------------------------------------
-
-latex_elements = {
-    # The paper size ('letterpaper' or 'a4paper').
-    #
-    # 'papersize': 'letterpaper',
-    # The font size ('10pt', '11pt' or '12pt').
-    #
-    # 'pointsize': '10pt',
-    # Additional stuff for the LaTeX preamble.
-    #
-    "preamble": r"""
-    \usepackage{CJKutf8}
-    \makeatletter
-    \fancypagestyle{normal}{
-        \fancyhf{}
-        \fancyfoot[R]{{\py@HeaderFamily\thepage}}
-        \fancyfoot[C]{\raisebox{-7mm}{\tiny %(disclaimer)s}}
-        \fancyhead[L]{{\py@HeaderFamily \@title}}
-        \fancyhead[R]{{\py@HeaderFamily \py@release}}
-        \renewcommand{\headrulewidth}{0.4pt}
-        \renewcommand{\footrulewidth}{0.4pt}
-    }
-    \fancypagestyle{plain}{
-        \fancyhf{}
-        \fancyfoot[R]{{\py@HeaderFamily\thepage}}
-        \fancyfoot[C]{\raisebox{-7mm}{\tiny %(disclaimer)s}}
-        \renewcommand{\headrulewidth}{0.4pt}
-        \renewcommand{\footrulewidth}{0.4pt}
-    }
-    \makeatother
-    """
-    % {
-        "disclaimer": " ".join((_DISCLAIMER, "©", copyright)),
-    },
-    # Latex figure (float) alignment
-    #
-    # 'figure_align': 'htbp',
-    "extraclassoptions": "openany,oneside",
-    "releasename": "Version",
-}
-
-# Grouping the document tree into LaTeX files. List of tuples
-# (source start file, target name, title,
-#  author, documentclass [howto, manual, or own class]).
-latex_documents = [
-    (master_doc, "".join([project, "-v", version, ".tex"]), _TITLE, author, "manual"),
-]
-
 # -- Content control -----------------------------------------------------
 
 
 exclude_patterns = [
-    "ev3devices.rst",
-    "hubs/ev3brick.rst",
-    "media.rst",
     "messaging.rst",
-    "nxtdevices.rst",
     "tools/datalog.rst",
     "*.rst.txt",
 ]
@@ -364,9 +303,35 @@ def on_missing_reference(
             return nodes.Text(f"{ret_type}: {ret_unit}")
 
 
+def on_build_finished(app: Sphinx, exception):
+    if exception or app.builder.name != "html":
+        return
+    import json
+    from sphinx.util.inventory import InventoryFile
+
+    inv_path = os.path.join(app.outdir, "objects.inv")
+    if not os.path.exists(inv_path):
+        return
+
+    with open(inv_path, "rb") as f:
+        inv = InventoryFile.load(f, "", lambda base, uri: base + uri)
+
+    index = {}
+    for type_key, entries in inv.items():
+        if not type_key.startswith("py:"):
+            continue
+        for name, item in entries.items():
+            index[name] = item.uri
+
+    out_path = os.path.join(app.outdir, "namespace_index.json")
+    with open(out_path, "w") as f:
+        json.dump(index, f, indent=2, sort_keys=True)
+
+
 def setup(app: Sphinx):
     app.add_directive("availability", AvailabilityDirective)
     app.connect("missing-reference", on_missing_reference)
+    app.connect("build-finished", on_build_finished)
 
 
 # -- Python domain hacks ---------------------------------------------------

doc/common/extensions/awaitable.py

@@ -0,0 +1,61 @@
+"""Show ``await`` in front of multitasking functions and methods.
+
+The Pybricks API returns awaitable objects when a run loop is active but
+blocks otherwise. Such functions are annotated with ``MaybeAwaitable*``
+return types. This extension:
+
+* makes autodoc treat functions/methods returning ``MaybeAwaitable*`` as
+  async (there is no public hook for this, so ``is_async`` is patched);
+* renders the signature prefix as ``await`` (linked to the multitasking
+  section in tools) instead of ``async``, which better matches how users
+  call these functions.
+"""
+
+from collections.abc import Sequence
+
+from docutils import nodes
+from sphinx.addnodes import desc_sig_keyword
+from sphinx.application import Sphinx
+from sphinx.domains.python import PyFunction, PyMethod, type_to_xref
+from sphinx.ext.autodoc._property_types import _FunctionDefProperties
+
+
+def _is_async(self: _FunctionDefProperties) -> bool:
+    if "async" in self.properties:
+        return True
+
+    try:
+        return_type = self._obj.__annotations__["return"]
+    except (AttributeError, KeyError):
+        return False
+
+    return "MaybeAwaitable" in str(return_type)
+
+
+class _AwaitPrefixMixin:
+    """Replaces the ``async`` keyword prefix with a linked ``await``."""
+
+    def get_signature_prefix(self, sig: str) -> Sequence[nodes.Node]:
+        prefix = []
+        for node in super().get_signature_prefix(sig):
+            if isinstance(node, desc_sig_keyword) and node.astext() == "async":
+                node = type_to_xref("await", self.env, suppress_prefix=True)
+            prefix.append(node)
+        return prefix
+
+
+class PybricksPyFunction(_AwaitPrefixMixin, PyFunction):
+    pass
+
+
+class PybricksPyMethod(_AwaitPrefixMixin, PyMethod):
+    pass
+
+
+def setup(app: Sphinx):
+    _FunctionDefProperties.is_async = property(_is_async)
+
+    app.add_directive_to_domain("py", "function", PybricksPyFunction, override=True)
+    app.add_directive_to_domain("py", "method", PybricksPyMethod, override=True)
+
+    return {"parallel_read_safe": True}

doc/common/extensions/blockimg.py

@@ -1,7 +1,8 @@
-from docutils.parsers.rst import Directive
-from docutils import nodes
 from pathlib import Path
 
+from docutils import nodes
+from docutils.parsers.rst import Directive
+
 SPHINX_IMAGE_PATH = "blockimg"
 
 

doc/common/extensions/classlink.py

@@ -3,7 +3,6 @@ from docutils.parsers.rst import Directive
 
 
 class PybricksClasslinkDirective(Directive):
-
     required_arguments = 1
     optional_arguments = 1
 
@@ -13,7 +12,7 @@ class PybricksClasslinkDirective(Directive):
         link = name if len(self.arguments) == 1 else self.arguments[1]
 
         html = (
-            '<a href="{0}.html">'.format(link.lower())
+            f'<a href="{link.lower()}.html">'
             + '<dl class="py class">'
             + "<dt>"
             + '<em class="property">class </em>'

doc/common/extensions/color.py

@@ -1,11 +1,12 @@
+from colorsys import hsv_to_rgb
+
 from docutils import nodes
 from docutils.parsers.rst import Directive
+
 from pybricks.parameters import Color
-from colorsys import hsv_to_rgb
 
 
 class PybricksColorDirective(Directive):
-
     required_arguments = 1
 
     def run(self):
@@ -19,19 +20,17 @@ class PybricksColorDirective(Directive):
         r, g, b = hsv_to_rgb(color.h / 360, color.s / 100, color.v / 100)
 
         # Convert RGB to HEX
-        rgbhex = "#{0:02x}{1:02x}{2:02x}".format(
-            round(r * 255), round(g * 255), round(b * 255)
-        )
+        rgbhex = f"#{round(r * 255):02x}{round(g * 255):02x}{round(b * 255):02x}"
 
         # Render a small block of the given color
-        css = "background-color: {0}; color: {0}; width: 50px;".format(rgbhex)
+        css = f"background-color: {rgbhex}; color: {rgbhex}; width: 50px;"
 
         if name == "WHITE":
             css += (
                 "border-style: solid; border-width: 0.5px;" + "border-color: #666666;"
             )
 
-        html = '<div id="test" style="{0}">_</div>'.format(css)
+        html = f'<div id="test" style="{css}">_</div>'
 
         # Return the node
         node = nodes.raw("", html, format="html")

doc/common/extensions/docstring_signature.py

@@ -0,0 +1,51 @@
+"""Make explicit docstring signatures win over ``@overload`` signatures.
+
+Workaround for https://github.com/sphinx-doc/sphinx/issues/10436: when a
+function or method has overloads, autodoc unconditionally replaces the
+signature(s) found in the docstring with the overload signatures. Classes
+already behave correctly, so this only patches the function/method path. There
+is no event hook for this in autodoc's new (Sphinx 9) pipeline, so
+``_format_signatures`` is wrapped: when a docstring signature is present,
+``autodoc_typehints`` is set to ``'none'`` for that single call, which
+disables only the overload substitution branch.
+"""
+
+from sphinx.application import Sphinx
+from sphinx.ext.autodoc._dynamic import _loader, _signatures
+from sphinx.ext.autodoc._shared import _AutodocConfig
+
+_orig_format_signatures = _signatures._format_signatures
+
+
+def _format_signatures(**kwargs):
+    config: _AutodocConfig = kwargs["config"]
+    docstrings = kwargs.get("docstrings")
+    options = kwargs["options"]
+    props = kwargs["props"]
+
+    if (
+        kwargs.get("args") is None
+        and docstrings
+        and config.autodoc_docstring_signature
+        and config.autodoc_typehints != "none"
+        and props.obj_type in {"function", "method", "decorator"}
+    ):
+        # Probe on a copy: extraction strips signature lines from docstrings.
+        docstring_signatures = _signatures._extract_signatures_from_docstrings(
+            [list(lines) for lines in docstrings],
+            props=props,
+            tab_width=options._tab_width,
+        )
+        if docstring_signatures:
+            values = {name: getattr(config, name) for name in _AutodocConfig.__slots__}
+            values["autodoc_typehints"] = "none"
+            kwargs["config"] = _AutodocConfig(**values)
+
+    return _orig_format_signatures(**kwargs)
+
+
+def setup(app: Sphinx):
+    _signatures._format_signatures = _format_signatures
+    _loader._format_signatures = _format_signatures
+
+    return {"parallel_read_safe": True}

doc/common/extensions/nestedmethod.py

@@ -0,0 +1,41 @@
+"""Provides the ``autonestedmethod`` directive.
+
+Like ``automethod``, but resolves dotted names such as ``control.limits``
+relative to the class documented by the enclosing ``autoclass`` directive.
+Plain ``automethod`` treats everything before the last dot as a module/class
+path, so ``control.limits`` would be looked up as an attribute of the current
+*module* instead of the current class. Resolving the class here keeps shared
+include fragments module-neutral.
+"""
+
+from sphinx.util import logging
+from sphinx.util.docutils import SphinxDirective
+
+logger = logging.getLogger(__name__)
+
+
+class AutoNestedMethodDirective(SphinxDirective):
+    required_arguments = 1
+    has_content = False
+
+    def run(self):
+        current = self.env.current_document
+        module = current.autodoc_module or self.env.ref_context.get("py:module")
+        cls = current.autodoc_class or self.env.ref_context.get("py:class")
+
+        if not module or not cls:
+            logger.warning(
+                "autonestedmethod:: %s used outside of an autoclass context",
+                self.arguments[0],
+                location=self.get_location(),
+            )
+            return []
+
+        return self.parse_text_to_nodes(
+            f".. automethod:: {module}::{cls}.{self.arguments[0]}"
+        )
+
+
+def setup(app):
+    app.add_directive("autonestedmethod", AutoNestedMethodDirective)
+    return {"parallel_read_safe": True}

doc/common/extensions/requirements-static.py

@@ -1,8 +1,7 @@
-from os import path, makedirs
+from os import makedirs, path
 
 from docutils import nodes
 from docutils.parsers.rst import Directive
-
 from sphinx.util.osutil import copyfile
 
 # Base feature set.
@@ -17,35 +16,44 @@ FEATURES_MEDIUM = FEATURES_SMALL | {
     "pybricks-frozen",
 }
 
-# Large feature set.
-FEATURES_LARGE = FEATURES_MEDIUM | {
-    "ble-extra",  # Extra features such as pairing or multiple connections.
-}
-
 # Features per hub.
 HUB_FEATURES = {
-    "movehub": {"movehub", "pup"} | FEATURES_SMALL,
-    "cityhub": {"cityhub", "pup"} | FEATURES_MEDIUM,
-    "technichub": {"technichub", "gyro", "xbox-controller", "pup"} | FEATURES_MEDIUM,
+    "movehub": {"movehub", "ble", "pupdevices"} | FEATURES_SMALL,
+    "cityhub": {"cityhub", "ble", "pupdevices"} | FEATURES_MEDIUM,
+    "technichub": {"technichub", "gyro", "xbox-controller", "ble", "pupdevices"}
+    | FEATURES_MEDIUM,
     "primehub": {
         "primehub",
         "inventorhub",
         "light-matrix",
         "gyro",
         "xbox-controller",
-        "pup",
+        "ble",
+        "ble-extra",
+        "pupdevices",
     }
-    | FEATURES_LARGE,
+    | FEATURES_MEDIUM,
     "inventorhub": {
         "primehub",
         "inventorhub",
         "light-matrix",
         "gyro",
         "xbox-controller",
-        "pup",
+        "ble",
+        "ble-extra",
+        "pupdevices",
     }
-    | FEATURES_LARGE,
-    "essentialhub": {"essentialhub", "gyro", "xbox-controller", "pup"} | FEATURES_LARGE,
+    | FEATURES_MEDIUM,
+    "essentialhub": {
+        "essentialhub",
+        "gyro",
+        "xbox-controller",
+        "ble",
+        "ble-extra",
+        "pupdevices",
+    }
+    | FEATURES_MEDIUM,
+    "ev3brick": {"ev3devices", "nxtdevices", "image"} | FEATURES_MEDIUM,
 }
 
 
@@ -63,7 +71,7 @@ class PybricksRequirementsStaticDirective(Directive):
             makedirs(destdir)
 
         for hub in HUB_FEATURES:
-            uri = "compat_{0}.png".format(hub)
+            uri = f"compat_{hub}.png"
             src_uri = path.join(env.app.builder.srcdir, "diagrams", uri)
             build_uri = path.join(env.app.builder.outdir, "_images", uri)
             copyfile(src_uri, build_uri)
@@ -94,17 +102,17 @@ class PybricksRequirementsStaticDirective(Directive):
         )
 
         # Generate full table.
-        html = """
+        html = f"""
         <div class="wy-table-responsive">
             <table class="docutils align-default requirements-table">
                 <tbody>
                     <tr>
-                        {0}
+                        {compat_row}
                     </tr>
                 </tbody>
             </table>
         </div>
-        """.format(compat_row)
+        """
 
         # Return the node.
         node = nodes.raw("", html, format="html")

doc/common/extensions/requirements.py

@@ -22,12 +22,13 @@
 
 
 import os
-from docutils.parsers.rst import Directive, directives
-from docutils import nodes
-from docutils.statemachine import StringList
-from sphinx.util.osutil import copyfile
-from sphinx.util import logging
+from typing import ClassVar
 
+from docutils import nodes
+from docutils.parsers.rst import Directive, directives
+from docutils.statemachine import StringList
+from sphinx.util import logging
+from sphinx.util.osutil import copyfile
 
 CSS_FILE = "requirements.css"
 JS_FILE = "requirements.js"
@@ -35,7 +36,7 @@ JS_FILE = "requirements.js"
 
 class PybricksRequirementsDirective(Directive):
     has_content = True
-    option_spec = {"header": directives.unchanged}
+    option_spec: ClassVar = {"header": directives.unchanged}
 
     required_arguments = 0
     optional_arguments = 10

doc/common/extensions/versionchanged.py

@@ -4,12 +4,12 @@
     * deprecated
 when building documentation with the 'ide' tag.
 """
+
 from docutils import nodes
 from docutils.parsers.rst import Directive
 
 
 class PybricksVersionDirective(Directive):
-
     has_content = True
 
     def run(self):
@@ -19,7 +19,7 @@ class PybricksVersionDirective(Directive):
 
 
 def setup(app):
-    if "ide" in app.tags.tags:
+    if app.tags.has("ide"):
         app.add_directive_to_domain(
             "py", "deprecated", PybricksVersionDirective, override=True
         )

