diff --git a/.readthedocs.yaml b/.readthedocs.yaml
deleted file mode 100644
index 5eb9bef9..00000000
--- a/.readthedocs.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-# .readthedocs.yaml
-# Read the Docs configuration file
-# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
-#
-# Settings in the readthedocs online dashboard will be ignored.
-
-# Required
-version: 2
-
-# Build documentation in the doc/main directory with Sphinx
-sphinx:
-   configuration: doc/main/conf.py
-
-# Build your docs in additional formats such as PDF
-formats:
-   - pdf
-
-# Set the version of Python and requirements required to build the docs
-python:
-   version: 3.8
-   install:
-   - requirements: rtd-requirements.txt
diff --git a/.readthedocs.yml b/.readthedocs.yml
index 9f6a4eb3..ea2de5c5 100644
--- a/.readthedocs.yml
+++ b/.readthedocs.yml
@@ -19,7 +19,6 @@ build:
 # 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:
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 54ef448b..7ddf8304 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,18 @@
 
 ## Unreleased
 
+## 3.3.0b9 - 2023-10-26
+
+### Changed
+- Changed the beta feature for using the hub's gyro. Gyro control can now be
+  toggled using `use_gyro` instead of using a separate `GyroDriveBase` class.
+- Documentation updates to match firmware 3.3.0b5--3.3.0b9 updates.
+
+## Added
+- Added `set` to `ubuiltins` module.
+- Basic multitasking docs.
+- Awaitable keyword for awaitable methods and functions.
+
 ## 3.3.0b5 - 2023-05-16
 
 ### Added
diff --git a/doc/common/conf.py b/doc/common/conf.py
index 280f7a0a..09cf862e 100644
--- a/doc/common/conf.py
+++ b/doc/common/conf.py
@@ -145,13 +145,10 @@
 
 # -- Options for HTML output ----------------------------------------------
 
-if ON_RTD:
-    html_theme = "default"
-else:
-    import sphinx_rtd_theme
+import sphinx_rtd_theme
 
-    html_theme = "sphinx_rtd_theme"
-    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+html_theme = "sphinx_rtd_theme"
+html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
 
 html_context = {
     "disclaimer": _DISCLAIMER,
@@ -343,13 +340,16 @@ def on_missing_reference(
         "Ω",
         "N",
     ]:
-
-        # If they match on raw source, we are dealing with argument types.
-        if unit == contnode.rawsource:
-            # Return as-is to suppress missing cross reference warning. We
-            # could make this more fancy by returning an xref node that links
-            # to the signals page.
-            return contnode
+        try:
+            # If they match on raw source, we are dealing with argument types.
+            if unit == contnode.rawsource:
+                # Return as-is to suppress missing cross reference warning. We
+                # could make this more fancy by returning an xref node that links
+                # to the signals page.
+                return contnode
+
+        except AttributeError:
+            pass
 
         # Return types are denoted as "int: deg"
         try:
diff --git a/doc/main/hubs/cityhub.rst b/doc/main/hubs/cityhub.rst
index ed419755..3451bbce 100644
--- a/doc/main/hubs/cityhub.rst
+++ b/doc/main/hubs/cityhub.rst
@@ -21,8 +21,7 @@ City Hub
 
     .. 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.broadcast
 
     .. automethod:: pybricks.hubs::CityHub.ble.observe
 
@@ -85,6 +84,12 @@ Creating light animations
 Bluetooth examples
 ------------------
 
+Broadcasting data to other hubs
+*******************************
+
+.. literalinclude::
+    ../../../examples/pup/hub_common/build/ble_broadcast_cityhub.py
+
 Observing data from other hubs
 ******************************
 
diff --git a/doc/main/micropython/builtins.rst b/doc/main/micropython/builtins.rst
index 3ce655f4..8dd77104 100644
--- a/doc/main/micropython/builtins.rst
+++ b/doc/main/micropython/builtins.rst
@@ -72,6 +72,10 @@ Sequences
 
 .. pybricks-requirements:: stm32-extra
 
+.. autoclass:: ubuiltins.set
+
+.. pybricks-requirements:: stm32-extra
+
 .. autoclass:: ubuiltins.slice
 
 .. pybricks-requirements::
diff --git a/doc/main/robotics.rst b/doc/main/robotics.rst
index 1300fa20..d0b37f1e 100644
--- a/doc/main/robotics.rst
+++ b/doc/main/robotics.rst
@@ -39,6 +39,8 @@
 
     .. automethod:: pybricks.robotics.DriveBase.stop
 
+    .. automethod:: pybricks.robotics.DriveBase.brake
+
     .. rubric:: Measuring
 
     .. automethod:: pybricks.robotics.DriveBase.distance
@@ -51,6 +53,33 @@
 
     .. automethod:: pybricks.robotics.DriveBase.stalled
 
+    .. rubric:: Driving with the gyro
+
+    .. automethod:: pybricks.robotics.DriveBase.use_gyro
+
+    If your hub is not mounted flat in your robot, make sure to specify
+    the ``top_side`` and ``front_side`` parameters when you initialize the
+    :class:`PrimeHub() <pybricks.hubs.PrimeHub>`,
+    :class:`InventorHub() <pybricks.hubs.PrimeHub>`,
+    :class:`EssentialHub() <pybricks.hubs.EssentialHub>`, or
+    :class:`TechnicHub() <pybricks.hubs.TechnicHub>`. This way your robot
+    knows which rotation to measure when turning.
+
+    The gyro in each hub is a bit different, which can cause it to be a few
+    degrees off for big turns, or many small turns in the same
+    direction. For example, you may need to use
+    :meth:`turn(357) <pybricks.robotics.DriveBase.turn>` or
+    :meth:`turn(362) <pybricks.robotics.DriveBase.turn>`
+    on your robot to make a full turn.
+
+    By default, this class tries to maintain the robot's position after a move
+    completes. This means the wheels will spin if you pick the robot up, in an
+    effort to maintain its heading angle. To avoid this, you can choose
+    ``then=Stop.COAST`` in your last
+    :meth:`straight <pybricks.robotics.DriveBase.straight>`,
+    :meth:`turn <pybricks.robotics.DriveBase.turn>`, or
+    :meth:`curve <pybricks.robotics.DriveBase.curve>` command.
+
     .. _measuring:
 
     .. rubric:: Measuring and validating the robot dimensions
@@ -115,34 +144,6 @@
 
 .. pybricks-requirements:: gyro
 
-.. class:: GyroDriveBase
-
-    This class works just like the :class:`DriveBase`, but it uses the hub's
-    built-in gyroscope to drive straight and turn more accurately.
-
-    If your hub is not mounted flat in your robot, make sure to specify
-    the ``top_side`` and ``front_side`` parameters when you initialize the
-    :class:`PrimeHub() <pybricks.hubs.PrimeHub>`,
-    :class:`InventorHub() <pybricks.hubs.PrimeHub>`,
-    :class:`EssentialHub() <pybricks.hubs.EssentialHub>`, or
-    :class:`TechnicHub() <pybricks.hubs.TechnicHub>`. This way your robot
-    knows which rotation to measure when turning.
-
-    The gyro in each hub is a bit different, which can cause it to be a few
-    degrees off for big turns, or many small turns in the same
-    direction. For example, you may need to use
-    :meth:`turn(357) <pybricks.robotics.DriveBase.turn>` or
-    :meth:`turn(362) <pybricks.robotics.DriveBase.turn>`
-    on your robot to make a full turn.
-
-    By default, this class tries to maintain the robot's position after a move
-    completes. This means the wheels will spin if you pick the robot up, in an
-    effort to maintain its heading angle. To avoid this, you can choose
-    ``then=Stop.COAST`` in your last
-    :meth:`straight <pybricks.robotics.DriveBase.straight>`,
-    :meth:`turn <pybricks.robotics.DriveBase.turn>`, or
-    :meth:`curve <pybricks.robotics.DriveBase.curve>` command.
-
 Examples
 -------------------
 
@@ -151,8 +152,5 @@ Driving straight and turning in place
 
 The following program shows the basics of driving and turning.
 
