Merge branch 'master' of https://github.com/Pybricks/Pybricks-API

# Conflicts:
#	pyproject.toml

.github/workflows/build.yml

@@ -6,7 +6,7 @@ name: Build Python package and docs
 on: 
   push:
     tags-ignore:
-      - "*"
+      - '**'
   pull_request:
     paths:
       - doc/**
@@ -20,19 +20,11 @@ on:
 jobs:
   build:
 
-    runs-on: ubuntu-20.04
-    strategy:
-      matrix:
-        python-version: [3.8, 3.9]
-
+    runs-on: ubuntu-22.04
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: recursive
-    - name: Set up Python ${{ matrix.python-version }}
-      uses: actions/setup-python@v1
-      with:
-        python-version: ${{ matrix.python-version }}
     - name: Install dependencies
       run: |
         pip install poetry

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

@@ -7,7 +7,7 @@ on:
 
 jobs:
   publish_ide_docs:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
     - name: Ubuntu packages
       run: |
@@ -17,16 +17,16 @@ jobs:
       with:
         submodules: recursive
     - name: Set up Python 3.8
-      uses: actions/setup-python@v1
+      uses: actions/setup-python@v4
       with:
         python-version: 3.8
     - name: Install dependencies
       run: |
         pip install poetry
         poetry run python -m pip install --upgrade pip
         poetry run python -m pip install --upgrade setuptools
-        poetry install
-    - uses: actions/setup-node@v1
+        poetry install --only=doc
+    - uses: actions/setup-node@v3
       with:
         node-version: '14.x'
         registry-url: 'https://registry.npmjs.org'

.readthedocs.yml

@@ -0,0 +1,26 @@
+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+build:
+  os: "ubuntu-22.04"
+  tools:
+    python: "3.10"
+  jobs:
+    post_create_environment:
+      - pip install poetry
+      - poetry config virtualenvs.create false
+    post_install:
+      - poetry install --only=doc
+
+# Build documentation in the doc/main/ directory with Sphinx
+sphinx:
+  configuration: doc/main/conf.py
+  fail_on_warning: true
+
+# Optionally build your docs in additional formats such as PDF
+formats:
+   - pdf

.vscode/extensions.json

@@ -4,7 +4,8 @@
 
 	// List of extensions which should be recommended for users of this workspace.
 	"recommendations": [
-		"ms-python.python"
+		"ms-python.python",
+		"ms-python.black-formatter"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": [

.vscode/settings.json

@@ -6,14 +6,14 @@
     },
     "python.defaultInterpreterPath": ".venv/bin/python",
     "python.autoComplete.extraPaths": ["jedi/src"],
-    "python.formatting.provider": "black",
+    "python.formatting.provider": "none",
     "python.linting.pylintEnabled": false,
     "python.linting.flake8Enabled": true,
     "python.linting.pycodestyleEnabled": false,
     "python.linting.enabled": true,
     "[python]": {
         "editor.formatOnSave": true,
-        "editor.defaultFormatter": "ms-python.python"
+        "editor.defaultFormatter": "ms-python.black-formatter"
     },
     "python.languageServer": "Pylance",
     "python.testing.pytestArgs": [

CHANGELOG.md

@@ -4,12 +4,29 @@
 
 ## Unreleased
 
+## 3.3.0b5 - 2023-05-16
+
+### Added
+- Documented new `hub.ble` methods.
+
+## 3.3.0b4 - 2023-04-21
+
 ### Added
-- Documented `positive_direction` in `DriveBase`.
-- Document deceleration setter in `DriveBase`.
-- Documented ``integral_deadzone`` in ``Control.pid()``.
-- Documented ``Motor.model``. This can be used to view the estimated motor
+- 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
 

doc/common/conf.py

@@ -321,10 +321,11 @@ def on_missing_reference(
             app.builder, node["refdoc"], "signaltypes", "numbers", contnode
         )
 