doc/main/blockimg/pybricks_blockBleObserve2.svg

@@ -0,0 +1,994 @@
+<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 275.3828125 42" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="275.3828125" height="42" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
+font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText {
+fill: #fff;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyNonEditableText&gt;rect:not(.blocklyDropdownRect),
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyEditableText&gt;rect:not(.blocklyDropdownRect) {
+fill: #fff;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyNonEditableText&gt;text,
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyEditableText&gt;text,
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyNonEditableText&gt;g&gt;text,
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyEditableText&gt;g&gt;text {
+fill: #575E75;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
+fill: #575E75;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText.blocklyBubbleText {
+fill: #575E75;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDraggable:not(.blocklyDisabled)
+ .blocklyEditableText:not(.editing):hover&gt;rect,
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDraggable:not(.blocklyDisabled)
+ .blocklyEditableText:not(.editing):hover&gt;.blocklyPath {
+stroke: #fff;
+stroke-width: 2;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyHtmlInput {
+font-family: "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
+font-weight: bold;
+color: #575E75;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDropdownText {
+fill: #fff !important;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme.blocklyWidgetDiv .goog-menuitem,
+.pybricks_renderer-renderer.pybricks-zelos-light-theme.blocklyDropDownDiv .goog-menuitem {
+font-family: "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme.blocklyDropDownDiv .goog-menuitem-content {
+color: #fff;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyHighlightedConnectionPath {
+stroke: #ffffff;
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
+fill: url(#blocklyDisabledPattern770586695409901)
+}
+.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
+fill-opacity: 0.2;
+stroke: none;
+}
+
+.blocklySvg {
+  background-color: #fff;
+  outline: none;
+  overflow: hidden;  /* IE overflows by default. */
+  position: absolute;
+  display: block;
+}
+
+.blocklyWidgetDiv {
+  display: none;
+  position: absolute;
+  z-index: 99999;  /* big value for bootstrap3 compatibility */
+}
+
+.injectionDiv {
+  height: 100%;
+  position: relative;
+  overflow: hidden;  /* So blocks in drag surface disappear at edges */
+  touch-action: none;
+}
+
+.blocklyNonSelectable {
+  user-select: none;
+  -ms-user-select: none;
+  -webkit-user-select: none;
+}
+
+.blocklyBlockCanvas.blocklyCanvasTransitioning,
+.blocklyBubbleCanvas.blocklyCanvasTransitioning {
+  transition: transform .5s;
+}
+
+.blocklyTooltipDiv {
+  background-color: #ffffc7;
+  border: 1px solid #ddc;
+  box-shadow: 4px 4px 20px 1px rgba(0,0,0,.15);
+  color: #000;
+  display: none;
+  font: 9pt sans-serif;
+  opacity: .9;
+  padding: 2px;
+  position: absolute;
+  z-index: 100000;  /* big value for bootstrap3 compatibility */
+}
+
+.blocklyDropDownDiv {
+  position: absolute;
+  left: 0;
+  top: 0;
+  z-index: 1000;
+  display: none;
+  border: 1px solid;
+  border-color: #dadce0;
+  background-color: #fff;
+  border-radius: 2px;
+  padding: 4px;
+  box-shadow: 0 0 3px 1px rgba(0,0,0,.3);
+}
+
+.blocklyDropDownDiv.blocklyFocused {
+  box-shadow: 0 0 6px 1px rgba(0,0,0,.3);
+}
+
+.blocklyDropDownContent {
+  max-height: 300px;  /* @todo: spec for maximum height. */
+  overflow: auto;
+  overflow-x: hidden;
+  position: relative;
+}
+
+.blocklyDropDownArrow {
+  position: absolute;
+  left: 0;
+  top: 0;
+  width: 16px;
+  height: 16px;
+  z-index: -1;
+  background-color: inherit;
+  border-color: inherit;
+}
+
+.blocklyDropDownButton {
+  display: inline-block;
+  float: left;
+  padding: 0;
+  margin: 4px;
+  border-radius: 4px;
+  outline: none;
+  border: 1px solid;
+  transition: box-shadow .1s;
+  cursor: pointer;
+}
+
+.blocklyArrowTop {
+  border-top: 1px solid;
+  border-left: 1px solid;
+  border-top-left-radius: 4px;
+  border-color: inherit;
+}
+
+.blocklyArrowBottom {
+  border-bottom: 1px solid;
+  border-right: 1px solid;
+  border-bottom-right-radius: 4px;
+  border-color: inherit;
+}
+
+.blocklyResizeSE {
+  cursor: se-resize;
+  fill: #aaa;
+}
+
+.blocklyResizeSW {
+  cursor: sw-resize;
+  fill: #aaa;
+}
+
+.blocklyResizeLine {
+  stroke: #515A5A;
+  stroke-width: 1;
+}
+
+.blocklyHighlightedConnectionPath {
+  fill: none;
+  stroke: #fc3;
+  stroke-width: 4px;
+}
+
+.blocklyPathLight {
+  fill: none;
+  stroke-linecap: round;
+  stroke-width: 1;
+}
+
+.blocklySelected&gt;.blocklyPathLight {
+  display: none;
+}
+
+.blocklyDraggable {
+  cursor: grab;
+  cursor: -webkit-grab;
+}
+
+.blocklyDragging {
+  cursor: grabbing;
+  cursor: -webkit-grabbing;
+}
+
+  /* Changes cursor on mouse down. Not effective in Firefox because of
+     https://bugzilla.mozilla.org/show_bug.cgi?id=771241 */
+.blocklyDraggable:active {
+  cursor: grabbing;
+  cursor: -webkit-grabbing;
+}
+
+.blocklyDragging.blocklyDraggingDelete {
+  cursor: url("https://blockly-demo.appspot.com/static/media/handdelete.cur"), auto;
+}
+
+.blocklyDragging&gt;.blocklyPath,
+.blocklyDragging&gt;.blocklyPathLight {
+  fill-opacity: .8;
+  stroke-opacity: .8;
+}
+
+.blocklyDragging&gt;.blocklyPathDark {
+  display: none;
+}
+
+.blocklyDisabled&gt;.blocklyPath {
+  fill-opacity: .5;
+  stroke-opacity: .5;
+}
+
+.blocklyDisabled&gt;.blocklyPathLight,
+.blocklyDisabled&gt;.blocklyPathDark {
+  display: none;
+}
+
+.blocklyInsertionMarker&gt;.blocklyPath,
+.blocklyInsertionMarker&gt;.blocklyPathLight,
+.blocklyInsertionMarker&gt;.blocklyPathDark {
+  fill-opacity: .2;
+  stroke: none;
+}
+
+.blocklyMultilineText {
+  font-family: monospace;
+}
+
+.blocklyNonEditableText&gt;text {
+  pointer-events: none;
+}
+
+.blocklyFlyout {
+  position: absolute;
+  z-index: 20;
+}
+
+.blocklyText text {
+  cursor: default;
+}
+
+/*
+  Don't allow users to select text.  It gets annoying when trying to
+  drag a block and selected text moves instead.
+*/
+.blocklySvg text {
+  user-select: none;
+  -ms-user-select: none;
+  -webkit-user-select: none;
+  cursor: inherit;
+}
+
+.blocklyHidden {
+  display: none;
+}
+
+.blocklyFieldDropdown:not(.blocklyHidden) {
+  display: block;
+}
+
+.blocklyIconGroup {
+  cursor: default;
+}
+
+.blocklyIconGroup:not(:hover),
+.blocklyIconGroupReadonly {
+  opacity: .6;
+}
+
+.blocklyIconShape {
+  fill: #00f;
+  stroke: #fff;
+  stroke-width: 1px;
+}
+
+.blocklyIconSymbol {
+  fill: #fff;
+}
+
+.blocklyMinimalBody {
+  margin: 0;
+  padding: 0;
+}
+
+.blocklyHtmlInput {
+  border: none;
+  border-radius: 4px;
+  height: 100%;
+  margin: 0;
+  outline: none;
+  padding: 0;
+  width: 100%;
+  text-align: center;
+  display: block;
+  box-sizing: border-box;
+}
+
+/* Remove the increase and decrease arrows on the field number editor */
+input.blocklyHtmlInput[type=number]::-webkit-inner-spin-button,
+input.blocklyHtmlInput[type=number]::-webkit-outer-spin-button {
+  -webkit-appearance: none;
+  margin: 0;
+}
+
+input[type=number] {
+  -moz-appearance: textfield;
+}
+
+.blocklyMainBackground {
+  stroke-width: 1;
+  stroke: #c6c6c6;  /* Equates to #ddd due to border being off-pixel. */
+}
+
+.blocklyMutatorBackground {
+  fill: #fff;
+  stroke: #ddd;
+  stroke-width: 1;
+}
+
+.blocklyFlyoutBackground {
+  fill: #ddd;
+  fill-opacity: .8;
+}
+
+.blocklyMainWorkspaceScrollbar {
+  z-index: 20;
+}
+
+.blocklyFlyoutScrollbar {
+  z-index: 30;
+}
+
+.blocklyScrollbarHorizontal,
+.blocklyScrollbarVertical {
+  position: absolute;
+  outline: none;
+}
+
+.blocklyScrollbarBackground {
+  opacity: 0;
+}
+
+.blocklyScrollbarHandle {
+  fill: #ccc;
+}
+
+.blocklyScrollbarBackground:hover+.blocklyScrollbarHandle,
+.blocklyScrollbarHandle:hover {
+  fill: #bbb;
+}
+
+/* Darken flyout scrollbars due to being on a grey background. */
+/* By contrast, workspace scrollbars are on a white background. */
+.blocklyFlyout .blocklyScrollbarHandle {
+  fill: #bbb;
+}
+
+.blocklyFlyout .blocklyScrollbarBackground:hover+.blocklyScrollbarHandle,
+.blocklyFlyout .blocklyScrollbarHandle:hover {
+  fill: #aaa;
+}
+
+.blocklyInvalidInput {
+  background: #faa;
+}
+
+.blocklyVerticalMarker {
+  stroke-width: 3px;
+  fill: rgba(255,255,255,.5);
+  pointer-events: none;
+}
+
+.blocklyComputeCanvas {
+  position: absolute;
+  width: 0;
+  height: 0;
+}
+
+.blocklyNoPointerEvents {
+  pointer-events: none;
+}
+
+.blocklyContextMenu {
+  border-radius: 4px;
+  max-height: 100%;
+}
+
+.blocklyDropdownMenu {
+  border-radius: 2px;
+  padding: 0 !important;
+}
+
+.blocklyDropdownMenu .blocklyMenuItem {
+  /* 28px on the left for icon or checkbox. */
+  padding-left: 28px;
+}
+
+/* BiDi override for the resting state. */
+.blocklyDropdownMenu .blocklyMenuItemRtl {
+  /* Flip left/right padding for BiDi. */
+  padding-left: 5px;
+  padding-right: 28px;
+}
+
+.blocklyWidgetDiv .blocklyMenu {
+  background: #fff;
+  border: 1px solid transparent;
+  box-shadow: 0 0 3px 1px rgba(0,0,0,.3);
+  font: normal 13px Arial, sans-serif;
+  margin: 0;
+  outline: none;
+  padding: 4px 0;
+  position: absolute;
+  overflow-y: auto;
+  overflow-x: hidden;
+  max-height: 100%;
+  z-index: 20000;  /* Arbitrary, but some apps depend on it... */
+}
+
+.blocklyWidgetDiv .blocklyMenu.blocklyFocused {
+  box-shadow: 0 0 6px 1px rgba(0,0,0,.3);
+}
+
+.blocklyDropDownDiv .blocklyMenu {
+  background: inherit;  /* Compatibility with gapi, reset from goog-menu */
+  border: inherit;  /* Compatibility with gapi, reset from goog-menu */
+  font: normal 13px "Helvetica Neue", Helvetica, sans-serif;
+  outline: none;
+  position: relative;  /* Compatibility with gapi, reset from goog-menu */
+  z-index: 20000;  /* Arbitrary, but some apps depend on it... */
+}
+
+/* State: resting. */
+.blocklyMenuItem {
+  border: none;
+  color: #000;
+  cursor: pointer;
+  list-style: none;
+  margin: 0;
+  /* 7em on the right for shortcut. */
+  min-width: 7em;
+  padding: 6px 15px;
+  white-space: nowrap;
+}
+
+/* State: disabled. */
+.blocklyMenuItemDisabled {
+  color: #ccc;
+  cursor: inherit;
+}
+
+/* State: hover. */
+.blocklyMenuItemHighlight {
+  background-color: rgba(0,0,0,.1);
+}
+
+/* State: selected/checked. */
+.blocklyMenuItemCheckbox {
+  height: 16px;
+  position: absolute;
+  width: 16px;
+}
+
+.blocklyMenuItemSelected .blocklyMenuItemCheckbox {
+  background: url(https://blockly-demo.appspot.com/static/media/sprites.png) no-repeat -48px -16px;
+  float: left;
+  margin-left: -24px;
+  position: static;  /* Scroll with the menu. */
+}
+
+.blocklyMenuItemRtl .blocklyMenuItemCheckbox {
+  float: right;
+  margin-right: -24px;
+}
+
+
+.blocklyZoom&gt;image, .blocklyZoom&gt;svg&gt;image {
+  opacity: .4;
+}
+
+.blocklyZoom&gt;image:hover, .blocklyZoom&gt;svg&gt;image:hover {
+  opacity: .6;
+}
+
+.blocklyZoom&gt;image:active, .blocklyZoom&gt;svg&gt;image:active {
+  opacity: .8;
+}
+
+
+.blocklyCommentForeignObject {
+  position: relative;
+  z-index: 0;
+}
+
+.blocklyCommentRect {
+  fill: #E7DE8E;
+  stroke: #bcA903;
+  stroke-width: 1px;
+}
+
+.blocklyCommentTarget {
+  fill: transparent;
+  stroke: #bcA903;
+}
+
+.blocklyCommentTargetFocused {
+  fill: none;
+}
+
+.blocklyCommentHandleTarget {
+  fill: none;
+}
+
+.blocklyCommentHandleTargetFocused {
+  fill: transparent;
+}
+
+.blocklyFocused&gt;.blocklyCommentRect {
+  fill: #B9B272;
+  stroke: #B9B272;
+}
+
+.blocklySelected&gt;.blocklyCommentTarget {
+  stroke: #fc3;
+  stroke-width: 3px;
+}
+
+.blocklyCommentDeleteIcon {
+  cursor: pointer;
+  fill: #000;
+  display: none;
+}
+
+.blocklySelected &gt; .blocklyCommentDeleteIcon {
+  display: block;
+}
+
+.blocklyDeleteIconShape {
+  fill: #000;
+  stroke: #000;
+  stroke-width: 1px;
+}
+
+.blocklyDeleteIconShape.blocklyDeleteIconHighlighted {
+  stroke: #fc3;
+}
+
+
+.blocklyCommentTextarea {
+  background-color: #fef49c;
+  border: 0;
+  display: block;
+  margin: 0;
+  outline: 0;
+  padding: 3px;
+  resize: none;
+  text-overflow: hidden;
+}
+
+
+.blocklyAngleCircle {
+  stroke: #444;
+  stroke-width: 1;
+  fill: #ddd;
+  fill-opacity: 0.8;
+}
+
+.blocklyAngleMarks {
+  stroke: #444;
+  stroke-width: 1;
+}
+
+.blocklyAngleGauge {
+  fill: #f88;
+  fill-opacity: 0.8;
+  pointer-events: none;
+}
+
+.blocklyAngleLine {
+  stroke: #f00;
+  stroke-width: 2;
+  stroke-linecap: round;
+  pointer-events: none;
+}
+
+
+.blocklyColourTable {
+  border-collapse: collapse;
+  display: block;
+  outline: none;
+  padding: 1px;
+}
+
+.blocklyColourTable&gt;tr&gt;td {
+  border: 0.5px solid #888;
+  box-sizing: border-box;
+  cursor: pointer;
+  display: inline-block;
+  height: 20px;
+  padding: 0;
+  width: 20px;
+}
+
+.blocklyColourTable&gt;tr&gt;td.blocklyColourHighlighted {
+  border-color: #eee;
+  box-shadow: 2px 2px 7px 2px rgba(0, 0, 0, 0.3);
+  position: relative;
+}
+
+.blocklyColourSelected, .blocklyColourSelected:hover {
+  border-color: #eee !important;
+  outline: 1px solid #333;
+  position: relative;
+}
+
+
+.blocklyHtmlTextAreaInput {
+  font-family: monospace;
+  resize: none;
+  overflow: hidden;
+  height: 100%;
+  text-align: left;
+}
+
+.blocklyHtmlTextAreaInputOverflowedY {
+  overflow-y: scroll;
+}
+
+
+.blocklyFlyoutButton {
+  fill: #888;
+  cursor: default;
+}
+
+.blocklyFlyoutButtonShadow {
+  fill: #666;
+}
+
+.blocklyFlyoutButton:hover {
+  fill: #aaa;
+}
+
+.blocklyFlyoutLabel {
+  cursor: default;
+}
+
+.blocklyFlyoutLabelBackground {
+  opacity: 0;
+}
+
+
+.blocklyTreeRow:not(.blocklyTreeSelected):hover {
+  background-color: rgba(255, 255, 255, .2);
+}
+
+.blocklyToolboxDiv[layout="h"] .blocklyToolboxCategory {
+  margin: 1px 5px 1px 0;
+}
+
+.blocklyToolboxDiv[dir="RTL"][layout="h"] .blocklyToolboxCategory {
+  margin: 1px 0 1px 5px;
+}
+
+.blocklyTreeRow {
+  height: 22px;
+  line-height: 22px;
+  margin-bottom: 3px;
+  padding-right: 8px;
+  white-space: nowrap;
+}
+
+.blocklyToolboxDiv[dir="RTL"] .blocklyTreeRow {
+  margin-left: 8px;
+  padding-right: 0;
+}
+
+.blocklyTreeIcon {
+  background-image: url(https://blockly-demo.appspot.com/static/media/sprites.png);
+  height: 16px;
+  vertical-align: middle;
+  visibility: hidden;
+  width: 16px;
+}
+
+.blocklyTreeIconClosed {
+  background-position: -32px -1px;
+}
+
+.blocklyToolboxDiv[dir="RTL"] .blocklyTreeIconClosed {
+  background-position: 0 -1px;
+}
+
+.blocklyTreeSelected&gt;.blocklyTreeIconClosed {
+  background-position: -32px -17px;
+}
+
+.blocklyToolboxDiv[dir="RTL"] .blocklyTreeSelected&gt;.blocklyTreeIconClosed {
+  background-position: 0 -17px;
+}
+
+.blocklyTreeIconOpen {
+  background-position: -16px -1px;
+}
+
+.blocklyTreeSelected&gt;.blocklyTreeIconOpen {
+  background-position: -16px -17px;
+}
+
+.blocklyTreeLabel {
+  cursor: default;
+  font: 16px sans-serif;
+  padding: 0 3px;
+  vertical-align: middle;
+}
+
+.blocklyToolboxDelete .blocklyTreeLabel {
+  cursor: url("https://blockly-demo.appspot.com/static/media/handdelete.cur"), auto;
+}
+
+.blocklyTreeSelected .blocklyTreeLabel {
+  color: #fff;
+}
+
+
+.blocklyTreeSeparator {
+  border-bottom: solid #e5e5e5 1px;
+  height: 0;
+  margin: 5px 0;
+}
+
+.blocklyToolboxDiv[layout="h"] .blocklyTreeSeparator {
+  border-right: solid #e5e5e5 1px;
+  border-bottom: none;
+  height: auto;
+  margin: 0 5px 0 5px;
+  padding: 5px 0;
+  width: 0;
+}
+
+
+.blocklyToolboxDelete {
+  cursor: url("https://blockly-demo.appspot.com/static/media/handdelete.cur"), auto;
+}
+
+.blocklyToolboxGrab {
+  cursor: url("https://blockly-demo.appspot.com/static/media/handclosed.cur"), auto;
+  cursor: grabbing;
+  cursor: -webkit-grabbing;
+}
+
+/* Category tree in Toolbox. */
+.blocklyToolboxDiv {
+  background-color: #ddd;
+  overflow-x: visible;
+  overflow-y: auto;
+  padding: 4px 0 4px 0;
+  position: absolute;
+  z-index: 70;  /* so blocks go under toolbox when dragging */
+  -webkit-tap-highlight-color: transparent;  /* issue #1345 */
+}
+
+.blocklyToolboxContents {
+  display: flex;
+  flex-wrap: wrap;
+  flex-direction: column;
+}
+
+.blocklyToolboxContents:focus {
+  outline: none;
+}
+
+
+.blocklyColourTable {
+  border-collapse: collapse;
+  display: block;
+  outline: none;
+  padding: 1px;
+}
+
+.blocklyColourTable&gt;tr&gt;td {
+  border: 0.5px solid #888;
+  box-sizing: border-box;
+  cursor: pointer;
+  display: inline-block;
+  height: 20px;
+  padding: 0;
+  width: 20px;
+}
+
+.blocklyColourTable&gt;tr&gt;td.blocklyColourHighlighted {
+  border-color: #eee;
+  box-shadow: 2px 2px 7px 2px rgba(0, 0, 0, 0.3);
+  position: relative;
+}
+
+.blocklyColourSelected, .blocklyColourSelected:hover {
+  border-color: #eee !important;
+  outline: 1px solid #333;
+  position: relative;
+}
+
+
+.fieldColourSliderContainer {
+  padding: 4px;
+}
+.fieldColourSliderContainer hr {
+  border: none;
+  border-top: 1px solid #bbb;
+}
+.fieldColourSliderLabel {
+  display: flex;
+  justify-content: space-between;
+  font: 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
+}
+.fieldColourEyedropper {
+  appearance: none;
+  position: relative;
+  border: none;
+  border-radius: 4px;
+  background: transparent;
+  font: inherit;
+  color: inherit;
+  cursor: pointer;
+  width: 100%;
+  margin: 0;
+  display: flex;
+  justify-content: center;
+  align-items: center;
+}
+.fieldColourEyedropper:hover {
+  background: rgba(0,0,0,0.1)
+}
+.fieldColourEyedropper input {
+  opacity: 0;
+  position: absolute;
+  top: 0;
+  left: 0;
+  right: 0;
+  bottom: 0;
+}
+.fieldColourEyedropper::before {
+  content: "Eyedropper";
+}
+.fieldColourEyedropper::after {
+  content: "";
+  margin-left: 8px;
+  width: 24px;
+  height: 24px;
+  background: currentColor;
+  pointer-events: none;
+  -webkit-mask-image: var(--customize-dial-symbol);
+  -webkit-mask-repeat: no-repeat;
+  -webkit-mask-position: center;
+  mask-image: var(--customize-dial-symbol);
+  mask-repeat: no-repeat;
+  mask-position: center;
+  --customize-dial-symbol: url('data:image/svg+xml,    &lt;svg xmlns="http://www.w3.org/2000/svg"          width="24px" height="24px"          viewBox="0 0 24 24"&gt;       &lt;path stroke="black" strokewidth="1.414" fill="none"             d="m 13 8 L 6 15 Q 3 18 2 21 Q 0 23 .5 23.5 Q 1 24 3 22                 Q 6 21 9 18 L 16 11"/&gt;       &lt;path fill="black"             d="m 12 7 Q 11 6 12 5 Q 13 4 14 5 Q 15 6 16 5 Q 20 -1 22.5 1.5                 Q 25 4 19 8 Q 18 9 19 10 Q 20 11 19 12 Q 18 13 17 12"/&gt;     &lt;/svg&gt;');
+}
+.fieldColourSlider {
+  -webkit-appearance: none;
+  width: 150px;
+  height: 24px;
+  margin: 4px 8px 24px 8px;
+  padding: 0;
+}
+.fieldColourSlider:last-child {
+  margin-bottom: 4px;
+}
+.fieldColourSlider:focus {
+  outline: none;
+}
+/* Webkit */
+.fieldColourSlider::-webkit-slider-runnable-track {
+  background: var(--slider-track-background);
+  border-radius: 8px;
+  height: 16px;
+}
+.fieldColourSlider::-webkit-slider-thumb {
+  -webkit-appearance: none;
+  background: #fff;
+  border-radius: 50%;
+  box-shadow: 0 0 0 4px rgba(0,0,0,.15);
+  cursor: pointer;
+  width: 24px;
+  height: 24px;
+  margin-top: -4px;
+}
+/* Firefox */
+.fieldColourSlider::-moz-range-track {
+  background: var(--slider-track-background);
+  border-radius: 8px;
+  height: 16px;
+}
+.fieldColourSlider::-moz-range-thumb {
+  background: #fff;
+  border: none;
+  border-radius: 50%;
+  box-shadow: 0 0 0 4px rgba(0,0,0,.15);
+  cursor: pointer;
+  width: 24px;
+  height: 24px;
+}
+.fieldColourSlider::-moz-focus-outer {
+  /* override the focus border style */
+  border: 0;
+}
+/* IE */
+.fieldColourSlider::-ms-track {
+  background: var(--slider-track-background);
+  border-radius: 12px;
+  width: 100%;
+  height: 24px;
+  /* remove default tick marks */
+  color: transparent;
+}
+.fieldColourSlider::-ms-fill-lower  {
+  background: transparent;
+}
+.fieldColourSlider::-ms-fill-upper  {
+  background: transparent;
+}
+.fieldColourSlider::-ms-thumb {
+  background: #fff;
+  border: none;
+  border-radius: 50%;
+  box-shadow: 0 0 0 4px rgba(0,0,0,.15);
+  cursor: pointer;
+  width: 24px;
+  height: 24px;
+}
+
+
+.blocklyMultilineText {
+    fill: #fff !important;
+}
+  
+
+.blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
+  opacity: .2;
+}
+
+.blocklyMultiselect&gt;image:hover, .blocklyMultiselect&gt;svg&gt;image:hover {
+  opacity: .4;
+}
+
+.blocklyMultiselect&gt;image:active, .blocklyMultiselect&gt;svg&gt;image:active {
+  opacity: .6;
+}
+
+
+  .controlsIconStyleLightTheme {
+    opacity: 0.2;
+  }
+  .controlsIconStyleLightTheme:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyleLightTheme:active {
+    opacity: 0.6;
+  }
+  
+
+  .controlsIconStyleDarkTheme {
+    opacity: 0.4;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:hover {
+    opacity: 0.6;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:active {
+    opacity: 0.8;
+    filter: invert(1);
+  }
+  
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doc/main/blockimg/pybricks_variables_set_app_data_app_data_line_follower.svg