-To use the built-in gyro, just replace the two occurrences of
-:class:`DriveBase` with :class:`GyroDriveBase`.
-
 .. literalinclude::
     ../../examples/pup/robotics/drivebase_basics.py
diff --git a/doc/main/tools/index.rst b/doc/main/tools/index.rst
index 7172d2d5..d3462af8 100644
--- a/doc/main/tools/index.rst
+++ b/doc/main/tools/index.rst
@@ -22,6 +22,18 @@ Timing tools
 
     .. automethod:: pybricks.tools.StopWatch.reset
 
+Input tools
+-----------
+
+.. autofunction:: pybricks.tools.read_input_byte
+
+.. pybricks-requirements:: light-matrix
+
+.. autofunction:: pybricks.tools.hub_menu
+
+.. literalinclude::
+    ../../../examples/pup/tools/hub_menu.py
+
 Linear algebra tools
 --------------------
 
@@ -43,3 +55,35 @@ Linear algebra tools
 .. autofunction:: pybricks.tools.vector
 
 .. autofunction:: pybricks.tools.cross
+
+Multitasking
+--------------------
+
+.. versionadded:: 3.3
+
+Pybricks supports cooperative multitasking using the ``async`` and ``await``
+keywords. This allows operations that normally take some time to complete to
+run in parallel with other operations.
+
+.. autofunction:: pybricks.tools.multitask
+
+.. autofunction:: pybricks.tools.run_task
+
+The following example shows how to use multitasking to make a robot drive
+forward, then turn and move a gripper at the same time, and then drive
+backward.
+
+.. literalinclude::
+    ../../../examples/pup/robotics/drivebase_async.py
+
+.. class:: coroutine
+
+.. class:: await
+
+Whenever you see a function or method prefixed by ``await``, this means that
+it supports multitasking. When running a coroutine with ``run_task``, all
+methods and functions prefixed by ``await`` will act as coroutines.
+
+If you don't use multitasking, you can ignore the ``await`` keyword and write
+programs as usual. Specifically, when ``run_task`` is not used, functions
+prefixed by ``await`` will act as normal functions.
diff --git a/examples/pup/hub_common/ble_broadcast.py b/examples/pup/hub_common/ble_broadcast.py
index 4413be68..7a9d5fb3 100644
--- a/examples/pup/hub_common/ble_broadcast.py
+++ b/examples/pup/hub_common/ble_broadcast.py
@@ -17,7 +17,8 @@
     right_angle = right_motor.angle()
 
     # Set the broadcast data and start broadcasting if not already doing so.
-    hub.ble.broadcast(left_angle, right_angle)
+    data = (left_angle, right_angle)
+    hub.ble.broadcast(data)
 
     # Broadcasts are only sent every 100 milliseconds, so there is no reason
     # to call the broadcast() method more often than that.
diff --git a/examples/pup/hub_common/ble_observe.py b/examples/pup/hub_common/ble_observe.py
index c1f69882..87249a61 100644
--- a/examples/pup/hub_common/ble_observe.py
+++ b/examples/pup/hub_common/ble_observe.py
@@ -26,8 +26,7 @@
         # *data* contains the same values in the same order
         # that were passed to hub.ble.broadcast() on the
         # other hub.
-        left_angle = data[0]
-        right_angle = data[1]
+        left_angle, right_angle = data
 
         # Make the motors on this hub mirror the position of the
         # motors on the other hub.
diff --git a/examples/pup/robotics/drivebase_async.py b/examples/pup/robotics/drivebase_async.py
new file mode 100644
index 00000000..cadd1da0
--- /dev/null
+++ b/examples/pup/robotics/drivebase_async.py
@@ -0,0 +1,27 @@
+from pybricks.pupdevices import Motor
+from pybricks.parameters import Direction, Port
+from pybricks.robotics import DriveBase
+from pybricks.tools import multitask, run_task
+
+# Set up all devices.
+left = Motor(Port.A, Direction.COUNTERCLOCKWISE)
+right = Motor(Port.B)
+gripper = Motor(Port.C)
+drive_base = DriveBase(left, right, 56, 114)
+
+
+# Move the gripper up and down.
+async def move_gripper():
+    await gripper.run_angle(500, -90)
+    await gripper.run_angle(500, 90)
+
+
+# Drive forward, turn move gripper at the same time, and drive backward.
+async def main():
+    await drive_base.straight(250)
+    await multitask(drive_base.turn(90), move_gripper())
+    await drive_base.straight(-250)
+
+
+# Runs the main program from start to finish.
+run_task(main())
diff --git a/examples/pup/robotics/drivebase_basics.py b/examples/pup/robotics/drivebase_basics.py
index 66e189fc..e391657c 100644
--- a/examples/pup/robotics/drivebase_basics.py
+++ b/examples/pup/robotics/drivebase_basics.py
@@ -11,6 +11,9 @@
 # The distance between the two wheel-ground contact points is 112mm.
 drive_base = DriveBase(left_motor, right_motor, wheel_diameter=56, axle_track=112)
 
+# Optionally, uncomment the line below to use the gyro for improved accuracy.
+# drive_base.use_gyro(True)
+
 # Drive forward by 500mm (half a meter).
 drive_base.straight(500)
 
diff --git a/examples/pup/tools/hub_menu.py b/examples/pup/tools/hub_menu.py
new file mode 100644
index 00000000..62a054af
--- /dev/null
+++ b/examples/pup/tools/hub_menu.py
@@ -0,0 +1,16 @@
+from pybricks.tools import hub_menu
+
+# This example assumes that you have three other programs in Pybricks Code,
+# called "fly_mission", "drive_mission", and "zigzag". This example creates a
+# menu that lets you pick which one to run.
+
+# Choose a letter.
+selected = hub_menu("F", "D", "Z")
+
+# Based on the selection, run a program.
+if selected == "F":
+    import fly_mission
+elif selected == "D":
+    import drive_mission
+elif selected == "Z":
+    import zigzag
diff --git a/jedi/CHANGELOG.md b/jedi/CHANGELOG.md
index 9a6ebd4b..54542aa0 100644
--- a/jedi/CHANGELOG.md
+++ b/jedi/CHANGELOG.md
@@ -4,6 +4,11 @@
 
 ## Unreleased
 
+## 1.10.0 - 2023-10-26
+
+### Changed
+- Updated `pybricks` package to v3.3.0b9.
+
 ## 1.9.0 - 2023-05-16
 
 ### Changed
diff --git a/jedi/poetry.lock b/jedi/poetry.lock
index 0c5634a7..488c7892 100644
--- a/jedi/poetry.lock
+++ b/jedi/poetry.lock
@@ -1,52 +1,25 @@
 # This file is automatically @generated by Poetry and should not be changed by hand.
 