-    # References with special characters can't exist, so we have to supress
+    # References with special characters can't exist, so we have to suppress
     # warnings when Sphinx tries to cross reference units like deg/s. For
     # consistency, we also treat units without special characters this way.
     for unit in [
+        "dBm",
         "deg",
         "deg/s",
         "deg/s²",

doc/common/extensions/requirements-static.py

@@ -10,7 +10,6 @@
 
 # Medium feature set.
 FEATURES_MEDIUM = FEATURES_SMALL | {
-    "pybricks-geometry",
     "pybricks-common-control",
     "pybricks-iodevices",
     "stm32-extra",
@@ -24,10 +23,10 @@
 HUB_FEATURES = {
     "movehub": {"movehub"} | FEATURES_SMALL,
     "cityhub": {"cityhub"} | FEATURES_MEDIUM,
-    "technichub": {"technichub"} | FEATURES_MEDIUM,
-    "primehub": {"primehub", "inventorhub", "light-matrix"} | FEATURES_LARGE,
-    "inventorhub": {"primehub", "inventorhub", "light-matrix"} | FEATURES_LARGE,
-    "essentialhub": {"essentialhub"} | FEATURES_LARGE,
+    "technichub": {"technichub", "gyro"} | FEATURES_MEDIUM,
+    "primehub": {"primehub", "inventorhub", "light-matrix", "gyro"} | FEATURES_LARGE,
+    "inventorhub": {"primehub", "inventorhub", "light-matrix", "gyro"} | FEATURES_LARGE,
+    "essentialhub": {"essentialhub", "gyro"} | FEATURES_LARGE,
 }
 
 

doc/main/conf.py

@@ -8,7 +8,7 @@
 
 # General information about the project.
 project = "pybricks"
-copyright = "2018-2021 The Pybricks Authors"
+copyright = "2018-2023 The Pybricks Authors"
 author = ""
 
 _TITLE = "Pybricks Modules and Examples"
@@ -29,7 +29,7 @@
 # HACK: this allows Number type alias to be imported by Sphinx
 os.environ["SPHINX_BUILD"] = "True"
 
-# Addtional configuration of the IDE docs
+# Additional configuration of the IDE docs
 if "ide" in tags.tags:  # noqa F821
     _DISCLAIMER = ""
     html_show_copyright = False
@@ -45,7 +45,7 @@
 
 exec(open(os.path.abspath("../common/conf.py")).read())
 
-# Addtional configuration of the IDE docs
+# Additional configuration of the IDE docs
 if "ide" in tags.tags:  # noqa F821
 
     extensions.remove("sphinx.ext.mathjax")  # noqa F821

doc/main/ev3devices.rst

@@ -20,12 +20,12 @@ Motors
 
     .. rubric:: Measuring
 
-    .. automethod:: pybricks.ev3devices.Motor.speed
-
     .. 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

doc/main/hubs/cityhub.rst

@@ -19,6 +19,17 @@ City Hub
 
     .. automethod:: pybricks.hubs::CityHub.light.animate
 
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    ``ble.broadcast()`` does not work on ``CityHub`` due to a bug in the
+    Bluetooth chip firmware.
+
+    .. automethod:: pybricks.hubs::CityHub.ble.observe
+
+    .. automethod:: pybricks.hubs::CityHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::CityHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::CityHub.battery.voltage
@@ -70,6 +81,17 @@ Creating light animations
 .. literalinclude::
     ../../../examples/pup/hub_common/build/light_animate_cityhub.py
 
+
+Bluetooth examples
+------------------
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_cityhub.py
+
+
 Button and system examples
 ----------------------------------
 

doc/main/hubs/essentialhub.rst

@@ -25,6 +25,10 @@ Essential Hub
 
     .. rubric:: Using the IMU
 
+    .. automethod:: pybricks.hubs::EssentialHub.imu.ready
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.stationary
+
     .. automethod:: pybricks.hubs::EssentialHub.imu.up
 
     .. automethod:: pybricks.hubs::EssentialHub.imu.tilt
@@ -37,6 +41,22 @@ Essential Hub
 
     .. automethod:: pybricks.hubs::EssentialHub.imu.reset_heading
 
+    .. automethod:: pybricks.hubs::EssentialHub.imu.rotation
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.orientation
+
+    .. automethod:: pybricks.hubs::EssentialHub.imu.settings
+
+    .. rubric:: Using connectionless Bluetooth messaging
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.broadcast
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.observe
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.signal_strength
+
+    .. automethod:: pybricks.hubs::EssentialHub.ble.version
+
     .. rubric:: Using the battery
 
     .. automethod:: pybricks.hubs::EssentialHub.battery.voltage
@@ -126,6 +146,23 @@ Reading acceleration and angular velocity on one axis
 .. literalinclude::
     ../../../examples/pup/hub_common/build/imu_read_scalar_essentialhub.py
 
+
+Bluetooth examples
+------------------
+
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_essentialhub.py
+
+Observing data from other hubs
+******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_observe_essentialhub.py
+
+
 System examples
 ----------------------------------