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+  outline: none;
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+  position: absolute;
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+  box-shadow: 4px 4px 20px 1px rgba(0,0,0,.15);
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+  display: none;
+  font: 9pt sans-serif;
+  opacity: .9;
+  padding: 2px;
+  position: absolute;
+  z-index: 100000;  /* big value for bootstrap3 compatibility */
+}
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+  left: 0;
+  top: 0;
+  z-index: 1000;
+  display: none;
+  border: 1px solid;
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+  background-color: #fff;
+  border-radius: 2px;
+  padding: 4px;
+  box-shadow: 0 0 3px 1px rgba(0,0,0,.3);
+}
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+  box-shadow: 0 0 6px 1px rgba(0,0,0,.3);
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+  overflow-x: hidden;
+  position: relative;
+}
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+  position: absolute;
+  left: 0;
+  top: 0;
+  width: 16px;
+  height: 16px;
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+  background-color: inherit;
+  border-color: inherit;
+}
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+  float: left;
+  padding: 0;
+  margin: 4px;
+  border-radius: 4px;
+  outline: none;
+  border: 1px solid;
+  transition: box-shadow .1s;
+  cursor: pointer;
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+  border-left: 1px solid;
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+  border-color: inherit;
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+  border-bottom: 1px solid;
+  border-right: 1px solid;
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+}
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+}
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+  cursor: -webkit-grabbing;
+}
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+  /* Changes cursor on mouse down. Not effective in Firefox because of
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+  cursor: grabbing;
+  cursor: -webkit-grabbing;
+}
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+}
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+}
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+  stroke-opacity: .5;
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+  -ms-user-select: none;
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+}
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+}
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+}
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+}
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+}
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+  stroke: #fff;
+  stroke-width: 1px;
+}
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+  fill: #fff;
+}
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+  padding: 0;
+}
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+  border: none;
+  border-radius: 4px;
+  height: 100%;
+  margin: 0;
+  outline: none;
+  padding: 0;
+  width: 100%;
+  text-align: center;
+  display: block;
+  box-sizing: border-box;
+}
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+/* Remove the increase and decrease arrows on the field number editor */
+input.blocklyHtmlInput[type=number]::-webkit-inner-spin-button,
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+  margin: 0;
+}
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+input[type=number] {
+  -moz-appearance: textfield;
+}
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+  stroke-width: 1;
+  stroke: #c6c6c6;  /* Equates to #ddd due to border being off-pixel. */
+}
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+  stroke: #ddd;
+  stroke-width: 1;
+}
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+  fill: #ddd;
+  fill-opacity: .8;
+}
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+  z-index: 20;
+}
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+  z-index: 30;
+}
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+  outline: none;
+}
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+  fill: #ccc;
+}
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+  fill: #bbb;
+}
+
+/* Darken flyout scrollbars due to being on a grey background. */
+/* By contrast, workspace scrollbars are on a white background. */
+.blocklyFlyout .blocklyScrollbarHandle {
+  fill: #bbb;
+}
+
+.blocklyFlyout .blocklyScrollbarBackground:hover+.blocklyScrollbarHandle,
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+}
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+  background: #faa;
+}
+
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+  fill: rgba(255,255,255,.5);
+  pointer-events: none;
+}
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+  position: absolute;
+  width: 0;
+  height: 0;
+}
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+  pointer-events: none;
+}
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+  border-radius: 4px;
+  max-height: 100%;
+}
+
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+  border-radius: 2px;
+  padding: 0 !important;
+}
+
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+  /* 28px on the left for icon or checkbox. */
+  padding-left: 28px;
+}
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+/* BiDi override for the resting state. */
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+  /* Flip left/right padding for BiDi. */
+  padding-left: 5px;
+  padding-right: 28px;
+}
+
+.blocklyWidgetDiv .blocklyMenu {
+  background: #fff;
+  border: 1px solid transparent;
+  box-shadow: 0 0 3px 1px rgba(0,0,0,.3);
+  font: normal 13px Arial, sans-serif;
+  margin: 0;
+  outline: none;
+  padding: 4px 0;
+  position: absolute;
+  overflow-y: auto;
+  overflow-x: hidden;
+  max-height: 100%;
+  z-index: 20000;  /* Arbitrary, but some apps depend on it... */
+}
+
+.blocklyWidgetDiv .blocklyMenu.blocklyFocused {
+  box-shadow: 0 0 6px 1px rgba(0,0,0,.3);
+}
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+  border: inherit;  /* Compatibility with gapi, reset from goog-menu */
+  font: normal 13px "Helvetica Neue", Helvetica, sans-serif;
+  outline: none;
+  position: relative;  /* Compatibility with gapi, reset from goog-menu */
+  z-index: 20000;  /* Arbitrary, but some apps depend on it... */
+}
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+  border: none;
+  color: #000;
+  cursor: pointer;
+  list-style: none;
+  margin: 0;
+  /* 7em on the right for shortcut. */
+  min-width: 7em;
+  padding: 6px 15px;
+  white-space: nowrap;
+}
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+}
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+  width: 16px;
+}
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+  float: left;
+  margin-left: -24px;
+  position: static;  /* Scroll with the menu. */
+}
+
+.blocklyMenuItemRtl .blocklyMenuItemCheckbox {
+  float: right;
+  margin-right: -24px;
+}
+
+
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+  opacity: .4;
+}
+
+.blocklyZoom&gt;image:hover, .blocklyZoom&gt;svg&gt;image:hover {
+  opacity: .6;
+}
+
+.blocklyZoom&gt;image:active, .blocklyZoom&gt;svg&gt;image:active {
+  opacity: .8;
+}
+
+
+.blocklyCommentForeignObject {
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+  z-index: 0;
+}
+
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+  stroke: #B9B272;
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+  stroke-width: 3px;
+}
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+.blocklyCommentDeleteIcon {
+  cursor: pointer;
+  fill: #000;
+  display: none;
+}
+
+.blocklySelected &gt; .blocklyCommentDeleteIcon {
+  display: block;
+}
+
+.blocklyDeleteIconShape {
+  fill: #000;
+  stroke: #000;
+  stroke-width: 1px;
+}
+
+.blocklyDeleteIconShape.blocklyDeleteIconHighlighted {
+  stroke: #fc3;
+}
+
+
+.blocklyCommentTextarea {
+  background-color: #fef49c;
+  border: 0;
+  display: block;
+  margin: 0;
+  outline: 0;
+  padding: 3px;
+  resize: none;
+  text-overflow: hidden;
+}
+
+
+.blocklyAngleCircle {
+  stroke: #444;
+  stroke-width: 1;
+  fill: #ddd;
+  fill-opacity: 0.8;
+}
+
+.blocklyAngleMarks {
+  stroke: #444;
+  stroke-width: 1;
+}
+
+.blocklyAngleGauge {
+  fill: #f88;
+  fill-opacity: 0.8;
+  pointer-events: none;
+}
+
+.blocklyAngleLine {
+  stroke: #f00;
+  stroke-width: 2;
+  stroke-linecap: round;
+  pointer-events: none;
+}
+
+
+.blocklyColourTable {
+  border-collapse: collapse;
+  display: block;
+  outline: none;
+  padding: 1px;
+}
+
+.blocklyColourTable&gt;tr&gt;td {
+  border: 0.5px solid #888;
+  box-sizing: border-box;
+  cursor: pointer;
+  display: inline-block;
+  height: 20px;
+  padding: 0;
+  width: 20px;
+}
+
+.blocklyColourTable&gt;tr&gt;td.blocklyColourHighlighted {
+  border-color: #eee;
+  box-shadow: 2px 2px 7px 2px rgba(0, 0, 0, 0.3);
+  position: relative;
+}
+
+.blocklyColourSelected, .blocklyColourSelected:hover {
+  border-color: #eee !important;
+  outline: 1px solid #333;
+  position: relative;
+}
+
+
+.blocklyHtmlTextAreaInput {
+  font-family: monospace;
+  resize: none;
+  overflow: hidden;
+  height: 100%;
+  text-align: left;
+}
+
+.blocklyHtmlTextAreaInputOverflowedY {
+  overflow-y: scroll;
+}
+
+
+.blocklyFlyoutButton {
+  fill: #888;
+  cursor: default;
+}
+
+.blocklyFlyoutButtonShadow {
+  fill: #666;
+}
+
+.blocklyFlyoutButton:hover {
+  fill: #aaa;
+}
+
+.blocklyFlyoutLabel {
+  cursor: default;
+}
+
+.blocklyFlyoutLabelBackground {
+  opacity: 0;
+}
+
+
+.blocklyTreeRow:not(.blocklyTreeSelected):hover {
+  background-color: rgba(255, 255, 255, .2);
+}
+
+.blocklyToolboxDiv[layout="h"] .blocklyToolboxCategory {
+  margin: 1px 5px 1px 0;
+}
+
+.blocklyToolboxDiv[dir="RTL"][layout="h"] .blocklyToolboxCategory {
+  margin: 1px 0 1px 5px;
+}
+
+.blocklyTreeRow {
+  height: 22px;
+  line-height: 22px;
+  margin-bottom: 3px;
+  padding-right: 8px;
+  white-space: nowrap;
+}
+
+.blocklyToolboxDiv[dir="RTL"] .blocklyTreeRow {
+  margin-left: 8px;
+  padding-right: 0;
+}
+
+.blocklyTreeIcon {
+  background-image: url(https://blockly-demo.appspot.com/static/media/sprites.png);
+  height: 16px;
+  vertical-align: middle;
+  visibility: hidden;
+  width: 16px;
+}
+
+.blocklyTreeIconClosed {
+  background-position: -32px -1px;
+}
+
+.blocklyToolboxDiv[dir="RTL"] .blocklyTreeIconClosed {
+  background-position: 0 -1px;
+}
+
+.blocklyTreeSelected&gt;.blocklyTreeIconClosed {
+  background-position: -32px -17px;
+}
+
+.blocklyToolboxDiv[dir="RTL"] .blocklyTreeSelected&gt;.blocklyTreeIconClosed {
+  background-position: 0 -17px;
+}
+
+.blocklyTreeIconOpen {
+  background-position: -16px -1px;
+}
+
+.blocklyTreeSelected&gt;.blocklyTreeIconOpen {
+  background-position: -16px -17px;
+}
+
+.blocklyTreeLabel {
+  cursor: default;
+  font: 16px sans-serif;
+  padding: 0 3px;
+  vertical-align: middle;
+}
+
+.blocklyToolboxDelete .blocklyTreeLabel {
+  cursor: url("https://blockly-demo.appspot.com/static/media/handdelete.cur"), auto;
+}
+
+.blocklyTreeSelected .blocklyTreeLabel {
+  color: #fff;
+}
+
+
+.blocklyTreeSeparator {
+  border-bottom: solid #e5e5e5 1px;
+  height: 0;
+  margin: 5px 0;
+}
+
+.blocklyToolboxDiv[layout="h"] .blocklyTreeSeparator {
+  border-right: solid #e5e5e5 1px;
+  border-bottom: none;
+  height: auto;
+  margin: 0 5px 0 5px;
+  padding: 5px 0;
+  width: 0;
+}
+
+
+.blocklyToolboxDelete {
+  cursor: url("https://blockly-demo.appspot.com/static/media/handdelete.cur"), auto;
+}
+
+.blocklyToolboxGrab {
+  cursor: url("https://blockly-demo.appspot.com/static/media/handclosed.cur"), auto;
+  cursor: grabbing;
+  cursor: -webkit-grabbing;
+}
+
+/* Category tree in Toolbox. */
+.blocklyToolboxDiv {
+  background-color: #ddd;
+  overflow-x: visible;
+  overflow-y: auto;
+  padding: 4px 0 4px 0;
+  position: absolute;
+  z-index: 70;  /* so blocks go under toolbox when dragging */
+  -webkit-tap-highlight-color: transparent;  /* issue #1345 */
+}
+
+.blocklyToolboxContents {
+  display: flex;
+  flex-wrap: wrap;
+  flex-direction: column;
+}
+
+.blocklyToolboxContents:focus {
+  outline: none;
+}
+
+
+.blocklyColourTable {
+  border-collapse: collapse;
+  display: block;
+  outline: none;
+  padding: 1px;
+}
+
+.blocklyColourTable&gt;tr&gt;td {
+  border: 0.5px solid #888;
+  box-sizing: border-box;
+  cursor: pointer;
+  display: inline-block;
+  height: 20px;
+  padding: 0;
+  width: 20px;
+}
+
+.blocklyColourTable&gt;tr&gt;td.blocklyColourHighlighted {
+  border-color: #eee;
+  box-shadow: 2px 2px 7px 2px rgba(0, 0, 0, 0.3);
+  position: relative;
+}
+
+.blocklyColourSelected, .blocklyColourSelected:hover {
+  border-color: #eee !important;
+  outline: 1px solid #333;
+  position: relative;
+}
+
+
+.fieldColourSliderContainer {
+  padding: 4px;
+}
+.fieldColourSliderContainer hr {
+  border: none;
+  border-top: 1px solid #bbb;
+}
+.fieldColourSliderLabel {
+  display: flex;
+  justify-content: space-between;
+  font: 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
+}
+.fieldColourEyedropper {
+  appearance: none;
+  position: relative;
+  border: none;
+  border-radius: 4px;
+  background: transparent;
+  font: inherit;
+  color: inherit;
+  cursor: pointer;
+  width: 100%;
+  margin: 0;
+  display: flex;
+  justify-content: center;
+  align-items: center;
+}
+.fieldColourEyedropper:hover {
+  background: rgba(0,0,0,0.1)
+}
+.fieldColourEyedropper input {
+  opacity: 0;
+  position: absolute;
+  top: 0;
+  left: 0;
+  right: 0;
+  bottom: 0;
+}
+.fieldColourEyedropper::before {
+  content: "Eyedropper";
+}
+.fieldColourEyedropper::after {
+  content: "";
+  margin-left: 8px;
+  width: 24px;
+  height: 24px;
+  background: currentColor;
+  pointer-events: none;
+  -webkit-mask-image: var(--customize-dial-symbol);
+  -webkit-mask-repeat: no-repeat;
+  -webkit-mask-position: center;
+  mask-image: var(--customize-dial-symbol);
+  mask-repeat: no-repeat;
+  mask-position: center;
+  --customize-dial-symbol: url('data:image/svg+xml,    &lt;svg xmlns="http://www.w3.org/2000/svg"          width="24px" height="24px"          viewBox="0 0 24 24"&gt;       &lt;path stroke="black" strokewidth="1.414" fill="none"             d="m 13 8 L 6 15 Q 3 18 2 21 Q 0 23 .5 23.5 Q 1 24 3 22                 Q 6 21 9 18 L 16 11"/&gt;       &lt;path fill="black"             d="m 12 7 Q 11 6 12 5 Q 13 4 14 5 Q 15 6 16 5 Q 20 -1 22.5 1.5                 Q 25 4 19 8 Q 18 9 19 10 Q 20 11 19 12 Q 18 13 17 12"/&gt;     &lt;/svg&gt;');
+}
+.fieldColourSlider {
+  -webkit-appearance: none;
+  width: 150px;
+  height: 24px;
+  margin: 4px 8px 24px 8px;
+  padding: 0;
+}
+.fieldColourSlider:last-child {
+  margin-bottom: 4px;
+}
+.fieldColourSlider:focus {
+  outline: none;
+}
+/* Webkit */
+.fieldColourSlider::-webkit-slider-runnable-track {
+  background: var(--slider-track-background);
+  border-radius: 8px;
+  height: 16px;
+}
+.fieldColourSlider::-webkit-slider-thumb {
+  -webkit-appearance: none;
+  background: #fff;
+  border-radius: 50%;
+  box-shadow: 0 0 0 4px rgba(0,0,0,.15);
+  cursor: pointer;
+  width: 24px;
+  height: 24px;
+  margin-top: -4px;
+}
+/* Firefox */
+.fieldColourSlider::-moz-range-track {
+  background: var(--slider-track-background);
+  border-radius: 8px;
+  height: 16px;
+}
+.fieldColourSlider::-moz-range-thumb {
+  background: #fff;
+  border: none;
+  border-radius: 50%;
+  box-shadow: 0 0 0 4px rgba(0,0,0,.15);
+  cursor: pointer;
+  width: 24px;
+  height: 24px;
+}
+.fieldColourSlider::-moz-focus-outer {
+  /* override the focus border style */
+  border: 0;
+}
+/* IE */
+.fieldColourSlider::-ms-track {
+  background: var(--slider-track-background);
+  border-radius: 12px;
+  width: 100%;
+  height: 24px;
+  /* remove default tick marks */
+  color: transparent;
+}
+.fieldColourSlider::-ms-fill-lower  {
+  background: transparent;
+}
+.fieldColourSlider::-ms-fill-upper  {
+  background: transparent;
+}
+.fieldColourSlider::-ms-thumb {
+  background: #fff;
+  border: none;
+  border-radius: 50%;
+  box-shadow: 0 0 0 4px rgba(0,0,0,.15);
+  cursor: pointer;
+  width: 24px;
+  height: 24px;
+}
+
+
+.blocklyMultilineText {
+    fill: #fff !important;
+}
+  
+
+.blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
+  opacity: .2;
+}
+
+.blocklyMultiselect&gt;image:hover, .blocklyMultiselect&gt;svg&gt;image:hover {
+  opacity: .4;
+}
+
+.blocklyMultiselect&gt;image:active, .blocklyMultiselect&gt;svg&gt;image:active {
+  opacity: .6;
+}
+
+
+  .controlsIconStyleLightTheme {
+    opacity: 0.2;
+  }
+  .controlsIconStyleLightTheme:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyleLightTheme:active {
+    opacity: 0.6;
+  }
+  
+
+  .controlsIconStyleDarkTheme {
+    opacity: 0.4;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:hover {
+    opacity: 0.6;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:active {
+    opacity: 0.8;
+    filter: invert(1);
+  }
+  
+</style><g transform="translate(1, 5)"><g data-id="v{m!~$1f5l%h:MFI]d8M" class="blocklyDraggable"><path class="blocklyPath" stroke="#4585a1" fill="#5cb1d6" d=" m 0,0  m 0,4 a 4 4 0 0,1 4,-4  h 5  l 0,-4  10,0  0,4  10,0  0,-4  10,0  0,4  h 326.5265625 a 4 4 0 0,1 4,4  v 6  V 38  V 40  V 40 a 4 4 0 0,1 -4,4  h -326.5265625  l 0,-4  -10,0  0,4  -10,0  0,-4  -10,0  0,4  h -5 a 4 4 0 0,1 -4,-4 z&#10;"/><g transform="translate(8,6.5)"><image height="30px" width="28.8px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyNSAyNiIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8cmVjdCB4PSI0LjUiIHk9IjEuNSIgd2lkdGg9IjE2IiBoZWlnaHQ9IjIyIiByeD0iNC4wODU5IiByeT0iNC4wODU5IiBmaWxsPSJub25lIiBzdG9wLWNvbG9yPSIjMDAwMDAwIiBzdHJva2U9IiNmZmYiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLWxpbmVqb2luPSJyb3VuZCIgc3Ryb2tlLXdpZHRoPSIzIi8+CjxwYXRoIGQ9Im04LjgyNjIgNS43NTg5aDcuMzQ3NiIgZmlsbD0ibm9uZSIgc3Ryb2tlPSIjZmZmIiBzdHJva2UtbGluZWNhcD0icm91bmQiIHN0cm9rZS13aWR0aD0iMiIvPgo8Y2lyY2xlIGN4PSIxMi41IiBjeT0iMTcuNDY0IiByPSIyIiBmaWxsPSIjZmZmIiBzdG9wLWNvbG9yPSIjMDAwMDAwIi8+CiAgPC9nPgo8L3N2Zz4="/></g><g transform="translate(44.8,6.5)"><image height="30px" width="2px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyIDMwIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPgogIDxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAsIDApIj4KICAgIDxwYXRoIGQ9Im0wLjUgMC41djI5IiBmaWxsPSJub25lIiBzdHJva2U9IiMwMDAiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLW9wYWNpdHk9Ii4yNjI1Ii8+CiAgPC9nPgo8L3N2Zz4="/></g><g class="blocklyEditableText" transform="translate(54.8,7.4)" style="cursor: text;"><rect rx="4" ry="4" x="0" y="0" height="29.2" width="59.578125" class="blocklyFieldRect" stroke="#4585a1" style="display: block; fill: rgb(78, 150, 182);"/><text class="blocklyText" dominant-baseline="central" style="fill: rgb(255, 255, 255);" x="8" y="14.6">smart</text></g><g class="blocklyEditableText" transform="translate(122.378125,7.4)" style="cursor: default;"><rect rx="4" ry="4" x="0" y="0" height="29.2" width="129.34375" class="blocklyFieldRect blocklyDropdownRect" stroke="#4585a1" fill="transparent"/><text class="blocklyText blocklyDropdownText" dominant-baseline="central" text-anchor="start" x="8" y="14.6">line follower</text><image style="display: none;"/><image height="12px" width="12px" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PHN2ZyBpZD0iTGF5ZXJfMSIgZGF0YS1uYW1lPSJMYXllciAxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHdpZHRoPSIxMi43MSIgaGVpZ2h0PSI4Ljc5IiB2aWV3Qm94PSIwIDAgMTIuNzEgOC43OSI+PHRpdGxlPmRyb3Bkb3duLWFycm93PC90aXRsZT48ZyBvcGFjaXR5PSIwLjEiPjxwYXRoIGQ9Ik0xMi43MSwyLjQ0QTIuNDEsMi40MSwwLDAsMSwxMiw0LjE2TDguMDgsOC4wOGEyLjQ1LDIuNDUsMCwwLDEtMy40NSwwTDAuNzIsNC4xNkEyLjQyLDIuNDIsMCwwLDEsMCwyLjQ0LDIuNDgsMi40OCwwLDAsMSwuNzEuNzFDMSwwLjQ3LDEuNDMsMCw2LjM2LDBTMTEuNzUsMC40NiwxMiwuNzFBMi40NCwyLjQ0LDAsMCwxLDEyLjcxLDIuNDRaIiBmaWxsPSIjMjMxZjIwIi8+PC9nPjxwYXRoIGQ9Ik02LjM2LDcuNzlhMS40MywxLjQzLDAsMCwxLTEtLjQyTDEuNDIsMy40NWExLjQ0LDEuNDQsMCwwLDEsMC0yYzAuNTYtLjU2LDkuMzEtMC41Niw5Ljg3LDBhMS40NCwxLjQ0LDAsMCwxLDAsMkw3LjM3LDcuMzdBMS40MywxLjQzLDAsMCwxLDYuMzYsNy43OVoiIGZpbGw9IiNmZmYiLz48L3N2Zz4=" transform="translate(109.34375,8.6)"/></g><g class="blocklyEditableText" transform="translate(259.721875,7.4)" style="cursor: default;"><rect rx="4" ry="4" x="0" y="0" height="29.2" width="101.8046875" class="blocklyFieldRect blocklyDropdownRect" stroke="#4585a1" fill="transparent"/><text class="blocklyText blocklyDropdownText" dominant-baseline="central" text-anchor="start" x="8" y="14.6">dark line</text><image style="display: none;"/><image height="12px" width="12px" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PHN2ZyBpZD0iTGF5ZXJfMSIgZGF0YS1uYW1lPSJMYXllciAxIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHdpZHRoPSIxMi43MSIgaGVpZ2h0PSI4Ljc5IiB2aWV3Qm94PSIwIDAgMTIuNzEgOC43OSI+PHRpdGxlPmRyb3Bkb3duLWFycm93PC90aXRsZT48ZyBvcGFjaXR5PSIwLjEiPjxwYXRoIGQ9Ik0xMi43MSwyLjQ0QTIuNDEsMi40MSwwLDAsMSwxMiw0LjE2TDguMDgsOC4wOGEyLjQ1LDIuNDUsMCwwLDEtMy40NSwwTDAuNzIsNC4xNkEyLjQyLDIuNDIsMCwwLDEsMCwyLjQ0LDIuNDgsMi40OCwwLDAsMSwuNzEuNzFDMSwwLjQ3LDEuNDMsMCw2LjM2LDBTMTEuNzUsMC40NiwxMiwuNzFBMi40NCwyLjQ0LDAsMCwxLDEyLjcxLDIuNDRaIiBmaWxsPSIjMjMxZjIwIi8+PC9nPjxwYXRoIGQ9Ik02LjM2LDcuNzlhMS40MywxLjQzLDAsMCwxLTEtLjQyTDEuNDIsMy40NWExLjQ0LDEuNDQsMCwwLDEsMC0yYzAuNTYtLjU2LDkuMzEtMC41Niw5Ljg3LDBhMS40NCwxLjQ0LDAsMCwxLDAsMkw3LjM3LDcuMzdBMS40MywxLjQzLDAsMCwxLDYuMzYsNy43OVoiIGZpbGw9IiNmZmYiLz48L3N2Zz4=" transform="translate(81.8046875,8.6)"/></g></g></g></svg>