-[[package]]
-name = "attrs"
-version = "22.1.0"
-description = "Classes Without Boilerplate"
-category = "dev"
-optional = false
-python-versions = ">=3.5"
-files = [
-    {file = "attrs-22.1.0-py2.py3-none-any.whl", hash = "sha256:86efa402f67bf2df34f51a335487cf46b1ec130d02b8d39fd248abfd30da551c"},
-    {file = "attrs-22.1.0.tar.gz", hash = "sha256:29adc2665447e5191d0e7c568fde78b21f9672d344281d0c6e1ab085429b22b6"},
-]
-
-[package.extras]
-dev = ["cloudpickle", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "mypy (>=0.900,!=0.940)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "sphinx", "sphinx-notfound-page", "zope.interface"]
-docs = ["furo", "sphinx", "sphinx-notfound-page", "zope.interface"]
-tests = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "zope.interface"]
-tests-no-zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"]
-
 [[package]]
 name = "black"
-version = "22.10.0"
+version = "22.12.0"
 description = "The uncompromising code formatter."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "black-22.10.0-1fixedarch-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:5cc42ca67989e9c3cf859e84c2bf014f6633db63d1cbdf8fdb666dcd9e77e3fa"},
-    {file = "black-22.10.0-1fixedarch-cp311-cp311-macosx_11_0_x86_64.whl", hash = "sha256:5d8f74030e67087b219b032aa33a919fae8806d49c867846bfacde57f43972ef"},
-    {file = "black-22.10.0-1fixedarch-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:197df8509263b0b8614e1df1756b1dd41be6738eed2ba9e9769f3880c2b9d7b6"},
-    {file = "black-22.10.0-1fixedarch-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:2644b5d63633702bc2c5f3754b1b475378fbbfb481f62319388235d0cd104c2d"},
-    {file = "black-22.10.0-1fixedarch-cp39-cp39-macosx_11_0_x86_64.whl", hash = "sha256:e41a86c6c650bcecc6633ee3180d80a025db041a8e2398dcc059b3afa8382cd4"},
-    {file = "black-22.10.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2039230db3c6c639bd84efe3292ec7b06e9214a2992cd9beb293d639c6402edb"},
-    {file = "black-22.10.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:14ff67aec0a47c424bc99b71005202045dc09270da44a27848d534600ac64fc7"},
-    {file = "black-22.10.0-cp310-cp310-win_amd64.whl", hash = "sha256:819dc789f4498ecc91438a7de64427c73b45035e2e3680c92e18795a839ebb66"},
-    {file = "black-22.10.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:5b9b29da4f564ba8787c119f37d174f2b69cdfdf9015b7d8c5c16121ddc054ae"},
-    {file = "black-22.10.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b8b49776299fece66bffaafe357d929ca9451450f5466e997a7285ab0fe28e3b"},
-    {file = "black-22.10.0-cp311-cp311-win_amd64.whl", hash = "sha256:21199526696b8f09c3997e2b4db8d0b108d801a348414264d2eb8eb2532e540d"},
-    {file = "black-22.10.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1e464456d24e23d11fced2bc8c47ef66d471f845c7b7a42f3bd77bf3d1789650"},
-    {file = "black-22.10.0-cp37-cp37m-win_amd64.whl", hash = "sha256:9311e99228ae10023300ecac05be5a296f60d2fd10fff31cf5c1fa4ca4b1988d"},
-    {file = "black-22.10.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:fba8a281e570adafb79f7755ac8721b6cf1bbf691186a287e990c7929c7692ff"},
-    {file = "black-22.10.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:915ace4ff03fdfff953962fa672d44be269deb2eaf88499a0f8805221bc68c87"},
-    {file = "black-22.10.0-cp38-cp38-win_amd64.whl", hash = "sha256:444ebfb4e441254e87bad00c661fe32df9969b2bf224373a448d8aca2132b395"},
-    {file = "black-22.10.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:974308c58d057a651d182208a484ce80a26dac0caef2895836a92dd6ebd725e0"},
-    {file = "black-22.10.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:72ef3925f30e12a184889aac03d77d031056860ccae8a1e519f6cbb742736383"},
-    {file = "black-22.10.0-cp39-cp39-win_amd64.whl", hash = "sha256:432247333090c8c5366e69627ccb363bc58514ae3e63f7fc75c54b1ea80fa7de"},
-    {file = "black-22.10.0-py3-none-any.whl", hash = "sha256:c957b2b4ea88587b46cf49d1dc17681c1e672864fd7af32fc1e9664d572b3458"},
-    {file = "black-22.10.0.tar.gz", hash = "sha256:f513588da599943e0cde4e32cc9879e825d58720d6557062d1098c5ad80080e1"},
+    {file = "black-22.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eedd20838bd5d75b80c9f5487dbcb06836a43833a37846cf1d8c1cc01cef59d"},
+    {file = "black-22.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:159a46a4947f73387b4d83e87ea006dbb2337eab6c879620a3ba52699b1f4351"},
+    {file = "black-22.12.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d30b212bffeb1e252b31dd269dfae69dd17e06d92b87ad26e23890f3efea366f"},
+    {file = "black-22.12.0-cp311-cp311-win_amd64.whl", hash = "sha256:7412e75863aa5c5411886804678b7d083c7c28421210180d67dfd8cf1221e1f4"},
+    {file = "black-22.12.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c116eed0efb9ff870ded8b62fe9f28dd61ef6e9ddd28d83d7d264a38417dcee2"},
+    {file = "black-22.12.0-cp37-cp37m-win_amd64.whl", hash = "sha256:1f58cbe16dfe8c12b7434e50ff889fa479072096d79f0a7f25e4ab8e94cd8350"},
+    {file = "black-22.12.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:77d86c9f3db9b1bf6761244bc0b3572a546f5fe37917a044e02f3166d5aafa7d"},
+    {file = "black-22.12.0-cp38-cp38-win_amd64.whl", hash = "sha256:82d9fe8fee3401e02e79767016b4907820a7dc28d70d137eb397b92ef3cc5bfc"},
+    {file = "black-22.12.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:101c69b23df9b44247bd88e1d7e90154336ac4992502d4197bdac35dd7ee3320"},
+    {file = "black-22.12.0-cp39-cp39-win_amd64.whl", hash = "sha256:559c7a1ba9a006226f09e4916060982fd27334ae1998e7a38b3f33a37f7a2148"},
+    {file = "black-22.12.0-py3-none-any.whl", hash = "sha256:436cc9167dd28040ad90d3b404aec22cedf24a6e4d7de221bec2730ec0c97bcf"},
+    {file = "black-22.12.0.tar.gz", hash = "sha256:229351e5a18ca30f447bf724d007f890f97e13af070bb6ad4c0a441cd7596a2f"},
 ]
 
 [package.dependencies]
@@ -64,14 +37,14 @@ uvloop = ["uvloop (>=0.15.2)"]
 
 [[package]]
 name = "click"
-version = "8.1.3"
+version = "8.1.7"
 description = "Composable command line interface toolkit"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
-    {file = "click-8.1.3.tar.gz", hash = "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e"},
+    {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"},
+    {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"},
 ]
 
