Analog Sensor
^^^^^^^^^^^^^

.. autoclass:: pybricks.iodevices.AnalogSensor

I2C Device
^^^^^^^^^^^^^

.. autoclass:: pybricks.iodevices.I2CDevice

.. toggle-header::
    :header: **Show/hide example**

    **Example: Read and write to an I2C device.**

    .. literalinclude:: ../../pybricks-projects/snippets/ev3/i2c_basics/main.py

.. _i2caddress:

I2C Addresses
---------------
I2C addresses are 7-bit values. However, most vendors who make LEGO compatible
sensors provide an 8-bit address in their documentation.
To use those addresses, you must shift them by 1 bit.
For example, if the documented address is ``0xD2``, you can do
``address = 0xD2 >> 1``.

Advanced I2C Commands
---------------------
Some rudimentary I2C devices do not require a register argument or even any
data. You can achieve this behavior as shown in the examples below.

.. toggle-header::
    :header: **Show/hide example**

    **Example: Advanced I2C read and write techniques.**

    .. literalinclude:: ../../pybricks-projects/snippets/ev3/i2c_extra/main.py

**Additional technical resources**

The ``I2CDevice`` class methods call functions from the Linux SMBus driver.
To find out which commands are called under the hood, check the
`Pybricks source code`_.
More details about using I2C without MicroPython can be found on
the `ev3dev I2C`_ page.

.. _ev3dev I2C: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/i2c.html
.. _Pybricks source code: https://github.com/pybricks/pybricks-micropython


UART Device
^^^^^^^^^^^^^

.. autoclass:: pybricks.iodevices.UARTDevice

.. toggle-header::
    :header: **Show/hide example**

    **Example: Read and write to a UART device.**

    .. literalinclude::
        ../../pybricks-projects/snippets/ev3/uart_basics/main.py

DC Motor
^^^^^^^^^^^^

.. autoclass:: pybricks.builtins.DCMotor
    :noindex:
    :no-members:

    .. automethod:: pybricks.builtins.DCMotor.dc
        :noindex:

Other ev3dev sensors
^^^^^^^^^^^^^^^^^^^^^

EV3 MicroPython is built on top of ev3dev, which means that a particular sensor
may be supported even if it is not listed in this documentation. To test whether
your sensor is supported:

    * Plug the sensor into your EV3 Brick.
    * Go to the main menu of the EV3 Brick.
    * Select `Device Browser` and then `Sensors`.
    * If your sensor shows up, it is supported.

You will be able to use this sensor using the ``Ev3devSensor`` class below.
This lets you read the sensor values for a given mode number. To see which modes
are available for your sensor:

    * Follow the steps above and select your sensor.
    * Select `set mode`. This shows all available modes for this sensor.
    * You don't need to set a mode now, so press the back button to cancel.

To read values in your program, enter the mode number as the ``mode`` setting
in the class shown below. The first mode is mode 0, the second mode is mode 1,
and so on. To learn more about compatible devices and their modes, visit the
`ev3dev sensors`_ page.

.. _ev3dev sensors: http://docs.ev3dev.org/projects/lego-linux-drivers/en/ev3dev-stretch/sensors.html

.. autoclass:: pybricks.iodevices.Ev3devSensor
    :no-members:

    .. automethod:: pybricks.iodevices.Ev3devSensor.read