doc/main/blockimg/pybricks_variables_set_city_hub_option0.svg

@@ -1,5 +1,5 @@
-<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
-<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 162.1359375 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="162.1359375" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
+<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 142.1359375 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="142.1359375" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
 }
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern9387213926908944)
+fill: url(#blocklyDisabledPattern770586695409901)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,15 +949,9 @@ input[type=number] {
 }
 
 
-  .controlsIconStyle {
-    opacity: 0.2;
-  }
-  .controlsIconStyle:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyle:active {
-    opacity: 0.6;
-  }
+.blocklyMultilineText {
+    fill: #fff !important;
+}
   
 
 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -972,4 +966,29 @@ input[type=number] {
   opacity: .6;
 }
 
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+
+  .controlsIconStyleLightTheme {
+    opacity: 0.2;
+  }
+  .controlsIconStyleLightTheme:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyleLightTheme:active {
+    opacity: 0.6;
+  }
+  
+
+  .controlsIconStyleDarkTheme {
+    opacity: 0.4;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:hover {
+    opacity: 0.6;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:active {
+    opacity: 0.8;
+    filter: invert(1);
+  }
+  
+</style><g transform="translate(1, 5)"><g data-id="x8^AN=nIc/70bNA=C]ql" class="blocklyDraggable"><path class="blocklyPath" stroke="#3971bf" fill="#4c97ff" d=" m 0,0  m 0,4 a 4 4 0 0,1 4,-4  h 5  l 0,-4  10,0  0,4  10,0  0,-4  10,0  0,4  h 97.13593750000001 a 4 4 0 0,1 4,4  v 6  V 38  V 40  V 40 a 4 4 0 0,1 -4,4  h -97.13593750000001  l 0,-4  -10,0  0,4  -10,0  0,-4  -10,0  0,4  h -5 a 4 4 0 0,1 -4,-4 z&#10;"/><g transform="translate(8,6.5)"><image height="30px" width="28.8px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyNSAyNiIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8Zz4KPHJlY3QgdHJhbnNmb3JtPSJzY2FsZSgtMSkiIHg9Ii0yMS40NDIiIHk9Ii0yNC45IiB3aWR0aD0iMTcuOCIgaGVpZ2h0PSIyNC44IiByeD0iMCIgcnk9IjAiIGZpbGw9IiNmZmYiIHN0cm9rZT0iIzFiMjkzMyIgc3Ryb2tlLWxpbmVjYXA9InNxdWFyZSIgc3Ryb2tlLXdpZHRoPSIuMiIvPgo8cmVjdCB0cmFuc2Zvcm09InNjYWxlKC0xKSIgeD0iLTEzLjg3OCIgeT0iLTI0LjgyMiIgd2lkdGg9IjIuNjcwMyIgaGVpZ2h0PSI0LjI0MjQiIGZpbGw9IiM4MzliZmYiLz4KPHJlY3QgdHJhbnNmb3JtPSJzY2FsZSgtMSkiIHg9Ii0xNS4yOTIiIHk9Ii0xOS4zODUiIHdpZHRoPSI1LjUiIGhlaWdodD0iNS41IiByeD0iLjQwNDI0IiByeT0iLjQwNDI0IiBmaWxsPSIjMDBiZTBhIi8+CjwvZz4KICA8L2c+Cjwvc3ZnPg=="/></g><g transform="translate(44.8,6.5)"><image height="30px" width="2px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyIDMwIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPgogIDxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAsIDApIj4KICAgIDxwYXRoIGQ9Im0wLjUgMC41djI5IiBmaWxsPSJub25lIiBzdHJva2U9IiMwMDAiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLW9wYWNpdHk9Ii4yNjI1Ii8+CiAgPC9nPgo8L3N2Zz4="/></g><g class="blocklyEditableText" transform="translate(54.8,7.4)" style="cursor: text;"><rect rx="4" ry="4" x="0" y="0" height="29.2" width="77.3359375" class="blocklyFieldRect" stroke="#3971bf" style="display: block; fill: rgb(65, 128, 217);"/><text class="blocklyText" dominant-baseline="central" style="fill: rgb(255, 255, 255);" x="8" y="14.6">city hub</text></g></g></g></svg>

doc/main/blockimg/pybricks_variables_set_essential_hub_option0.svg

@@ -1,4 +1,4 @@
-<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
+<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 203.05 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="203.05" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern8106945446883995)
+fill: url(#blocklyDisabledPattern770586695409901)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,15 +949,9 @@ input[type=number] {
 }
 