 [package.dependencies]
@@ -103,14 +76,14 @@ files = [
 
 [[package]]
 name = "exceptiongroup"
-version = "1.0.4"
+version = "1.1.3"
 description = "Backport of PEP 654 (exception groups)"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "exceptiongroup-1.0.4-py3-none-any.whl", hash = "sha256:542adf9dea4055530d6e1279602fa5cb11dab2395fa650b8674eaec35fc4a828"},
-    {file = "exceptiongroup-1.0.4.tar.gz", hash = "sha256:bd14967b79cd9bdb54d97323216f8fdf533e278df937aa2a90089e7d6e06e5ec"},
+    {file = "exceptiongroup-1.1.3-py3-none-any.whl", hash = "sha256:343280667a4585d195ca1cf9cef84a4e178c4b6cf2274caef9859782b567d5e3"},
+    {file = "exceptiongroup-1.1.3.tar.gz", hash = "sha256:097acd85d473d75af5bb98e41b61ff7fe35efe6675e4f9370ec6ec5126d160e9"},
 ]
 
 [package.extras]
@@ -135,14 +108,14 @@ pyflakes = ">=2.4.0,<2.5.0"
 
 [[package]]
 name = "iniconfig"
-version = "1.1.1"
-description = "iniconfig: brain-dead simple config-ini parsing"
+version = "2.0.0"
+description = "brain-dead simple config-ini parsing"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 files = [
-    {file = "iniconfig-1.1.1-py2.py3-none-any.whl", hash = "sha256:011e24c64b7f47f6ebd835bb12a743f2fbe9a26d4cecaa7f53bc4f35ee9da8b3"},
-    {file = "iniconfig-1.1.1.tar.gz", hash = "sha256:bc3af051d7d14b2ee5ef9969666def0cd1a000e121eaea580d4a313df4b37f32"},
+    {file = "iniconfig-2.0.0-py3-none-any.whl", hash = "sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374"},
+    {file = "iniconfig-2.0.0.tar.gz", hash = "sha256:2d91e135bf72d31a410b17c16da610a82cb55f6b0477d1a902134b24a455b8b3"},
 ]
 
 [[package]]
@@ -178,31 +151,28 @@ files = [
 
 [[package]]
 name = "mypy-extensions"
-version = "0.4.3"
-description = "Experimental type system extensions for programs checked with the mypy typechecker."
+version = "1.0.0"
+description = "Type system extensions for programs checked with the mypy type checker."
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.5"
 files = [
-    {file = "mypy_extensions-0.4.3-py2.py3-none-any.whl", hash = "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d"},
-    {file = "mypy_extensions-0.4.3.tar.gz", hash = "sha256:2d82818f5bb3e369420cb3c4060a7970edba416647068eb4c5343488a6c604a8"},
+    {file = "mypy_extensions-1.0.0-py3-none-any.whl", hash = "sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d"},
+    {file = "mypy_extensions-1.0.0.tar.gz", hash = "sha256:75dbf8955dc00442a438fc4d0666508a9a97b6bd41aa2f0ffe9d2f2725af0782"},
 ]
 
 [[package]]
 name = "packaging"
-version = "21.3"
+version = "23.2"
 description = "Core utilities for Python packages"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 files = [
-    {file = "packaging-21.3-py3-none-any.whl", hash = "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"},
-    {file = "packaging-21.3.tar.gz", hash = "sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb"},
+    {file = "packaging-23.2-py3-none-any.whl", hash = "sha256:8c491190033a9af7e1d931d0b5dacc2ef47509b34dd0de67ed209b5203fc88c7"},
+    {file = "packaging-23.2.tar.gz", hash = "sha256:048fb0e9405036518eaaf48a55953c750c11e1a1b68e0dd1a9d62ed0c092cfc5"},
 ]
 
-[package.dependencies]
-pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
-
 [[package]]
 name = "parso"
 version = "0.8.3"
@@ -221,42 +191,42 @@ testing = ["docopt", "pytest (<6.0.0)"]
 
 [[package]]
 name = "pathspec"
-version = "0.10.2"
+version = "0.11.2"
 description = "Utility library for gitignore style pattern matching of file paths."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "pathspec-0.10.2-py3-none-any.whl", hash = "sha256:88c2606f2c1e818b978540f73ecc908e13999c6c3a383daf3705652ae79807a5"},
-    {file = "pathspec-0.10.2.tar.gz", hash = "sha256:8f6bf73e5758fd365ef5d58ce09ac7c27d2833a8d7da51712eac6e27e35141b0"},
+    {file = "pathspec-0.11.2-py3-none-any.whl", hash = "sha256:1d6ed233af05e679efb96b1851550ea95bbb64b7c490b0f5aa52996c11e92a20"},
+    {file = "pathspec-0.11.2.tar.gz", hash = "sha256:e0d8d0ac2f12da61956eb2306b69f9469b42f4deb0f3cb6ed47b9cce9996ced3"},
 ]
 
 [[package]]
 name = "platformdirs"
-version = "2.5.4"
+version = "3.11.0"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "platformdirs-2.5.4-py3-none-any.whl", hash = "sha256:af0276409f9a02373d540bf8480021a048711d572745aef4b7842dad245eba10"},
-    {file = "platformdirs-2.5.4.tar.gz", hash = "sha256:1006647646d80f16130f052404c6b901e80ee4ed6bef6792e1f238a8969106f7"},
+    {file = "platformdirs-3.11.0-py3-none-any.whl", hash = "sha256:e9d171d00af68be50e9202731309c4e658fd8bc76f55c11c7dd760d023bda68e"},
+    {file = "platformdirs-3.11.0.tar.gz", hash = "sha256:cf8ee52a3afdb965072dcc652433e0c7e3e40cf5ea1477cd4b3b1d2eb75495b3"},
 ]
 
 [package.extras]
-docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
-test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
+docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.1)", "sphinx-autodoc-typehints (>=1.24)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4)", "pytest-cov (>=4.1)", "pytest-mock (>=3.11.1)"]
 
 [[package]]
 name = "pluggy"
-version = "1.0.0"
+version = "1.3.0"
 description = "plugin and hook calling mechanisms for python"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
-    {file = "pluggy-1.0.0-py2.py3-none-any.whl", hash = "sha256:74134bbf457f031a36d68416e1509f34bd5ccc019f0bcc952c7b909d06b37bd3"},
-    {file = "pluggy-1.0.0.tar.gz", hash = "sha256:4224373bacce55f955a878bf9cfa763c1e360858e330072059e10bad68531159"},
+    {file = "pluggy-1.3.0-py3-none-any.whl", hash = "sha256:d89c696a773f8bd377d18e5ecda92b7a3793cbe66c87060a6fb58c7b6e1061f7"},
+    {file = "pluggy-1.3.0.tar.gz", hash = "sha256:cf61ae8f126ac6f7c451172cf30e3e43d3ca77615509771b3a984a0730651e12"},
 ]
 
 [package.extras]
@@ -265,7 +235,7 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "pybricks"
-version = "3.3.0a5"
+version = "3.3.0b9"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 category = "main"
 optional = false
@@ -301,35 +271,19 @@ files = [
     {file = "pyflakes-2.4.0.tar.gz", hash = "sha256:05a85c2872edf37a4ed30b0cce2f6093e1d0581f8c19d7393122da7e25b2b24c"},
 ]
 