 
-  .controlsIconStyle {
-    opacity: 0.2;
-  }
-  .controlsIconStyle:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyle:active {
-    opacity: 0.6;
-  }
+.blocklyMultilineText {
+    fill: #fff !important;
+}
   
 
 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -972,4 +966,29 @@ input[type=number] {
   opacity: .6;
 }
 
-</style><g transform="translate(1, 5)"><g data-id="{Jrf7Nz~mk-.f{~B||f-" class="blocklyDraggable"><path class="blocklyPath" stroke="#3971bf" fill="#4c97ff" d=" m 0,0  m 0,4 a 4 4 0 0,1 4,-4  h 5  l 0,-4  10,0  0,4  10,0  0,-4  10,0  0,4  h 158.05 a 4 4 0 0,1 4,4  v 6  V 38  V 40  V 40 a 4 4 0 0,1 -4,4  h -158.05  l 0,-4  -10,0  0,4  -10,0  0,-4  -10,0  0,4  h -5 a 4 4 0 0,1 -4,-4 z&#10;"/><g transform="translate(8,6.5)"><image height="30px" width="28.8px" alt="*" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyNSAyNiIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8Zz4KPHJlY3QgeD0iMS42Mjg2IiB5PSIzLjc0NiIgd2lkdGg9IjIxLjgiIGhlaWdodD0iMTYuNzUyIiByeD0iMS45NzY0IiByeT0iMS45NzY0IiBmaWxsPSIjZjRmNGY0IiBzdHJva2U9IiMxYjI5MzMiIHN0cm9rZS1saW5lY2FwPSJzcXVhcmUiIHN0cm9rZS13aWR0aD0iLjIiLz4KPHJlY3QgeD0iMTAuMzI0IiB5PSI5Ljk1ODciIHdpZHRoPSI0LjQwODgiIGhlaWdodD0iNC40MTE1IiBmaWxsPSIjZjRmNGY0IiBzdHJva2U9IiMxYjI5MzMiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLWxpbmVqb2luPSJyb3VuZCIgc3Ryb2tlLXdpZHRoPSIuMTY3Ii8+CjxyZWN0IHg9IjExLjE4MyIgeT0iMTYuMDc4IiB3aWR0aD0iMi42OTA3IiBoZWlnaHQ9IjQuNDExNSIgZmlsbD0iIzgzOWJmZiIvPgo8L2c+CiAgPC9nPgo8L3N2Zz4="/></g><g transform="translate(44.8,6.5)"><image height="30px" width="2px" alt="*" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyIDMwIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPgogIDxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAsIDApIj4KICAgIDxwYXRoIGQ9Im0wLjUgMC41djI5IiBmaWxsPSJub25lIiBzdHJva2U9IiMwMDAiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLW9wYWNpdHk9Ii4yNjI1Ii8+CiAgPC9nPgo8L3N2Zz4="/></g><g class="blocklyEditableText" transform="translate(54.8,7.4)" style="cursor: text;"><rect rx="4" ry="4" x="0" y="0" height="29.2" width="118.25" class="blocklyFieldRect" stroke="#3971bf" style="display: block; fill: rgb(65, 128, 217);"/><text class="blocklyText" dominant-baseline="central" style="fill: rgb(255, 255, 255);" x="8" y="14.6">essential hub</text></g><g transform="translate(181.05,6.5)"><image height="30px" width="12px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAxMiAzMCIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8cGF0aCBkPSJtMi40NzM4IDUuNzk2OCA3LjUwOTYgOS40MDI3LTcuNTA5NiA5LjQwMjciIGZpbGw9Im5vbmUiIHN0cm9rZT0iI2ZmZiIgc3Ryb2tlLWxpbmVjYXA9InJvdW5kIiBzdHJva2UtbGluZWpvaW49InJvdW5kIiBzdHJva2Utd2lkdGg9IjQiLz4KICA8L2c+Cjwvc3ZnPg==" style="cursor: pointer;"/></g></g></g></svg>
+
+  .controlsIconStyleLightTheme {
+    opacity: 0.2;
+  }
+  .controlsIconStyleLightTheme:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyleLightTheme:active {
+    opacity: 0.6;
+  }
+  
+
+  .controlsIconStyleDarkTheme {
+    opacity: 0.4;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:hover {
+    opacity: 0.6;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:active {
+    opacity: 0.8;
+    filter: invert(1);
+  }
+  
+</style><g transform="translate(1, 5)"><g data-id="%NMD$cHdMIS^c1w|gyTX" class="blocklyDraggable"><path class="blocklyPath" stroke="#3971bf" fill="#4c97ff" d=" m 0,0  m 0,4 a 4 4 0 0,1 4,-4  h 5  l 0,-4  10,0  0,4  10,0  0,-4  10,0  0,4  h 158.05 a 4 4 0 0,1 4,4  v 6  V 38  V 40  V 40 a 4 4 0 0,1 -4,4  h -158.05  l 0,-4  -10,0  0,4  -10,0  0,-4  -10,0  0,4  h -5 a 4 4 0 0,1 -4,-4 z&#10;"/><g transform="translate(8,6.5)"><image height="30px" width="28.8px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyNSAyNiIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8Zz4KPHJlY3QgeD0iMS42Mjg2IiB5PSIzLjc0NiIgd2lkdGg9IjIxLjgiIGhlaWdodD0iMTYuNzUyIiByeD0iMS45NzY0IiByeT0iMS45NzY0IiBmaWxsPSIjZjRmNGY0IiBzdHJva2U9IiMxYjI5MzMiIHN0cm9rZS1saW5lY2FwPSJzcXVhcmUiIHN0cm9rZS13aWR0aD0iLjIiLz4KPHJlY3QgeD0iMTAuMzI0IiB5PSI5Ljk1ODciIHdpZHRoPSI0LjQwODgiIGhlaWdodD0iNC40MTE1IiBmaWxsPSIjZjRmNGY0IiBzdHJva2U9IiMxYjI5MzMiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLWxpbmVqb2luPSJyb3VuZCIgc3Ryb2tlLXdpZHRoPSIuMTY3Ii8+CjxyZWN0IHg9IjExLjE4MyIgeT0iMTYuMDc4IiB3aWR0aD0iMi42OTA3IiBoZWlnaHQ9IjQuNDExNSIgZmlsbD0iIzgzOWJmZiIvPgo8L2c+CiAgPC9nPgo8L3N2Zz4="/></g><g transform="translate(44.8,6.5)"><image height="30px" width="2px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyIDMwIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPgogIDxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAsIDApIj4KICAgIDxwYXRoIGQ9Im0wLjUgMC41djI5IiBmaWxsPSJub25lIiBzdHJva2U9IiMwMDAiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLW9wYWNpdHk9Ii4yNjI1Ii8+CiAgPC9nPgo8L3N2Zz4="/></g><g class="blocklyEditableText" transform="translate(54.8,7.4)" style="cursor: text;"><rect rx="4" ry="4" x="0" y="0" height="29.2" width="118.25" class="blocklyFieldRect" stroke="#3971bf" style="display: block; fill: rgb(65, 128, 217);"/><text class="blocklyText" dominant-baseline="central" style="fill: rgb(255, 255, 255);" x="8" y="14.6">essential hub</text></g><g transform="translate(181.05,6.5)"><image height="30px" width="12px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAxMiAzMCIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8cGF0aCBkPSJtMi40NzM4IDUuNzk2OCA3LjUwOTYgOS40MDI3LTcuNTA5NiA5LjQwMjciIGZpbGw9Im5vbmUiIHN0cm9rZT0iI2ZmZiIgc3Ryb2tlLWxpbmVjYXA9InJvdW5kIiBzdHJva2UtbGluZWpvaW49InJvdW5kIiBzdHJva2Utd2lkdGg9IjQiLz4KICA8L2c+Cjwvc3ZnPg==" style="cursor: pointer;"/></g></g></g></svg>

doc/main/blockimg/pybricks_variables_set_inventor_hub_option0.svg

@@ -1,4 +1,4 @@
-<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
+<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 197.6828125 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="197.6828125" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern8106945446883995)
+fill: url(#blocklyDisabledPattern770586695409901)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,15 +949,9 @@ input[type=number] {
 }
 
 
-  .controlsIconStyle {
-    opacity: 0.2;
-  }
-  .controlsIconStyle:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyle:active {
-    opacity: 0.6;
-  }
+.blocklyMultilineText {
+    fill: #fff !important;
+}
   
 
 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -972,4 +966,29 @@ input[type=number] {
   opacity: .6;
 }
 
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+
+  .controlsIconStyleLightTheme {
+    opacity: 0.2;
+  }
+  .controlsIconStyleLightTheme:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyleLightTheme:active {
+    opacity: 0.6;
+  }
+  
+
+  .controlsIconStyleDarkTheme {
+    opacity: 0.4;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:hover {
+    opacity: 0.6;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:active {
+    opacity: 0.8;
+    filter: invert(1);
+  }
+  
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doc/main/blockimg/pybricks_variables_set_move_hub_option0.svg

@@ -1,4 +1,4 @@
-<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
+<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 176.3625 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="176.3625" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern8106945446883995)
+fill: url(#blocklyDisabledPattern770586695409901)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,15 +949,9 @@ input[type=number] {
 }
 
 
-  .controlsIconStyle {
-    opacity: 0.2;
-  }
-  .controlsIconStyle:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyle:active {
-    opacity: 0.6;
-  }
+.blocklyMultilineText {
+    fill: #fff !important;
+}
   
 
 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -972,4 +966,29 @@ input[type=number] {
   opacity: .6;
 }
 
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+
+  .controlsIconStyleLightTheme {
+    opacity: 0.2;
+  }
+  .controlsIconStyleLightTheme:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyleLightTheme:active {
+    opacity: 0.6;
+  }
+  
+
+  .controlsIconStyleDarkTheme {
+    opacity: 0.4;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:hover {
+    opacity: 0.6;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:active {
+    opacity: 0.8;
+    filter: invert(1);
+  }
+  
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doc/main/blockimg/pybricks_variables_set_prime_hub_option0.svg

@@ -1,4 +1,4 @@
-<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
+<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 178.1359375 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="178.1359375" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern8106945446883995)
+fill: url(#blocklyDisabledPattern770586695409901)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,15 +949,9 @@ input[type=number] {
 }
 
 
-  .controlsIconStyle {
-    opacity: 0.2;
-  }
-  .controlsIconStyle:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyle:active {
-    opacity: 0.6;
-  }
+.blocklyMultilineText {
+    fill: #fff !important;
+}
   
 
 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -972,4 +966,29 @@ input[type=number] {
   opacity: .6;
 }
 
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+
+  .controlsIconStyleLightTheme {
+    opacity: 0.2;
+  }
+  .controlsIconStyleLightTheme:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyleLightTheme:active {
+    opacity: 0.6;
+  }
+  
+
+  .controlsIconStyleDarkTheme {
+    opacity: 0.4;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:hover {
+    opacity: 0.6;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:active {
+    opacity: 0.8;
+    filter: invert(1);
+  }
+  
+</style><g transform="translate(1, 5)"><g data-id="$so[Yep]~$*_qL%{w@6^" class="blocklyDraggable"><path class="blocklyPath" stroke="#3971bf" fill="#4c97ff" d=" m 0,0  m 0,4 a 4 4 0 0,1 4,-4  h 5  l 0,-4  10,0  0,4  10,0  0,-4  10,0  0,4  h 133.1359375 a 4 4 0 0,1 4,4  v 6  V 38  V 40  V 40 a 4 4 0 0,1 -4,4  h -133.1359375  l 0,-4  -10,0  0,4  -10,0  0,-4  -10,0  0,4  h -5 a 4 4 0 0,1 -4,-4 z&#10;"/><g transform="translate(8,6.5)"><image height="30px" width="28.8px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyNSAyNiIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8Zz4KPHJlY3QgeD0iMy41ODM0IiB5PSIuMDgzNDQ5IiB3aWR0aD0iMTcuOCIgaGVpZ2h0PSIyNC44IiByeD0iMS45NzY0IiByeT0iMS45NzY0IiBmaWxsPSIjZjRmNGY0IiBzdHJva2U9IiMxYjI5MzMiIHN0cm9rZS1saW5lY2FwPSJzcXVhcmUiIHN0cm9rZS13aWR0aD0iLjIiLz4KPGNpcmNsZSBjeD0iMTIuNSIgY3k9IjIwLjUzMyIgcj0iMi40NSIgZmlsbD0iIzgzOWJmZiIgc3Ryb2tlPSIjMDAwIiBzdHJva2UtbGluZWNhcD0icm91bmQiIHN0cm9rZS1saW5lam9pbj0icm91bmQiIHN0cm9rZS13aWR0aD0iLjEiLz4KPGcgdHJhbnNmb3JtPSJtYXRyaXgoMS4xOTk5IDAgMCAxLjE5OTkgLTIuNDk5NiAtMS40MDkpIiBmaWxsPSIjZmZkZTAwIiBzdHJva2Utd2lkdGg9Ii44MzMzNyI+CjxyZWN0IHg9IjcuNSIgeT0iNC4wMDA1IiB3aWR0aD0iMyIgaGVpZ2h0PSIzIi8+CjxyZWN0IHg9IjExIiB5PSI0IiB3aWR0aD0iMyIgaGVpZ2h0PSIzIi8+CjxyZWN0IHg9IjE0LjUiIHk9IjQuMDAwNSIgd2lkdGg9IjMiIGhlaWdodD0iMyIvPgo8cmVjdCB4PSI3LjUiIHk9IjcuNTAwNSIgd2lkdGg9IjMiIGhlaWdodD0iMyIvPgo8cmVjdCB4PSIxMSIgeT0iNy41IiB3aWR0aD0iMyIgaGVpZ2h0PSIzIi8+CjxyZWN0IHg9IjE0LjUiIHk9IjcuNTAwNSIgd2lkdGg9IjMiIGhlaWdodD0iMyIvPgo8cmVjdCB4PSI3LjUiIHk9IjExIiB3aWR0aD0iMyIgaGVpZ2h0PSIzIi8+CjxyZWN0IHg9IjExIiB5PSIxMSIgd2lkdGg9IjMiIGhlaWdodD0iMyIvPgo8cmVjdCB4PSIxNC41IiB5PSIxMSIgd2lkdGg9IjMiIGhlaWdodD0iMyIvPgo8L2c+CjwvZz4KICA8L2c+Cjwvc3ZnPg=="/></g><g transform="translate(44.8,6.5)"><image height="30px" width="2px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAyIDMwIiB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciPgogIDxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAsIDApIj4KICAgIDxwYXRoIGQ9Im0wLjUgMC41djI5IiBmaWxsPSJub25lIiBzdHJva2U9IiMwMDAiIHN0cm9rZS1saW5lY2FwPSJyb3VuZCIgc3Ryb2tlLW9wYWNpdHk9Ii4yNjI1Ii8+CiAgPC9nPgo8L3N2Zz4="/></g><g class="blocklyEditableText" transform="translate(54.8,7.4)" style="cursor: text;"><rect rx="4" ry="4" x="0" y="0" height="29.2" width="93.3359375" class="blocklyFieldRect" stroke="#3971bf" style="display: block; fill: rgb(65, 128, 217);"/><text class="blocklyText" dominant-baseline="central" style="fill: rgb(255, 255, 255);" x="8" y="14.6">prime hub</text></g><g transform="translate(156.1359375,6.5)"><image height="30px" width="12px" alt="" xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB2ZXJzaW9uPSIxLjEiIHZpZXdCb3g9IjAgMCAxMiAzMCIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIj4KICA8ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwLCAwKSI+CiAgICA8cGF0aCBkPSJtMi40NzM4IDUuNzk2OCA3LjUwOTYgOS40MDI3LTcuNTA5NiA5LjQwMjciIGZpbGw9Im5vbmUiIHN0cm9rZT0iI2ZmZiIgc3Ryb2tlLWxpbmVjYXA9InJvdW5kIiBzdHJva2UtbGluZWpvaW49InJvdW5kIiBzdHJva2Utd2lkdGg9IjQiLz4KICA8L2c+Cjwvc3ZnPg==" style="cursor: pointer;"/></g></g></g></svg>

doc/main/blockimg/pybricks_variables_set_technic_hub_option0.svg

@@ -1,4 +1,4 @@
-<!-- Copyright (c) 2023 The Pybricks Authors. All rights reserved. -->
+<!-- Copyright (c) 2024 The Pybricks Authors. All rights reserved. -->
 <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 190.58125 52" class="blocklySvg pybricks_renderer-renderer pybricks-zelos-light-theme" width="190.58125" height="52" style="background-color: transparent"><style xmlns="http://www.w3.org/1999/xhtml">.pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyText,
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyFlyoutLabelText {
 font: bold 12pt "Helvetica Neue", "Segoe UI", Helvetica, sans-serif;
@@ -48,7 +48,7 @@ color: #fff;
 stroke: #ffffff;
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyDisabled &gt; .blocklyOutlinePath {
-fill: url(#blocklyDisabledPattern8106945446883995)
+fill: url(#blocklyDisabledPattern770586695409901)
 }
 .pybricks_renderer-renderer.pybricks-zelos-light-theme .blocklyInsertionMarker&gt;.blocklyPath {
 fill-opacity: 0.2;
@@ -949,15 +949,9 @@ input[type=number] {
 }
 
 
-  .controlsIconStyle {
-    opacity: 0.2;
-  }
-  .controlsIconStyle:hover {
-    opacity: 0.4;
-  }
-  .controlsIconStyle:active {
-    opacity: 0.6;
-  }
+.blocklyMultilineText {
+    fill: #fff !important;
+}
   
 
 .blocklyMultiselect&gt;image, .blocklyMultiselect&gt;svg&gt;image {
@@ -972,4 +966,29 @@ input[type=number] {
   opacity: .6;
 }
 
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+
+  .controlsIconStyleLightTheme {
+    opacity: 0.2;
+  }
+  .controlsIconStyleLightTheme:hover {
+    opacity: 0.4;
+  }
+  .controlsIconStyleLightTheme:active {
+    opacity: 0.6;
+  }
+  
+
+  .controlsIconStyleDarkTheme {
+    opacity: 0.4;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:hover {
+    opacity: 0.6;
+    filter: invert(1);
+  }
+  .controlsIconStyleDarkTheme:active {
+    opacity: 0.8;
+    filter: invert(1);
+  }
+  
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doc/main/blocks/index.rst

@@ -1,148 +0,0 @@
-.. pybricks-requirements::
-
-Other blocks
-=====================================================
-
-Most blocks correspond directly to one of the documented Python commands. This
-page lists the remaining blocks.
-
-This page will be expanded with more details in the next release.
-
-Math
-------------------------
-
-See also :mod:`umath` for other math operations.
-
-.. blockimg:: pybricks_blockMathFormula
-
-.. blockimg:: pybricks_blockMathOp_modulo
-
-.. blockimg:: pybricks_blockMathArithmetic_add
-
-.. blockimg:: pybricks_blockMathArithmetic_minus
-
-.. blockimg:: pybricks_blockMathArithmetic_multiply
-
-.. blockimg:: pybricks_blockMathArithmetic_divide
-
-.. blockimg:: pybricks_blockMathArithmetic_power
-
-Logic
---------------------------
-
-.. blockimg:: pybricks_blockLogicCompareDouble
-
-.. blockimg:: pybricks_blockLogicCompare_eq
-
-.. blockimg:: pybricks_blockLogicCompare_gte
-
-.. blockimg:: pybricks_blockLogicCompare_gt
-
-.. blockimg:: pybricks_blockLogicCompare_lte
-
-.. blockimg:: pybricks_blockLogicCompare_lt
-
-.. blockimg:: pybricks_blockLogicCompare_neq
-
-.. blockimg:: pybricks_blockLogicIsNone_is_none
-
-.. blockimg:: pybricks_blockLogicIsNone_is_not_none
-
-.. blockimg:: pybricks_blockLogicIsNone_not
-
-.. blockimg:: pybricks_blockLogicOperation_and
-
-.. blockimg:: pybricks_blockLogicOperation_or
-
-.. blockimg:: pybricks_blockLogicTernary
-
-.. blockimg:: pybricks_blockLogicTernaryDouble
-
-.. blockimg:: pybricks_blockIsIn
-
-Flow
---------------------------
-
-.. blockimg:: pybricks_blockFlowBreakContinue_break
-
-.. blockimg:: pybricks_blockFlowBreakContinue_continue
-
-.. blockimg:: pybricks_blockFlowForEach_loop_for
-
-.. blockimg:: pybricks_blockFlowForEach_loop_for_list
-
-.. blockimg:: pybricks_blockFlowForEach_loop_for_range
-
-.. blockimg:: pybricks_blockFlowRepeat
-
-.. blockimg:: pybricks_blockFlowWhile_until
-
-.. blockimg:: pybricks_blockFlowWhile_while
-
-
-.. blockimg:: pybricks_blockIfElse_if_else
-
-.. blockimg:: pybricks_blockIfElse_if_else_else
-
-.. blockimg:: pybricks_blockIfElse_if_only
-
-
-Device and system setup
---------------------------
-
-.. blockimg:: pybricks_blockGlobalSetup
-
-Waiting
-------------------------
-
-.. blockimg:: pybricks_blockWaitTime
-
-.. blockimg:: pybricks_blockWaitUntil
-
-.. blockimg:: pybricks_blockWaitForever
-
-
-
-Variables
---------------------------
-
-.. blockimg:: pybricks_variables_setup_any
-
-.. blockimg:: pybricks_blockVariableGetValue
-
-.. blockimg:: pybricks_blockVariableSetValue
-
-Multitasking
---------------------------
-
-.. blockimg:: pybricks_blockGlobalStart
-
-.. blockimg:: pybricks_blockMultiTask
-
-Your own tasks
---------------------------
-
-.. blockimg:: pybricks_variables_setup_function_basic
-
-.. blockimg:: pybricks_variables_setup_function_with_args
-
-.. blockimg:: pybricks_blockTaskReturn
-
-External tasks
---------------------------
-
-.. blockimg:: pybricks_variables_setup_imported_function
-
-.. blockimg:: pybricks_blockImportTaskCallStatement
-
-.. blockimg:: pybricks_blockImportTaskCallValue
-
-Comments
---------------------------
-
-.. blockimg:: pybricks_blockComment
-
-Stopping programs
---------------------------
-
-.. blockimg:: pybricks_blockProgramStop

doc/main/common/motor_members.rst.txt

@@ -0,0 +1,124 @@
+.. rubric:: Measuring
+
+.. blockimg:: pybricks_blockMotorMeasure_motor_angle
+
+.. automethod:: angle
+
+.. blockimg:: pybricks_blockMotorResetAngle
+
+.. automethod:: reset_angle
+
+.. blockimg:: pybricks_blockMotorMeasure_motor_speed
+
+.. blockimg:: pybricks_blockMotorMeasure_motor_get_speed_average
+
+.. automethod:: speed
+
+.. blockimg:: pybricks_blockMotorMeasure_motor_load
+
+.. automethod:: load
+
+.. blockimg:: pybricks_blockMotorMeasure_motor_stalled
+
+.. automethod:: stalled
+
+.. rubric:: Stopping
+
+.. blockimg:: pybricks_blockMotorStop_Motor_coast
+
+.. automethod:: stop
+
+.. blockimg:: pybricks_blockMotorStop_Motor_brake
+
+.. automethod:: brake
+
+.. blockimg:: pybricks_blockMotorStop_Motor_hold
+
+.. automethod:: hold
+
+.. rubric:: Running forever
+
+.. blockimg:: pybricks_blockMotorRun_run
+
+.. automethod:: run
+
+.. blockimg:: pybricks_blockMotorDuty_Motor
+
+.. automethod:: dc
+
+.. rubric:: Running by a fixed amount
+
+.. automethod:: run_time
+
+.. blockimg:: pybricks_blockMotorRun_run_angle
+
+.. automethod:: run_angle
+
+.. blockimg:: pybricks_blockMotorRun_run_target
+
+.. automethod:: run_target
+
+.. blockimg:: pybricks_blockMotorRun_run_until_stalled
+
+.. automethod:: run_until_stalled
+
+.. blockimg:: pybricks_blockMotorTrack
+
+.. automethod:: track_target
+
+.. automethod:: done
+
+.. rubric:: Motor settings
+
+.. blockimg:: pybricks_blockMotorConfigure_motor_max_voltage
+
+.. automethod:: settings
+
+.. automethod:: close
+
+.. rubric:: Control settings
+
+.. pybricks-requirements:: pybricks-common-control
+
+.. blockimg:: pybricks_blockMotorConfigure_motor_max_speed
+
+.. blockimg:: pybricks_blockMotorConfigure_motor_acceleration
+
+.. blockimg:: pybricks_blockMotorConfigure_motor_max_torque
+
+.. autonestedmethod:: control.limits
+
+.. pybricks-requirements:: pybricks-common-control
+
+.. autonestedmethod:: control.pid
+
+.. pybricks-requirements:: pybricks-common-control
+
+.. blockimg:: pybricks_blockMotorConfigure_motor_target_tolerances
+
+.. autonestedmethod:: control.target_tolerances
+
+.. pybricks-requirements:: pybricks-common-control
+
+.. autonestedmethod:: control.stall_tolerances
+
+.. pybricks-requirements:: pybricks-common-control
+
+.. attribute:: control.scale
+
+    Number of degrees that the motor turns to complete one degree at the
+    output of the gear train. This is the gear ratio determined from the
+    ``gears`` argument when initializing the motor.
+
+.. versionchanged:: 3.2
+
+    The :meth:`done`, :meth:`stalled` and :meth:`load` methods have been
+    moved.
+
+.. pybricks-requirements:: pybricks-common-control
+
+.. autonestedmethod:: model.state
+
+.. pybricks-requirements:: pybricks-common-control
+
+.. autonestedmethod:: model.settings

doc/main/conf.py

@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
 #
 # Pybricks documentation build configuration file
 #
@@ -8,17 +6,15 @@ import sys
 
 # General information about the project.
 project = "pybricks"
-copyright = "2018-2023 The Pybricks Authors"
+copyright = "2018-2026 The Pybricks Authors"
 author = ""
 
-_TITLE = "Pybricks Modules and Examples"
 _DISCLAIMER = "LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are\
                trademarks and/or copyrights of the LEGO Group of companies \
                which does not sponsor, authorize or endorse this site."
 
 html_favicon = "../common/images/favicon.ico"
 html_logo = "../common/images/pybricks-logo-rtd.png"
-latex_logo = "../common/images/pybricks-logo-large.png"
 
 # Build main docs for RTD by default.
 # Since tags cannot be passed via the TAG make variable on read the docs,
@@ -29,29 +25,19 @@ if os.environ.get("READTHEDOCS", None) == "True":
 # HACK: this allows Number type alias to be imported by Sphinx
 os.environ["SPHINX_BUILD"] = "True"
 
-html_css_files = ["css/blocks.css"]
+html_css_files = ["css/theme_overrides.css", "css/blocks.css"]
 
 # Additional configuration of the IDE docs
-if "ide" in tags.tags:  # noqa F821
+if tags.has("ide"):  # noqa F821
     _DISCLAIMER = ""
     html_show_copyright = False
     html_show_sphinx = False
     html_css_files.append("css/ide.css")
     html_js_files = ["js/ide.js"]
 
-    imgmath_image_format = "svg"
-    imgmath_use_preview = True  # requires Sphinx v3
-    imgmath_latex_preamble = r"""
-    \usepackage{newtxsf}
-    """
-
-exec(open(os.path.abspath("../common/conf.py")).read())
-
-# Additional configuration of the IDE docs
-if "ide" in tags.tags:  # noqa F821
-    extensions.remove("sphinx.ext.mathjax")  # noqa F821
-    extensions.append("sphinx.ext.imgmath")  # noqa F821
-    html_theme_options["prev_next_buttons_location"] = None  # noqa F821
+# Shared config must run in this namespace so it sees the globals above.
+with open(os.path.abspath("../common/conf.py")) as _f:
+    exec(_f.read())  # noqa: S102
 
 # Build hub specific example scripts.
 sys.path.append(os.path.abspath("../../examples/pup/hub_common"))

doc/main/ev3devices.rst

@@ -1,134 +0,0 @@
-:mod:`ev3devices <pybricks.ev3devices>` -- EV3 devices
-======================================================
-
-.. automodule:: pybricks.ev3devices
-    :no-members:
-
-Motors
-^^^^^^^^^^^^
-
-.. _fig_ev3motors:
-
-.. figure:: ../main/diagrams/ev3motors.png
-   :width: 100 %
-
-   EV3-compatible motors. The arrows indicate the default positive direction.
-
-.. autoclass:: pybricks.ev3devices.Motor
-    :noindex:
-    :no-members:
-
-    .. rubric:: Measuring
-
-    .. automethod:: pybricks.ev3devices.Motor.angle
-
-    .. automethod:: pybricks.ev3devices.Motor.reset_angle
-
-    .. automethod:: pybricks.ev3devices.Motor.speed
-
-    .. automethod:: pybricks.ev3devices.Motor.load
-
-    .. automethod:: pybricks.ev3devices.Motor.stalled
-
-    .. rubric:: Stopping
-
-    .. automethod:: pybricks.ev3devices.Motor.stop
-
-    .. automethod:: pybricks.ev3devices.Motor.brake
-
-    .. automethod:: pybricks.ev3devices.Motor.hold
-
-    .. rubric:: Running forever
-
-    .. automethod:: pybricks.ev3devices.Motor.run
-
-    .. automethod:: pybricks.ev3devices.Motor.dc
-
-    .. rubric:: Running by a fixed amount
-
-    .. automethod:: pybricks.ev3devices.Motor.run_time
-
-    .. automethod:: pybricks.ev3devices.Motor.run_angle
-
-    .. automethod:: pybricks.ev3devices.Motor.run_target
-
-    .. automethod:: pybricks.ev3devices.Motor.track_target
-
-    .. automethod:: pybricks.ev3devices.Motor.run_until_stalled
-
-    .. automethod:: pybricks.ev3devices.Motor.done
-
-    .. rubric:: Motor settings
-
-    .. automethod:: pybricks.ev3devices.Motor.settings
-
-    .. rubric:: Control settings
-
-    .. automethod:: pybricks.ev3devices.Motor.control.limits
-
-    .. automethod:: pybricks.ev3devices.Motor.control.pid
-
-    .. automethod:: pybricks.ev3devices.Motor.control.target_tolerances
-
-    .. automethod:: pybricks.ev3devices.Motor.control.stall_tolerances
-
-    .. attribute:: control.scale
-
-        Number of degrees that the motor turns to complete one degree at the
-        output of the gear train. This is the gear ratio determined from the
-        ``gears`` argument when initializing the motor.
-
-Touch Sensor
-^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/ev3device-touch.png
-   :width: 18 %
-
-.. autoclass:: pybricks.ev3devices.TouchSensor
-
-Color Sensor
-^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/ev3device-color.png
-   :width: 18 %
-
-.. autoclass:: pybricks.ev3devices.ColorSensor
-
-Infrared Sensor and Beacon
-^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Each method of this class puts the sensor in a different *mode*. Switching
-modes takes about one second on this sensor. To make sure that your program
-runs quickly, use only of these methods in your program.
-
-.. figure:: ../main/cad/output/ev3device-infrared.png
-   :width: 60 %
-
-.. autoclass:: pybricks.ev3devices.InfraredSensor
-
-Ultrasonic Sensor
-^^^^^^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/ev3device-ultrasonic.png
-   :width: 22 %
-
-.. autoclass:: pybricks.ev3devices.UltrasonicSensor
-
-Gyroscopic Sensor
-^^^^^^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/ev3device-gyro.png
-   :width: 18 %
-
-.. autoclass:: pybricks.ev3devices.GyroSensor
-    :no-members:
-
-    .. automethod:: pybricks.ev3devices.GyroSensor.speed
-
-    .. automethod:: pybricks.ev3devices.GyroSensor.angle
-
-         If you use the :meth:`.angle` method, you cannot use the
-         :meth:`.speed` method in the same program. Doing so would reset the
-         sensor angle to zero every time you read the speed.
-
-    .. automethod:: pybricks.ev3devices.GyroSensor.reset_angle

doc/main/ev3devices/colorsensor.rst

@@ -0,0 +1,9 @@
+.. pybricks-requirements:: ev3devices
+
+Color Sensor
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/ev3device-color.png
+   :width: 18 %
+
+.. autoclass:: pybricks.ev3devices.ColorSensor

doc/main/ev3devices/gyrosensor.rst

@@ -0,0 +1,16 @@
+.. pybricks-requirements:: ev3devices
+
+Gyroscopic Sensor
+^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/ev3device-gyro.png
+   :width: 18 %
+
+.. autoclass:: pybricks.ev3devices.GyroSensor
+    :no-members:
+
+    .. automethod:: pybricks.ev3devices.GyroSensor.speed
+
+    .. automethod:: pybricks.ev3devices.GyroSensor.angle
+
+    .. automethod:: pybricks.ev3devices.GyroSensor.reset_angle

doc/main/ev3devices/index.rst

@@ -0,0 +1,54 @@
+.. pybricks-requirements:: ev3devices
+
+:mod:`ev3devices <pybricks.ev3devices>` -- EV3 motors and sensors
+=================================================================
+
+.. automodule:: pybricks.ev3devices
+    :no-members:
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   motor
+   touchsensor
+   colorsensor
+   infraredsensor
+   ultrasonicsensor
+   gyrosensor
+
+.. pybricks-classlink:: Motor ../ev3devices/motor
+
+.. figure:: ../../main/cad/output/ev3device-motors.png
+    :width: 100 %
+    :target: ../ev3devices/motor.html
+
+.. pybricks-classlink:: TouchSensor
+
+.. figure:: ../../main/cad/output/ev3device-touch.png
+   :width: 18 %
+   :target: touchsensor.html
+
+.. pybricks-classlink:: ColorSensor
+
+.. figure:: ../../main/cad/output/ev3device-color.png
+   :width: 18 %
+   :target: colorsensor.html
+
+.. pybricks-classlink:: InfraredSensor
+
+.. figure:: ../../main/cad/output/ev3device-infrared.png
+   :width: 60 %
+   :target: infraredsensor.html
+
+.. pybricks-classlink:: UltrasonicSensor
+
+.. figure:: ../../main/cad/output/ev3device-ultrasonic.png
+   :width: 22 %
+   :target: ultrasonicsensor.html
+
+.. pybricks-classlink:: GyroSensor
+
+.. figure:: ../../main/cad/output/ev3device-gyro.png
+   :width: 18 %
+   :target: gyrosensor.html

doc/main/ev3devices/infraredsensor.rst

@@ -0,0 +1,13 @@
+.. pybricks-requirements:: ev3devices
+
+Infrared Sensor and Beacon
+^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Each method of this class puts the sensor in a different *mode*. Switching
+modes takes about one second on this sensor. To make sure that your program
+runs quickly, use only one of these methods in your program.
+
+.. figure:: ../../main/cad/output/ev3device-infrared.png
+   :width: 60 %
+
+.. autoclass:: pybricks.ev3devices.InfraredSensor

doc/main/ev3devices/motor.rst

@@ -0,0 +1,21 @@
+.. pybricks-requirements:: ev3devices
+
+Motors with rotation sensors
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. _fig_ev3motors:
+
+.. figure:: ../../main/diagrams/ev3motors.png
+   :width: 100 %
+   :alt: ev3motors
+
+   EV3 and NXT motors with rotation sensors. The arrows indicate the default
+   positive direction.
+
+.. blockimg:: pybricks_variables_set_motor
+
+.. autoclass:: pybricks.ev3devices.Motor
+    :no-members:
+    :no-index:
+
+    .. include:: ../common/motor_members.rst.txt

doc/main/ev3devices/touchsensor.rst

@@ -0,0 +1,9 @@
+.. pybricks-requirements:: ev3devices
+
+Touch Sensor
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/ev3device-touch.png
+   :width: 18 %
+
+.. autoclass:: pybricks.ev3devices.TouchSensor

doc/main/ev3devices/ultrasonicsensor.rst

@@ -0,0 +1,9 @@
+.. pybricks-requirements:: ev3devices
+
+Ultrasonic Sensor
+^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/ev3device-ultrasonic.png
+   :width: 22 %
+
+.. autoclass:: pybricks.ev3devices.UltrasonicSensor

doc/main/hubs/cityhub.rst

@@ -7,8 +7,6 @@ City Hub
 
 .. blockimg:: pybricks_variables_set_city_hub_option0
 
-.. blockimg:: pybricks_variables_set_city_hub_option3
-
 .. autoclass:: pybricks.hubs.CityHub
     :no-members:
 

doc/main/hubs/essentialhub.rst

@@ -8,7 +8,7 @@ Essential Hub
 
 .. blockimg:: pybricks_variables_set_essential_hub_option0
 
-.. blockimg:: pybricks_variables_set_essential_hub_option4
+.. blockimg:: pybricks_variables_set_essential_hub_option1
 