-[[package]]
-name = "pyparsing"
-version = "3.0.9"
-description = "pyparsing module - Classes and methods to define and execute parsing grammars"
-category = "dev"
-optional = false
-python-versions = ">=3.6.8"
-files = [
-    {file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
-    {file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
-]
-
-[package.extras]
-diagrams = ["jinja2", "railroad-diagrams"]
-
 [[package]]
 name = "pytest"
-version = "7.2.0"
+version = "7.4.3"
 description = "pytest: simple powerful testing with Python"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "pytest-7.2.0-py3-none-any.whl", hash = "sha256:892f933d339f068883b6fd5a459f03d85bfcb355e4981e146d2c7616c21fef71"},
-    {file = "pytest-7.2.0.tar.gz", hash = "sha256:c4014eb40e10f11f355ad4e3c2fb2c6c6d1919c73f3b5a433de4708202cade59"},
+    {file = "pytest-7.4.3-py3-none-any.whl", hash = "sha256:0d009c083ea859a71b76adf7c1d502e4bc170b80a8ef002da5806527b9591fac"},
+    {file = "pytest-7.4.3.tar.gz", hash = "sha256:d989d136982de4e3b29dabcc838ad581c64e8ed52c11fbe86ddebd9da0818cd5"},
 ]
 
 [package.dependencies]
-attrs = ">=19.2.0"
 colorama = {version = "*", markers = "sys_platform == \"win32\""}
 exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""}
 iniconfig = "*"
@@ -338,7 +292,7 @@ pluggy = ">=0.12,<2.0"
 tomli = {version = ">=1.0.0", markers = "python_version < \"3.11\""}
 
 [package.extras]
-testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "xmlschema"]
+testing = ["argcomplete", "attrs (>=19.2.0)", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
 
 [[package]]
 name = "tomli"
@@ -367,4 +321,4 @@ files = [
 [metadata]
 lock-version = "2.0"
 python-versions = ">= 3.10, < 3.12"
-content-hash = "25da309474c7393923efe8ea98d47ed5759f373fdf8f4c71f6ccdc76c5f21882"
+content-hash = "54c3f61c40e3890ef4395e3a2b1a603938b07aa7f4ea1e41ce22d5e180d634e8"
diff --git a/jedi/pyproject.toml b/jedi/pyproject.toml
index 8adff366..747c9d93 100644
--- a/jedi/pyproject.toml
+++ b/jedi/pyproject.toml
@@ -1,13 +1,13 @@
 [tool.poetry]
 name = "pybricks_jedi"
-version = "1.9.0"
+version = "1.10.0"
 description = "Code completion for Pybricks."
 authors = ["The Pybricks Authors <team@pybricks.com>"]
 license = "MIT"
 
 [tool.poetry.dependencies]
 python = ">= 3.10, < 3.12"
-pybricks = "3.3.0a5"
+pybricks = "3.3.0b9"
 jedi = "0.18.1"
 typing-extensions = "4.2.0"
 docstring-parser = "0.14.1"
diff --git a/jedi/tests/test_complete_import.py b/jedi/tests/test_complete_import.py
index d8eb85f9..55eeab5c 100644
--- a/jedi/tests/test_complete_import.py
+++ b/jedi/tests/test_complete_import.py
@@ -148,7 +148,7 @@ def test_from_pybricks_pupdevices_import():
 def test_from_pybricks_robotics_import():
     code = "from pybricks.robotics import "
     completions: list[CompletionItem] = json.loads(complete(code, 1, len(code) + 1))
-    assert [c["insertText"] for c in completions] == ["DriveBase", "GyroDriveBase"]
+    assert [c["insertText"] for c in completions] == ["DriveBase"]
 
 
 def test_from_pybricks_tools_import():
@@ -157,7 +157,11 @@ def test_from_pybricks_tools_import():
     assert [c["insertText"] for c in completions] == [
         "cross",
         "DataLog",
+        "hub_menu",
         "Matrix",
+        "multitask",
+        "read_input_byte",
+        "run_task",
         "StopWatch",
         "vector",
         "wait",
diff --git a/jedi/tests/test_get_signature.py b/jedi/tests/test_get_signature.py
index 59a088d2..dca8a275 100644
--- a/jedi/tests/test_get_signature.py
+++ b/jedi/tests/test_get_signature.py
@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2022 The Pybricks Authors
+# Copyright (c) 2022-2023 The Pybricks Authors
 
 """
 Tests for correct signatures of the pupdevices.Motor class.
@@ -29,7 +29,8 @@ def _get_function_signature(module: str, function: str) -> SignatureHelp:
 
 
 FUNCTION_PARAMS = [
-    pytest.param("pybricks.tools", "wait", [(["time: Number"], "None")]),
+    pytest.param("pybricks.tools", "read_input_byte", [([], "Optional[int]")]),
+    pytest.param("pybricks.tools", "wait", [(["time: Number"], "MaybeAwaitable")]),
     pytest.param(
         "pybricks.tools",
         "vector",
@@ -463,13 +464,13 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
         "pybricks.hubs",
         "PrimeHub",
         "speaker.beep",
-        [(["frequency: Number=500", "duration: Number=100"], "None")],
+        [(["frequency: Number=500", "duration: Number=100"], "MaybeAwaitable")],
     ),
     pytest.param(
         "pybricks.hubs",
         "PrimeHub",
         "speaker.play_notes",
-        [(["notes: Iterable[str]", "tempo: Number=120"], "None")],
+        [(["notes: Iterable[str]", "tempo: Number=120"], "MaybeAwaitable")],
     ),
     pytest.param("pybricks.hubs", "PrimeHub", "battery.voltage", [([], "int")]),
     pytest.param("pybricks.hubs", "PrimeHub", "battery.current", [([], "int")]),
@@ -605,7 +606,7 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
                     "then: Stop=Stop.HOLD",
                     "wait: bool=True",
                 ],
-                "None",
+                "MaybeAwaitable",
             )
         ],
     ),
@@ -621,7 +622,7 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
                     "then: Stop=Stop.HOLD",
                     "wait: bool=True",
                 ],
-                "None",
+                "MaybeAwaitable",
             )
         ],
     ),
@@ -637,7 +638,7 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
                     "then: Stop=Stop.HOLD",
                     "wait: bool=True",
                 ],
-                "None",
+                "MaybeAwaitable",
             )
         ],
     ),
@@ -658,7 +659,7 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
                     "then: Stop=Stop.COAST",
                     "duty_limit: Optional[Number]=None",
                 ],
-                "int",
+                "MaybeAwaitableInt",
             )
         ],
     ),
@@ -737,24 +738,53 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
         ],
     ),
     pytest.param(
-        "pybricks.pupdevices", "TiltSensor", "tilt", [([], "Tuple[int, int]")]
+        "pybricks.pupdevices",
+        "TiltSensor",
+        "tilt",
+        [([], "MaybeAwaitableTuple[int, int]")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "InfraredSensor", "distance", [([], "MaybeAwaitableInt")]
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "InfraredSensor",
+        "reflection",
+        [([], "MaybeAwaitableInt")],
     ),
-    pytest.param("pybricks.pupdevices", "InfraredSensor", "distance", [([], "int")]),
-    pytest.param("pybricks.pupdevices", "InfraredSensor", "reflection", [([], "int")]),
-    pytest.param("pybricks.pupdevices", "InfraredSensor", "count", [([], "int")]),
     pytest.param(
-        "pybricks.pupdevices", "ColorDistanceSensor", "color", [([], "Color")]
+        "pybricks.pupdevices", "InfraredSensor", "count", [([], "MaybeAwaitableInt")]
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "color",
+        [([], "MaybeAwaitableColor")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "reflection",
+        [([], "MaybeAwaitableInt")],
     ),
     pytest.param(
-        "pybricks.pupdevices", "ColorDistanceSensor", "reflection", [([], "int")]
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "ambient",
+        [([], "MaybeAwaitableInt")],
     ),
     pytest.param(
-        "pybricks.pupdevices", "ColorDistanceSensor", "ambient", [([], "int")]
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "distance",
+        [([], "MaybeAwaitableInt")],
     ),
     pytest.param(
-        "pybricks.pupdevices", "ColorDistanceSensor", "distance", [([], "int")]
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "hsv",
+        [([], "MaybeAwaitableColor")],
     ),
-    pytest.param("pybricks.pupdevices", "ColorDistanceSensor", "hsv", [([], "Color")]),
     pytest.param(
         "pybricks.pupdevices",
         "ColorDistanceSensor",
@@ -765,27 +795,36 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
         "pybricks.pupdevices",
         "ColorDistanceSensor",
         "light.on",
-        [(["color: Color"], "None")],
+        [(["color: Color"], "MaybeAwaitable")],
     ),
     pytest.param(
-        "pybricks.pupdevices", "ColorDistanceSensor", "light.off", [([], "None")]
+        "pybricks.pupdevices",
+        "ColorDistanceSensor",
+        "light.off",
+        [([], "MaybeAwaitable")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "PFMotor", "dc", [(["duty: Number"], "MaybeAwaitable")]
     ),
-    pytest.param("pybricks.pupdevices", "PFMotor", "dc", [(["duty: Number"], "None")]),
-    pytest.param("pybricks.pupdevices", "PFMotor", "stop", [([], "None")]),
-    pytest.param("pybricks.pupdevices", "PFMotor", "brake", [([], "None")]),
+    pytest.param("pybricks.pupdevices", "PFMotor", "stop", [([], "MaybeAwaitable")]),
+    pytest.param("pybricks.pupdevices", "PFMotor", "brake", [([], "MaybeAwaitable")]),
     pytest.param(
         "pybricks.pupdevices",
         "ColorSensor",
         "color",
-        [(["surface: bool=True"], "Optional[Color]")],
+        [(["surface: bool=True"], "MaybeAwaitableColor")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ColorSensor", "reflection", [([], "MaybeAwaitableInt")]
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ColorSensor", "ambient", [([], "MaybeAwaitableInt")]
     ),
-    pytest.param("pybricks.pupdevices", "ColorSensor", "reflection", [([], "int")]),
-    pytest.param("pybricks.pupdevices", "ColorSensor", "ambient", [([], "int")]),
     pytest.param(
         "pybricks.pupdevices",
         "ColorSensor",
         "hsv",
-        [(["surface: bool=True"], "Color")],
+        [(["surface: bool=True"], "MaybeAwaitableColor")],
     ),
     pytest.param(
         "pybricks.pupdevices",
@@ -797,11 +836,28 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
         "pybricks.pupdevices",
         "ColorSensor",
         "lights.on",
-        [(["brightness: Union[Number, Tuple[Number, Number, Number]]"], "None")],
+        [
+            (
+                ["brightness: Union[Number, Tuple[Number, Number, Number]]"],
+                "MaybeAwaitable",
+            )
+        ],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ColorSensor", "lights.off", [([], "MaybeAwaitable")]
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "UltrasonicSensor",
+        "distance",
+        [([], "MaybeAwaitableInt")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices",
+        "UltrasonicSensor",
+        "presence",
+        [([], "MaybeAwaitableBool")],
     ),
-    pytest.param("pybricks.pupdevices", "ColorSensor", "lights.off", [([], "None")]),
-    pytest.param("pybricks.pupdevices", "UltrasonicSensor", "distance", [([], "int")]),
-    pytest.param("pybricks.pupdevices", "UltrasonicSensor", "presence", [([], "bool")]),
     pytest.param(
         "pybricks.pupdevices",
         "UltrasonicSensor",
@@ -809,29 +865,40 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
         [
             (
                 ["brightness: Union[Number, Tuple[Number, Number, Number, Number]]"],
-                "None",
+                "MaybeAwaitable",
             )
         ],
     ),
     pytest.param(
-        "pybricks.pupdevices", "UltrasonicSensor", "lights.off", [([], "None")]
+        "pybricks.pupdevices",
+        "UltrasonicSensor",
+        "lights.off",
+        [([], "MaybeAwaitable")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ForceSensor", "force", [([], "MaybeAwaitableFloat")]
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ForceSensor", "distance", [([], "MaybeAwaitableFloat")]
     ),
-    pytest.param("pybricks.pupdevices", "ForceSensor", "force", [([], "float")]),
-    pytest.param("pybricks.pupdevices", "ForceSensor", "distance", [([], "float")]),
     pytest.param(
         "pybricks.pupdevices",
         "ForceSensor",
         "pressed",
-        [(["force: Number=3"], "bool")],
+        [(["force: Number=3"], "MaybeAwaitableBool")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ForceSensor", "touched", [([], "MaybeAwaitableBool")]
     ),
-    pytest.param("pybricks.pupdevices", "ForceSensor", "touched", [([], "bool")]),
     pytest.param(
         "pybricks.pupdevices",
         "ColorLightMatrix",
         "on",
-        [(["color: Union[Color, Collection[Color]]"], "None")],
+        [(["color: Union[Color, Collection[Color]]"], "MaybeAwaitable")],
+    ),
+    pytest.param(
+        "pybricks.pupdevices", "ColorLightMatrix", "off", [([], "MaybeAwaitable")]
     ),
-    pytest.param("pybricks.pupdevices", "ColorLightMatrix", "off", [([], "None")]),
     pytest.param(
         "pybricks.pupdevices", "Light", "on", [(["brightness: Number=100"], "None")]
     ),
@@ -860,13 +927,23 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
         "pybricks.robotics",
         "DriveBase",
         "straight",
-        [(["distance: Number", "then: Stop=Stop.HOLD", "wait: bool=True"], "None")],
+        [
+            (
+                ["distance: Number", "then: Stop=Stop.HOLD", "wait: bool=True"],
+                "MaybeAwaitable",
+            )
+        ],
     ),
     pytest.param(
         "pybricks.robotics",
         "DriveBase",
         "turn",
-        [(["angle: Number", "then: Stop=Stop.HOLD", "wait: bool=True"], "None")],
+        [
+            (
+                ["angle: Number", "then: Stop=Stop.HOLD", "wait: bool=True"],
+                "MaybeAwaitable",
+            )
+        ],
     ),
     pytest.param(
         "pybricks.robotics",
@@ -880,7 +957,7 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
                     "then: Stop=Stop.HOLD",
                     "wait: bool=True",
                 ],
-                "None",
+                "MaybeAwaitable",
             )
         ],
     ),
@@ -908,6 +985,7 @@ def _get_method_signature(module: str, type: str, method: str) -> SignatureHelp:
         [(["speed: Number", "turn_rate: Number"], "None")],
     ),
     pytest.param("pybricks.robotics", "DriveBase", "stop", [([], "None")]),
+    pytest.param("pybricks.robotics", "DriveBase", "brake", [([], "None")]),
     pytest.param("pybricks.robotics", "DriveBase", "distance", [([], "int")]),
     pytest.param("pybricks.robotics", "DriveBase", "angle", [([], "int")]),
     pytest.param(
diff --git a/npm/ide-docs/CHANGELOG.md b/npm/ide-docs/CHANGELOG.md
index 8897c92c..f27d41cd 100644
--- a/npm/ide-docs/CHANGELOG.md
+++ b/npm/ide-docs/CHANGELOG.md
@@ -2,6 +2,11 @@
 