 .. autoclass:: pybricks.hubs.EssentialHub
     :no-members:

doc/main/hubs/ev3brick.rst

@@ -1,4 +1,4 @@
-MINDSTORMS EV3 Brick
+EV3 Brick
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 .. figure:: ../../main/cad/output/ev3device-ev3.png
@@ -17,20 +17,18 @@ MINDSTORMS EV3 Brick
 
     .. automethod:: pybricks.hubs::EV3Brick.light.off
 
+    .. automethod:: pybricks.hubs::EV3Brick.light.blink
+
+    .. automethod:: pybricks.hubs::EV3Brick.light.animate
+
     .. rubric:: Using the speaker
 
+    .. automethod:: pybricks.hubs::EV3Brick.speaker.volume
+
     .. automethod:: pybricks.hubs::EV3Brick.speaker.beep
 
     .. automethod:: pybricks.hubs::EV3Brick.speaker.play_notes
 
-    .. automethod:: pybricks.hubs::EV3Brick.speaker.play_file
-
-    .. automethod:: pybricks.hubs::EV3Brick.speaker.say
-
-    .. automethod:: pybricks.hubs::EV3Brick.speaker.set_speech_options
-
-    .. automethod:: pybricks.hubs::EV3Brick.speaker.set_volume
-
     .. rubric:: Using the screen
 
     .. |this image| replace:: the screen
@@ -60,10 +58,10 @@ MINDSTORMS EV3 Brick
     .. automethod:: pybricks.hubs::EV3Brick.screen.draw_circle
 
     .. autoattribute:: pybricks.hubs::EV3Brick.screen.width
+        :annotation: = 178
 
     .. autoattribute:: pybricks.hubs::EV3Brick.screen.height
-
-    .. automethod:: pybricks.hubs::EV3Brick.screen.save
+        :annotation: = 128
 
     .. rubric:: Using the battery
 
@@ -83,122 +81,8 @@ Turn the light on and change the color
 Screen examples
 ---------------------
 
-Show an image on the screen
-***************************
-
-.. literalinclude::
-    ../../../examples/ev3/screen_image/main.py
-
 Drawing shapes on the screen
 ****************************
 
 .. literalinclude::
     ../../../examples/ev3/screen_draw/main.py
-
-Using different fonts
-*********************
-
-.. raw:: latex
-
-    \begin{CJK}{UTF8}{gbsn}
-
-.. literalinclude::
-    ../../../examples/ev3/screen_print/main.py
-
-.. raw:: latex
-
-    \end{CJK}
-
-.. rubric:: Available languages and voices for speech
-
-.. [#espeak_lang]
-
-    You can choose the following languages:
-
-    - ``'af'``: Afrikaans
-    - ``'an'``: Aragonese
-    - ``'bg'``: Bulgarian
-    - ``'bs'``: Bosnian
-    - ``'ca'``: Catalan
-    - ``'cs'``: Czech
-    - ``'cy'``: Welsh
-    - ``'da'``: Danish
-    - ``'de'``: German
-    - ``'el'``: Greek
-    - ``'en'``: English (default)
-    - ``'en-gb'``: English (United Kingdom)
-    - ``'en-sc'``: English (Scotland)
-    - ``'en-uk-north'``: English (United Kingdom, Northern)
-    - ``'en-uk-rp'``: English (United Kingdom, Received Pronunciation)
-    - ``'en-uk-wmids'``: English (United Kingdom, West Midlands)
-    - ``'en-us'``: English (United States)
-    - ``'en-wi'``: English (West Indies)
-    - ``'eo'``: Esperanto
-    - ``'es'``: Spanish
-    - ``'es-la'``: Spanish (Latin America)
-    - ``'et'``: Estonian
-    - ``'fa'``: Persian
-    - ``'fa-pin'``: Persian
-    - ``'fi'``: Finnish
-    - ``'fr-be'``: French (Belgium)
-    - ``'fr-fr'``: French (France)
-    - ``'ga'``: Irish
-    - ``'grc'``: Greek
-    - ``'hi'``: Hindi
-    - ``'hr'``: Croatian
-    - ``'hu'``: Hungarian
-    - ``'hy'``: Armenian
-    - ``'hy-west'``: Armenian (Western)
-    - ``'id'``: Indonesian
-    - ``'is'``: Icelandic
-    - ``'it'``: Italian
-    - ``'jbo'``: Lojban
-    - ``'ka'``: Georgian
-    - ``'kn'``: Kannada
-    - ``'ku'``: Kurdish
-    - ``'la'``: Latin
-    - ``'lfn'``: Lingua Franca Nova
-    - ``'lt'``: Lithuanian
-    - ``'lv'``: Latvian
-    - ``'mk'``: Macedonian
-    - ``'ml'``: Malayalam
-    - ``'ms'``: Malay
-    - ``'ne'``: Nepali
-    - ``'nl'``: Dutch
-    - ``'no'``: Norwegian
-    - ``'pa'``: Punjabi
-    - ``'pl'``: Polish
-    - ``'pt-br'``: Portuguese (Brazil)
-    - ``'pt-pt'``: Portuguese (Portugal)
-    - ``'ro'``: Romanian
-    - ``'ru'``: Russian
-    - ``'sk'``: Slovak
-    - ``'sq'``: Albanian
-    - ``'sr'``: Serbian
-    - ``'sv'``: Swedish
-    - ``'sw'``: Swahili
-    - ``'ta'``: Tamil
-    - ``'tr'``: Turkish
-    - ``'vi'``: Vietnamese
-    - ``'vi-hue'``: Vietnamese (Hue)
-    - ``'vi-sgn'``: Vietnamese (Saigon)
-    - ``'zh'``: Mandarin Chinese
-    - ``'zh-yue'``: Cantonese Chinese
-
-    You can choose the following voices:
-
-    - ``'f1'``: female variant 1
-    - ``'f2'``: female variant 2
-    - ``'f3'``: female variant 3
-    - ``'f4'``: female variant 4
-    - ``'f5'``: female variant 5
-    - ``'m1'``: male variant 1
-    - ``'m2'``: male variant 2
-    - ``'m3'``: male variant 3
-    - ``'m4'``: male variant 4
-    - ``'m5'``: male variant 5
-    - ``'m6'``: male variant 6
-    - ``'m7'``: male variant 7
-    - ``'croak'``: croak
-    - ``'whisper'``: whisper
-    - ``'whisperf'``: female whisper

doc/main/hubs/index.rst

@@ -14,6 +14,7 @@
    technichub
    primehub
    essentialhub
+   ev3brick
 
 .. pybricks-classlink:: MoveHub
 
@@ -50,3 +51,11 @@
 .. figure:: ../../main/cad/output/hub-essential.png
     :width: 25%
     :target: essentialhub.html
+
+.. pybricks-classlink:: EV3Brick
+
+.. figure:: ../../main/cad/output/ev3device-ev3.png
+    :width: 25%
+    :target: ev3brick.html
+
+

doc/main/hubs/movehub.rst

@@ -10,7 +10,7 @@ Move Hub
 
 .. blockimg:: pybricks_variables_set_move_hub_option0
 
-.. blockimg:: pybricks_variables_set_move_hub_option4
+.. blockimg:: pybricks_variables_set_move_hub_option1
 
 .. autoclass:: pybricks.hubs.MoveHub
     :no-members:

doc/main/hubs/primehub.rst

@@ -8,7 +8,9 @@ Prime Hub / Inventor Hub
 
 .. blockimg:: pybricks_variables_set_inventor_hub_option0
 
-.. blockimg:: pybricks_variables_set_inventor_hub_option4
+.. blockimg:: pybricks_variables_set_inventor_hub_option1
+
+.. currentmodule:: pybricks.hubs
 
 .. class:: InventorHub
 
@@ -19,7 +21,7 @@ Prime Hub / Inventor Hub
 
 .. blockimg:: pybricks_variables_set_prime_hub_option0
 
-.. blockimg:: pybricks_variables_set_prime_hub_option4
+.. blockimg:: pybricks_variables_set_prime_hub_option1
 
 .. autoclass:: pybricks.hubs.PrimeHub
     :no-members:

doc/main/hubs/technichub.rst

@@ -8,7 +8,7 @@ Technic Hub
 
 .. blockimg:: pybricks_variables_set_technic_hub_option0
 
-.. blockimg:: pybricks_variables_set_technic_hub_option4
+.. blockimg:: pybricks_variables_set_technic_hub_option1
 
 .. autoclass:: pybricks.hubs.TechnicHub
     :no-members:

doc/main/index.rst

@@ -1,19 +1,24 @@
-Pybricks Documentation
+Pybricks Reference Manual
 ==================================================================
 
-`Pybricks <https://pybricks.com/>`_ is Python coding for smart LEGO® hubs.
-Run MicroPython scripts
-directly on the hub, and get full control of your motors and sensors.
+.. only:: ide
 
-Pybricks runs on LEGO® BOOST, City, Technic, MINDSTORMS®, and SPIKE®. You
-can code using Windows, Mac, Linux, Chromebook, and Android.
+   This documentation details all available functions and classes in Pybricks.
+   For example, you can find the meaning of specific function parameters like
+   motor speed.
 
-Click on any device below to see its documentation. Use the menu on the left
-to find documentation for additional modules. You may need to click the ☰ icon
-above to reveal this menu.
+   If you are new to Pybricks, we recommend starting with the `Pybricks learn`_
+   guide instead.
 
 .. only:: main
 
+   `Pybricks <https://pybricks.com/>`_ is Python coding for smart LEGO® hubs.
+   Run MicroPython scripts
+   directly on the hub, and get full control of your motors and sensors.
+
+   Pybricks runs on LEGO® BOOST, City, Technic, MINDSTORMS®, and SPIKE®. You
+   can code using Windows, Mac, Linux, Chromebook, and Android.
+
    .. note:: You are viewing the stand-alone version of the documentation. To
              learn more about Pybricks and to start coding, visit
              the `Pybricks website`_
@@ -21,8 +26,13 @@ above to reveal this menu.
    .. note:: Are you using LEGO MINDSTORMS EV3? Check out the
             `EV3 documentation`_ instead.
 
+Click on any device below to see its documentation. Use the menu on the left
+to find documentation for additional modules. You may need to click the ☰ icon
+above to reveal this menu.
+
 .. _EV3 documentation: https://pybricks.com/ev3-micropython/
 .. _Pybricks website: https://pybricks.com/
+.. _Pybricks learn: https://pybricks.com/learn/
 
 .. rubric:: Programmable hubs
 
@@ -44,6 +54,12 @@ above to reveal this menu.
    :width: 70 %
    :target: pupdevices/dcmotor.html
 
+.. rubric:: EV3 motors and sensors
+
+.. figure:: ../main/cad/output/ev3device-all.png
+   :width: 100 %
+   :target: ev3devices/index.html
+
 .. toctree::
     :maxdepth: 1
     :caption: Table of contents
@@ -56,6 +72,8 @@ above to reveal this menu.
 
    hubs/index
    pupdevices/index
+   ev3devices/index
+   nxtdevices/index
    iodevices/index
    parameters/index
    tools/index
@@ -63,13 +81,6 @@ above to reveal this menu.
    messaging/index
    signaltypes
 
-.. toctree::
-   :maxdepth: 1
-   :caption: Code with blocks
-   :hidden:
-
-   blocks/index
-
 .. toctree::
    :maxdepth: 1
    :caption: MicroPython modules

doc/main/iodevices/dcmotor.rst

@@ -14,14 +14,12 @@ automatically detect the motor and use the correct and safe settings.
    :width: 40 %
 
 .. autoclass:: pybricks.iodevices.DCMotor
-    :noindex:
     :no-members:
 
     .. automethod:: pybricks.iodevices.DCMotor.dc
-        :noindex:
 
     .. automethod:: pybricks.iodevices.DCMotor.brake
-        :noindex:
 
     .. automethod:: pybricks.iodevices.DCMotor.stop
-        :noindex:
+
+    .. automethod:: pybricks.iodevices.DCMotor.settings

doc/main/iodevices/index.rst

@@ -41,7 +41,7 @@ LEGO protocol devices
    :width: 80 %
    :target: lwp3device.html
 
-.. pybricks-requirements:: ev3 pybricks-iodevices
+.. pybricks-requirements:: pybricks-iodevices
 
 .. pybricks-classlink:: LUMPDevice
 
@@ -83,7 +83,7 @@ Generic protocols
 
 |uart-wired| |uart-wireless|
 
-.. pybricks-requirements:: ev3 pybricks-iodevices
+.. pybricks-requirements:: pybricks-iodevices
 
 .. pybricks-classlink:: I2CDevice
 
@@ -91,7 +91,7 @@ Generic protocols
    :width: 20 %
    :target: i2cdevice.html
 
-.. pybricks-requirements:: ev3 pybricks-iodevices
+.. pybricks-requirements:: pybricks-iodevices
 
 .. pybricks-classlink:: AnalogSensor
 
@@ -99,7 +99,7 @@ Generic protocols
    :width: 20 %
    :target: analogsensor.html
 
-.. pybricks-requirements:: ev3 pybricks-iodevices
+.. pybricks-requirements:: pybricks-iodevices
 
 .. pybricks-classlink:: DCMotor
 

doc/main/messaging/index.rst

@@ -4,24 +4,42 @@
 .. automodule:: pybricks.messaging
     :no-members:
 
-.. pybricks-requirements:: pup
+.. pybricks-requirements:: ble
+
+.. blockimg:: pybricks_variables_set_ble_radio
 
 .. autoclass:: pybricks.messaging.BLERadio
     :no-members:
 
+    .. blockimg:: pybricks_blockBleBroadcast2
+
     .. automethod:: pybricks.messaging.BLERadio.broadcast
 
+    .. blockimg:: pybricks_blockBleObserve2
+
     .. automethod:: pybricks.messaging.BLERadio.observe
 
     .. automethod:: pybricks.messaging.BLERadio.signal_strength
 
     .. automethod:: pybricks.messaging.BLERadio.version
 
+    .. blockimg:: pybricks_variables_set_app_data_app_data_color_tracker
+
+    .. blockimg:: pybricks_variables_set_app_data_app_data_teachable_machine
+
+    .. blockimg:: pybricks_variables_set_app_data_app_data_object_detection
+
+    .. blockimg:: pybricks_variables_set_app_data_app_data_line_follower
+
+    .. blockimg:: pybricks_variables_set_app_data_app_data_custom
+
 .. autoclass:: pybricks.messaging.AppData
     :no-members:
 
     .. automethod:: pybricks.messaging.AppData.get_bytes
 
+    .. blockimg:: pybricks_blockAppDataGetValues
+
     .. automethod:: pybricks.messaging.AppData.write_bytes
 
     .. automethod:: pybricks.messaging.AppData.configure

doc/main/micropython/exceptions.rst

@@ -54,7 +54,6 @@ This section lists all available exceptions in alphabetical order.
 .. _OSError:
 
 .. autoclass:: ubuiltins.OSError
-    :noindex:
 