 <!-- refer to https://keepachangelog.com/en/1.0.0/ for guidance -->
 
+## 2.10.0 - 2023-10-26
+
+### Changed
+- Updated docs to v3.3.0b9.
+
 ## 2.9.0 - 2023-05-16
 
 ### Changed
diff --git a/npm/ide-docs/package.json b/npm/ide-docs/package.json
index 4e8c79de..9cff1956 100644
--- a/npm/ide-docs/package.json
+++ b/npm/ide-docs/package.json
@@ -1,6 +1,6 @@
 {
   "name": "@pybricks/ide-docs",
-  "version": "2.9.0",
+  "version": "2.10.0",
   "description": "Special build of Pybricks API docs for embedding in an IDE.",
   "repository": {
     "type": "git",
diff --git a/npm/jedi/CHANGELOG.md b/npm/jedi/CHANGELOG.md
index 7b4519a7..354ee158 100644
--- a/npm/jedi/CHANGELOG.md
+++ b/npm/jedi/CHANGELOG.md
@@ -4,6 +4,11 @@
 
 ## Unreleased
 
+## 1.10.0 - 2023-10-26
+
+### Changed
+- Updated `pybricks_jedi` Python package to v1.10.0.
+
 ## 1.9.0 - 2023-05-16
 
 ### Changed
diff --git a/npm/jedi/build.py b/npm/jedi/build.py
index 147d8a8e..c7816611 100755
--- a/npm/jedi/build.py
+++ b/npm/jedi/build.py
@@ -12,7 +12,7 @@
 
 package_json = {
     "name": "@pybricks/jedi",
-    "version": "1.9.0",
+    "version": "1.10.0",
     "description": "Binary distribution of pybricks-jedi Python package and dependencies for use with Pyodide.",
     "repository": {
         "type": "git",
@@ -38,7 +38,7 @@
         "pip",
         "download",
         "--only-binary=any",
-        "pybricks-jedi==1.9.0",
+        "pybricks-jedi==1.10.0",
     ],
     cwd=BUILD_DIR,
 )
diff --git a/poetry.lock b/poetry.lock
index 78349ef6..ba59682c 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2,60 +2,54 @@
 
 [[package]]
 name = "alabaster"
-version = "0.7.12"
+version = "0.7.13"
 description = "A configurable sidebar-enabled Sphinx theme"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 files = [
-    {file = "alabaster-0.7.12-py2.py3-none-any.whl", hash = "sha256:446438bdcca0e05bd45ea2de1668c1d9b032e1a9154c2c259092d77031ddd359"},
-    {file = "alabaster-0.7.12.tar.gz", hash = "sha256:a661d72d58e6ea8a57f7a86e37d86716863ee5e92788398526d58b26a4e4dc02"},
+    {file = "alabaster-0.7.13-py3-none-any.whl", hash = "sha256:1ee19aca801bbabb5ba3f5f258e4422dfa86f82f3e9cefb0859b283cdd7f62a3"},
+    {file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"},
 ]
 
 [[package]]
-name = "Babel"
-version = "2.11.0"
+name = "babel"
+version = "2.13.0"
 description = "Internationalization utilities"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 files = [
-    {file = "Babel-2.11.0-py3-none-any.whl", hash = "sha256:1ad3eca1c885218f6dce2ab67291178944f810a10a9b5f3cb8382a5a232b64fe"},
-    {file = "Babel-2.11.0.tar.gz", hash = "sha256:5ef4b3226b0180dedded4229651c8b0e1a3a6a2837d45a073272f313e4cf97f6"},
+    {file = "Babel-2.13.0-py3-none-any.whl", hash = "sha256:fbfcae1575ff78e26c7449136f1abbefc3c13ce542eeb13d43d50d8b047216ec"},
+    {file = "Babel-2.13.0.tar.gz", hash = "sha256:04c3e2d28d2b7681644508f836be388ae49e0cfe91465095340395b60d00f210"},
 ]
 
 [package.dependencies]
-pytz = ">=2015.7"
+pytz = {version = ">=2015.7", markers = "python_version < \"3.9\""}
+
+[package.extras]
+dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
 