 .. autoclass:: ubuiltins.OverflowError
     :no-members:

doc/main/nxtdevices.rst

@@ -1,101 +0,0 @@
-:mod:`nxtdevices <pybricks.nxtdevices>` -- NXT devices
-======================================================
-
-.. automodule:: pybricks.nxtdevices
-    :no-members:
-
-NXT Motor
-^^^^^^^^^^^^^^^^
-This motor works just like a LEGO MINDSTORMS EV3 Large Motor. You can use it in
-your programs using the :mod:`Motor <.ev3devices>` class.
-
-NXT Touch Sensor
-^^^^^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/nxtdevice-touch.png
-   :width: 18 %
-
-.. autoclass:: pybricks.nxtdevices.TouchSensor
-    :no-members:
-
-    .. automethod:: pybricks.nxtdevices.TouchSensor.pressed
-
-NXT Light Sensor
-^^^^^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/nxtdevice-light.png
-   :width: 18 %
-
-.. autoclass:: pybricks.nxtdevices.LightSensor
-
-NXT Color Sensor
-^^^^^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/nxtdevice-color.png
-   :width: 18 %
-
-.. autoclass:: pybricks.nxtdevices.ColorSensor
-    :no-members:
-
-    .. automethod:: pybricks.nxtdevices.ColorSensor.color
-
-    .. automethod:: pybricks.nxtdevices.ColorSensor.ambient
-
-    .. automethod:: pybricks.nxtdevices.ColorSensor.reflection
-
-    .. automethod:: pybricks.nxtdevices.ColorSensor.rgb
-
-    .. rubric:: Advanced color sensing
-
-    .. automethod:: pybricks.nxtdevices.ColorSensor.hsv
-
-    .. automethod:: pybricks.nxtdevices.ColorSensor.detectable_colors
-
-    .. rubric:: Built-in light
-
-    This sensor has a built-in light. You can make it red, green, blue, or turn
-    it off.
-
-    .. automethod:: pybricks.nxtdevices::ColorSensor.light.on
-
-    .. automethod:: pybricks.nxtdevices::ColorSensor.light.off
-
-NXT Ultrasonic Sensor
-^^^^^^^^^^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/nxtdevice-ultrasonic.png
-   :width: 24 %
-
-.. autoclass:: pybricks.nxtdevices.UltrasonicSensor
-
-NXT Sound Sensor
-^^^^^^^^^^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/nxtdevice-sound.png
-   :width: 18 %
-
-.. autoclass:: pybricks.nxtdevices.SoundSensor
-
-NXT Temperature Sensor
-^^^^^^^^^^^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/nxtdevice-temperature.png
-   :width: 32 %
-
-.. autoclass:: pybricks.nxtdevices.TemperatureSensor
-
-NXT Energy Meter
-^^^^^^^^^^^^^^^^^
-
-.. figure:: ../main/cad/output/nxtdevice-energy.png
-   :width: 30 %
-
-.. autoclass:: pybricks.nxtdevices.EnergyMeter
-
-Vernier Adapter
-^^^^^^^^^^^^^^^^^
-.. autoclass:: pybricks.nxtdevices.VernierAdapter
-
-**Example: Using the Surface Temperature Sensor.**
-
-.. literalinclude:: ../../examples/ev3/vernier_surface_temperature/main.py

doc/main/nxtdevices/colorsensor.rst

@@ -0,0 +1,33 @@
+.. pybricks-requirements:: nxtdevices
+
+NXT Color Sensor
+^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/nxtdevice-color.png
+   :width: 18 %
+
+.. autoclass:: pybricks.nxtdevices.ColorSensor
+    :no-members:
+
+    .. automethod:: pybricks.nxtdevices.ColorSensor.color
+
+    .. automethod:: pybricks.nxtdevices.ColorSensor.ambient
+
+    .. automethod:: pybricks.nxtdevices.ColorSensor.reflection
+
+    .. automethod:: pybricks.nxtdevices.ColorSensor.rgb
+
+    .. rubric:: Advanced color sensing
+
+    .. automethod:: pybricks.nxtdevices.ColorSensor.hsv
+
+    .. automethod:: pybricks.nxtdevices.ColorSensor.detectable_colors
+
+    .. rubric:: Built-in light
+
+    This sensor has a built-in light. You can make it red, green, blue, or turn
+    it off.
+
+    .. automethod:: pybricks.nxtdevices::ColorSensor.light.on
+
+    .. automethod:: pybricks.nxtdevices::ColorSensor.light.off

doc/main/nxtdevices/energymeter.rst

@@ -0,0 +1,9 @@
+.. pybricks-requirements:: nxtdevices
+
+NXT Energy Meter
+^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/nxtdevice-energy.png
+   :width: 30 %
+
+.. autoclass:: pybricks.nxtdevices.EnergyMeter

doc/main/nxtdevices/index.rst

@@ -0,0 +1,71 @@
+.. pybricks-requirements:: nxtdevices
+
+:mod:`nxtdevices <pybricks.nxtdevices>` -- NXT motors and sensors
+=================================================================
+
+.. automodule:: pybricks.nxtdevices
+    :no-members:
+
+.. toctree::
+   :maxdepth: 1
+   :hidden:
+
+   motor
+   touchsensor
+   lightsensor
+   colorsensor
+   ultrasonicsensor
+   soundsensor
+   temperaturesensor
+   energymeter
+   vernieradapter
+
+.. pybricks-classlink:: Motor ../nxtdevices/motor
+
+.. figure:: ../../main/cad/output/ev3device-motors.png
+    :width: 100 %
+    :target: ../nxtdevices/motor.html
+
+.. pybricks-classlink:: TouchSensor
+
+.. figure:: ../../main/cad/output/nxtdevice-touch.png
+   :width: 18 %
+   :target: touchsensor.html
+
+.. pybricks-classlink:: LightSensor
+
+.. figure:: ../../main/cad/output/nxtdevice-light.png
+   :width: 18 %
+   :target: lightsensor.html
+
+.. pybricks-classlink:: ColorSensor
+
+.. figure:: ../../main/cad/output/nxtdevice-color.png
+   :width: 18 %
+   :target: colorsensor.html
+
+.. pybricks-classlink:: UltrasonicSensor
+
+.. figure:: ../../main/cad/output/nxtdevice-ultrasonic.png
+   :width: 24 %
+   :target: ultrasonicsensor.html
+
+.. pybricks-classlink:: SoundSensor
+
+.. figure:: ../../main/cad/output/nxtdevice-sound.png
+   :width: 18 %
+   :target: soundsensor.html
+
+.. pybricks-classlink:: TemperatureSensor
+
+.. figure:: ../../main/cad/output/nxtdevice-temperature.png
+   :width: 32 %
+   :target: temperaturesensor.html
+
+.. pybricks-classlink:: EnergyMeter
+
+.. figure:: ../../main/cad/output/nxtdevice-energy.png
+   :width: 30 %
+   :target: energymeter.html
+
+.. pybricks-classlink:: VernierAdapter

doc/main/nxtdevices/lightsensor.rst

@@ -0,0 +1,9 @@
+.. pybricks-requirements:: nxtdevices
+
+NXT Light Sensor
+^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/nxtdevice-light.png
+   :width: 18 %
+
+.. autoclass:: pybricks.nxtdevices.LightSensor

doc/main/nxtdevices/motor.rst

@@ -0,0 +1,21 @@
+.. pybricks-requirements:: ev3devices nxtdevices
+
+Motors with rotation sensors
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. _fig_nxtmotors:
+
+.. figure:: ../../main/diagrams/ev3motors.png
+   :width: 100 %
+   :alt: ev3motors
+
+   EV3 and NXT motors with rotation sensors. The arrows indicate the default
+   positive direction.
+
+.. blockimg:: pybricks_variables_set_motor
+
+.. autoclass:: pybricks.nxtdevices.Motor
+    :no-members:
+    :no-index:
+
+    .. include:: ../common/motor_members.rst.txt

doc/main/nxtdevices/soundsensor.rst

@@ -0,0 +1,9 @@
+.. pybricks-requirements:: nxtdevices
+
+NXT Sound Sensor
+^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/nxtdevice-sound.png
+   :width: 18 %
+
+.. autoclass:: pybricks.nxtdevices.SoundSensor

doc/main/nxtdevices/temperaturesensor.rst

@@ -0,0 +1,9 @@
+.. pybricks-requirements:: nxtdevices
+
+NXT Temperature Sensor
+^^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/nxtdevice-temperature.png
+   :width: 32 %
+
+.. autoclass:: pybricks.nxtdevices.TemperatureSensor

doc/main/nxtdevices/touchsensor.rst

@@ -0,0 +1,12 @@
+.. pybricks-requirements:: nxtdevices
+
+NXT Touch Sensor
+^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/nxtdevice-touch.png
+   :width: 18 %
+
+.. autoclass:: pybricks.nxtdevices.TouchSensor
+    :no-members:
+
+    .. automethod:: pybricks.nxtdevices.TouchSensor.pressed

doc/main/nxtdevices/ultrasonicsensor.rst

@@ -0,0 +1,9 @@
+.. pybricks-requirements:: nxtdevices
+
+NXT Ultrasonic Sensor
+^^^^^^^^^^^^^^^^^^^^^
+
+.. figure:: ../../main/cad/output/nxtdevice-ultrasonic.png
+   :width: 24 %
+
+.. autoclass:: pybricks.nxtdevices.UltrasonicSensor

doc/main/nxtdevices/vernieradapter.rst

@@ -0,0 +1,15 @@
+.. pybricks-requirements:: nxtdevices
+
+Vernier Adapter
+^^^^^^^^^^^^^^^
+
+.. autoclass:: pybricks.nxtdevices.VernierAdapter
+
+Examples
+-------------------
+
+Using the Surface Temperature Sensor
+************************************
+
+.. literalinclude::
+    ../../../examples/ev3/vernier_surface_temperature/main.py

doc/main/parameters/axis.rst

@@ -6,5 +6,14 @@ Axis
 .. autoclass:: pybricks.parameters.Axis
     :no-members:
 
+    .. autoattribute:: pybricks.parameters.Axis.X
+        :annotation: = vector(1, 0, 0)
+
+    .. autoattribute:: pybricks.parameters.Axis.Y
+        :annotation: = vector(0, 1, 0)
+
+    .. autoattribute:: pybricks.parameters.Axis.Z
+        :annotation: = vector(0, 0, 1)
+
 On Move Hub, doing math with these vectors is not supported. The axes can still
 be used to set up the hub orientation.

doc/main/parameters/button.rst

@@ -3,6 +3,8 @@
 Button
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+.. currentmodule:: pybricks.parameters
+
 .. class:: Button
 
     .. rubric:: Remote and hub buttons

doc/main/parameters/direction.rst

@@ -3,6 +3,8 @@
 Direction
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+.. currentmodule:: pybricks.parameters
+
 .. class:: Direction
 
     Rotational direction for positive speed or angle values.

doc/main/parameters/font.rst

@@ -0,0 +1,31 @@
+.. pybricks-requirements:: image
+
+Font
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. autoclass:: pybricks.parameters.Font
+    :no-members:
+
+    .. autoattribute:: pybricks.parameters.Font.DEFAULT
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Font.TERMINUS_16
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Font.LIBERATIONSANS_14
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Font.MONO_8X5_8
+        :annotation:
+
+    .. autoattribute:: pybricks.parameters.Font.family
+
+    .. autoattribute:: pybricks.parameters.Font.style
+
+    .. autoattribute:: pybricks.parameters.Font.width
+
+    .. autoattribute:: pybricks.parameters.Font.height
+
+    .. automethod:: pybricks.parameters.Font.text_width
+
+    .. automethod:: pybricks.parameters.Font.text_height

doc/main/parameters/image.rst

@@ -0,0 +1,59 @@
+.. pybricks-requirements:: image
+
+Image
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. |this image| replace:: this image
+
+.. autoclass:: pybricks.parameters.Image
+    :no-members:
+
+    .. automethod:: pybricks.parameters.Image.empty
+
+    .. rubric:: Drawing text
+
+    There are two ways to draw text on images. :meth:`draw_text` lets text be
+    placed precisely on the image or :meth:`print` can be used to automatically
+    print text on a new line.
+
+    .. automethod:: pybricks.parameters.Image.draw_text
+
+    .. automethod:: pybricks.parameters.Image.print
+
+    .. automethod:: pybricks.parameters.Image.set_font
+
+
+    .. rubric:: Drawing images
+
+    A copy of another image can be drawn on an image. Also consider using
+    sub-images to copy part of an image.
+
+    .. automethod:: pybricks.parameters.Image.draw_image
+
+
+    .. rubric:: Drawing shapes
+
+    These are the methods to draw basic shapes, including points, lines,
+    rectangles and circles.
+
+    .. automethod:: pybricks.parameters.Image.draw_pixel
+
+    .. automethod:: pybricks.parameters.Image.draw_line
+
+    .. automethod:: pybricks.parameters.Image.draw_box
+
+    .. automethod:: pybricks.parameters.Image.draw_circle
+
+
+    .. rubric:: Image properties
+
+    .. autoattribute:: pybricks.parameters.Image.width
+
+    .. autoattribute:: pybricks.parameters.Image.height
+
+
+    .. rubric:: Replacing the entire image
+
+    .. automethod:: pybricks.parameters.Image.clear
+
+    .. automethod:: pybricks.parameters.Image.load_image

doc/main/parameters/imagefile.rst

@@ -0,0 +1,209 @@
+.. pybricks-requirements:: image
+
+ImageFile
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Note: Not all images are included in the firmware yet. This is a work in progress.
+
+.. currentmodule:: pybricks.parameters
+
+.. class:: ImageFile
+
+    .. rubric:: **Information**
+
+    .. data:: ACCEPT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/accept.png
+            :width: 15 %
+
+    .. data:: BACKWARD
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/backward.png
+            :width: 15 %
+
+    .. data:: DECLINE
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/decline.png
+            :width: 15 %
+
+    .. data:: FORWARD
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/forward.png
+            :width: 15 %
+
+    .. data:: LEFT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/left.png
+            :width: 15 %
+
+    .. data:: NO_GO
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/no_go.png
+            :width: 15 %
+
+    .. data:: QUESTION_MARK
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/question_mark.png
+            :width: 15 %
+
+    .. data:: RIGHT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/right.png
+            :width: 15 %
+
+    .. data:: STOP_1
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/stop_1.png
+            :width: 15 %
+
+    .. data:: STOP_2
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/stop_2.png
+            :width: 15 %
+
+    .. data:: THUMBS_DOWN
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/thumbs_down.png
+            :width: 15 %
+
+    .. data:: THUMBS_UP
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/thumbs_up.png
+            :width: 15 %
+
+    .. data:: WARNING
+
+        .. image:: ../../../media/ev3dev-media/images/mono/information/warning.png
+            :width: 15 %
+
+    .. rubric:: **LEGO**
+
+    .. data:: EV3
+
+        .. image:: ../../../media/ev3dev-media/images/mono/lego/ev3.png
+            :width: 15 %
+
+    .. data:: EV3_ICON
+
+        .. image:: ../../../media/ev3dev-media/images/mono/lego/ev3_icon.png
+            :width: 15 %
+
+    .. rubric:: **Objects**
+
+    .. data:: TARGET
+
+        .. image:: ../../../media/ev3dev-media/images/mono/objects/target.png
+            :width: 15 %
+
+    .. rubric:: **Eyes**
+
+    .. data:: ANGRY
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/angry.png
+            :width: 15 %
+
+    .. data:: AWAKE
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/awake.png
+            :width: 15 %
+
+    .. data:: BOTTOM_LEFT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/bottom_left.png
+            :width: 15 %
+
+
+    .. data:: BOTTOM_RIGHT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/bottom_right.png
+            :width: 15 %
+
+    .. data:: CRAZY_1
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/crazy_1.png
+            :width: 15 %
+
+    .. data:: CRAZY_2
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/crazy_2.png
+            :width: 15 %
+
+    .. data:: DIZZY
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/dizzy.png
+            :width: 15 %
+
+    .. data:: DOWN
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/down.png
+            :width: 15 %
+
+    .. data:: EVIL
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/evil.png
+            :width: 15 %
+
+    .. data:: KNOCKED_OUT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/knocked_out.png
+            :width: 15 %
+
+    .. data:: MIDDLE_LEFT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/middle_left.png
+            :width: 15 %
+
+    .. data:: MIDDLE_RIGHT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/middle_right.png
+            :width: 15 %
+
+    .. data:: NEUTRAL
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/neutral.png
+            :width: 15 %
+
+    .. data:: PINCHED_LEFT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/pinched_left.png
+            :width: 15 %
+
+    .. data:: PINCHED_MIDDLE
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/pinched_middle.png
+            :width: 15 %
+
+    .. data:: PINCHED_RIGHT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/pinched_right.png
+            :width: 15 %
+
+    .. data:: SLEEPING
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/sleeping.png
+            :width: 15 %
+
+    .. data:: TIRED_LEFT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/tired_left.png
+            :width: 15 %
+
+    .. data:: TIRED_MIDDLE
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/tired_middle.png
+            :width: 15 %
+
+    .. data:: TIRED_RIGHT
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/tired_right.png
+            :width: 15 %
+
+    .. data:: UP
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/up.png
+            :width: 15 %
+
+    .. data:: WINKING
+
+        .. image:: ../../../media/ev3dev-media/images/mono/eyes/winking.png
+            :width: 15 %

doc/main/parameters/index.rst

@@ -14,7 +14,10 @@
    button
    color
    direction
+   font
    icon
+   image
+   imagefile
    port
    side
    stop
@@ -27,8 +30,14 @@
 
 .. pybricks-classlink:: Direction
 
+.. pybricks-classlink:: Font
+
 .. pybricks-classlink:: Icon
 
+.. pybricks-classlink:: Image
+
+.. pybricks-classlink:: ImageFile
+
 .. pybricks-classlink:: Port
 
 .. pybricks-classlink:: Side

doc/main/parameters/port.rst

@@ -3,6 +3,8 @@
 Port
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+.. currentmodule:: pybricks.parameters
+
 .. class:: Port
 
     Input and output ports:

doc/main/parameters/side.rst

@@ -3,6 +3,8 @@
 Side
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+.. currentmodule:: pybricks.parameters
+
 .. class:: Side
 
     Side of a hub or a sensor. These devices are

doc/main/parameters/stop.rst

@@ -3,6 +3,8 @@
 Stop
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+.. currentmodule:: pybricks.parameters
+
 .. class:: Stop
 
     Action after the motor stops.

doc/main/pupdevices/colordistancesensor.rst

@@ -1,4 +1,4 @@
-.. pybricks-requirements::
+.. pybricks-requirements:: pupdevices
 
 Color and Distance Sensor
 ^^^^^^^^^^^^^^^^^^^^^^^^^

doc/main/pupdevices/colorlightmatrix.rst

@@ -1,4 +1,4 @@
-.. pybricks-requirements::
+.. pybricks-requirements:: pupdevices
 
 Color Light Matrix
 ^^^^^^^^^^^^^^^^^^

doc/main/pupdevices/colorsensor.rst

@@ -1,4 +1,4 @@
-.. pybricks-requirements::
+.. pybricks-requirements:: pupdevices
 
 Color Sensor
 ^^^^^^^^^^^^^^^^^^^^^^^^^