 [[package]]
 name = "black"
-version = "22.10.0"
+version = "22.12.0"
 description = "The uncompromising code formatter."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "black-22.10.0-1fixedarch-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:5cc42ca67989e9c3cf859e84c2bf014f6633db63d1cbdf8fdb666dcd9e77e3fa"},
-    {file = "black-22.10.0-1fixedarch-cp311-cp311-macosx_11_0_x86_64.whl", hash = "sha256:5d8f74030e67087b219b032aa33a919fae8806d49c867846bfacde57f43972ef"},
-    {file = "black-22.10.0-1fixedarch-cp37-cp37m-macosx_10_16_x86_64.whl", hash = "sha256:197df8509263b0b8614e1df1756b1dd41be6738eed2ba9e9769f3880c2b9d7b6"},
-    {file = "black-22.10.0-1fixedarch-cp38-cp38-macosx_10_16_x86_64.whl", hash = "sha256:2644b5d63633702bc2c5f3754b1b475378fbbfb481f62319388235d0cd104c2d"},
-    {file = "black-22.10.0-1fixedarch-cp39-cp39-macosx_11_0_x86_64.whl", hash = "sha256:e41a86c6c650bcecc6633ee3180d80a025db041a8e2398dcc059b3afa8382cd4"},
-    {file = "black-22.10.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2039230db3c6c639bd84efe3292ec7b06e9214a2992cd9beb293d639c6402edb"},
-    {file = "black-22.10.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:14ff67aec0a47c424bc99b71005202045dc09270da44a27848d534600ac64fc7"},
-    {file = "black-22.10.0-cp310-cp310-win_amd64.whl", hash = "sha256:819dc789f4498ecc91438a7de64427c73b45035e2e3680c92e18795a839ebb66"},
-    {file = "black-22.10.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:5b9b29da4f564ba8787c119f37d174f2b69cdfdf9015b7d8c5c16121ddc054ae"},
-    {file = "black-22.10.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b8b49776299fece66bffaafe357d929ca9451450f5466e997a7285ab0fe28e3b"},
-    {file = "black-22.10.0-cp311-cp311-win_amd64.whl", hash = "sha256:21199526696b8f09c3997e2b4db8d0b108d801a348414264d2eb8eb2532e540d"},
-    {file = "black-22.10.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1e464456d24e23d11fced2bc8c47ef66d471f845c7b7a42f3bd77bf3d1789650"},
-    {file = "black-22.10.0-cp37-cp37m-win_amd64.whl", hash = "sha256:9311e99228ae10023300ecac05be5a296f60d2fd10fff31cf5c1fa4ca4b1988d"},
-    {file = "black-22.10.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:fba8a281e570adafb79f7755ac8721b6cf1bbf691186a287e990c7929c7692ff"},
-    {file = "black-22.10.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:915ace4ff03fdfff953962fa672d44be269deb2eaf88499a0f8805221bc68c87"},
-    {file = "black-22.10.0-cp38-cp38-win_amd64.whl", hash = "sha256:444ebfb4e441254e87bad00c661fe32df9969b2bf224373a448d8aca2132b395"},
-    {file = "black-22.10.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:974308c58d057a651d182208a484ce80a26dac0caef2895836a92dd6ebd725e0"},
-    {file = "black-22.10.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:72ef3925f30e12a184889aac03d77d031056860ccae8a1e519f6cbb742736383"},
-    {file = "black-22.10.0-cp39-cp39-win_amd64.whl", hash = "sha256:432247333090c8c5366e69627ccb363bc58514ae3e63f7fc75c54b1ea80fa7de"},
-    {file = "black-22.10.0-py3-none-any.whl", hash = "sha256:c957b2b4ea88587b46cf49d1dc17681c1e672864fd7af32fc1e9664d572b3458"},
-    {file = "black-22.10.0.tar.gz", hash = "sha256:f513588da599943e0cde4e32cc9879e825d58720d6557062d1098c5ad80080e1"},
+    {file = "black-22.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eedd20838bd5d75b80c9f5487dbcb06836a43833a37846cf1d8c1cc01cef59d"},
+    {file = "black-22.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:159a46a4947f73387b4d83e87ea006dbb2337eab6c879620a3ba52699b1f4351"},
+    {file = "black-22.12.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d30b212bffeb1e252b31dd269dfae69dd17e06d92b87ad26e23890f3efea366f"},
+    {file = "black-22.12.0-cp311-cp311-win_amd64.whl", hash = "sha256:7412e75863aa5c5411886804678b7d083c7c28421210180d67dfd8cf1221e1f4"},
+    {file = "black-22.12.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c116eed0efb9ff870ded8b62fe9f28dd61ef6e9ddd28d83d7d264a38417dcee2"},
+    {file = "black-22.12.0-cp37-cp37m-win_amd64.whl", hash = "sha256:1f58cbe16dfe8c12b7434e50ff889fa479072096d79f0a7f25e4ab8e94cd8350"},
+    {file = "black-22.12.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:77d86c9f3db9b1bf6761244bc0b3572a546f5fe37917a044e02f3166d5aafa7d"},
+    {file = "black-22.12.0-cp38-cp38-win_amd64.whl", hash = "sha256:82d9fe8fee3401e02e79767016b4907820a7dc28d70d137eb397b92ef3cc5bfc"},
+    {file = "black-22.12.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:101c69b23df9b44247bd88e1d7e90154336ac4992502d4197bdac35dd7ee3320"},
+    {file = "black-22.12.0-cp39-cp39-win_amd64.whl", hash = "sha256:559c7a1ba9a006226f09e4916060982fd27334ae1998e7a38b3f33a37f7a2148"},
+    {file = "black-22.12.0-py3-none-any.whl", hash = "sha256:436cc9167dd28040ad90d3b404aec22cedf24a6e4d7de221bec2730ec0c97bcf"},
+    {file = "black-22.12.0.tar.gz", hash = "sha256:229351e5a18ca30f447bf724d007f890f97e13af070bb6ad4c0a441cd7596a2f"},
 ]
 
 [package.dependencies]
@@ -74,53 +68,138 @@ uvloop = ["uvloop (>=0.15.2)"]
 
 [[package]]
 name = "certifi"
-version = "2022.12.7"
+version = "2023.7.22"
 description = "Python package for providing Mozilla's CA Bundle."
 category = "dev"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "certifi-2022.12.7-py3-none-any.whl", hash = "sha256:4ad3232f5e926d6718ec31cfc1fcadfde020920e278684144551c91769c7bc18"},
-    {file = "certifi-2022.12.7.tar.gz", hash = "sha256:35824b4c3a97115964b408844d64aa14db1cc518f6562e8d7261699d1350a9e3"},
+    {file = "certifi-2023.7.22-py3-none-any.whl", hash = "sha256:92d6037539857d8206b8f6ae472e8b77db8058fec5937a1ef3f54304089edbb9"},
+    {file = "certifi-2023.7.22.tar.gz", hash = "sha256:539cc1d13202e33ca466e88b2807e29f4c13049d6d87031a3c110744495cb082"},
 ]
 
 [[package]]
 name = "chardet"
-version = "5.1.0"
+version = "5.2.0"
 description = "Universal encoding detector for Python 3"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "chardet-5.1.0-py3-none-any.whl", hash = "sha256:362777fb014af596ad31334fde1e8c327dfdb076e1960d1694662d46a6917ab9"},
-    {file = "chardet-5.1.0.tar.gz", hash = "sha256:0d62712b956bc154f85fb0a266e2a3c5913c2967e00348701b32411d6def31e5"},
+    {file = "chardet-5.2.0-py3-none-any.whl", hash = "sha256:e1cf59446890a00105fe7b7912492ea04b6e6f06d4b742b2c788469e34c82970"},
+    {file = "chardet-5.2.0.tar.gz", hash = "sha256:1b3b6ff479a8c414bc3fa2c0852995695c4a026dcd6d0633b2dd092ca39c1cf7"},
 ]
 
 [[package]]
 name = "charset-normalizer"
-version = "2.1.1"
+version = "3.3.1"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 category = "dev"
 optional = false
-python-versions = ">=3.6.0"
-files = [
-    {file = "charset-normalizer-2.1.1.tar.gz", hash = "sha256:5a3d016c7c547f69d6f81fb0db9449ce888b418b5b9952cc5e6e66843e9dd845"},
-    {file = "charset_normalizer-2.1.1-py3-none-any.whl", hash = "sha256:83e9a75d1911279afd89352c68b45348559d1fc0506b054b346651b5e7fee29f"},
+python-versions = ">=3.7.0"
+files = [
+    {file = "charset-normalizer-3.3.1.tar.gz", hash = "sha256:d9137a876020661972ca6eec0766d81aef8a5627df628b664b234b73396e727e"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:8aee051c89e13565c6bd366813c386939f8e928af93c29fda4af86d25b73d8f8"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:352a88c3df0d1fa886562384b86f9a9e27563d4704ee0e9d56ec6fcd270ea690"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:223b4d54561c01048f657fa6ce41461d5ad8ff128b9678cfe8b2ecd951e3f8a2"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4f861d94c2a450b974b86093c6c027888627b8082f1299dfd5a4bae8e2292821"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1171ef1fc5ab4693c5d151ae0fdad7f7349920eabbaca6271f95969fa0756c2d"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:28f512b9a33235545fbbdac6a330a510b63be278a50071a336afc1b78781b147"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c0e842112fe3f1a4ffcf64b06dc4c61a88441c2f02f373367f7b4c1aa9be2ad5"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3f9bc2ce123637a60ebe819f9fccc614da1bcc05798bbbaf2dd4ec91f3e08846"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:f194cce575e59ffe442c10a360182a986535fd90b57f7debfaa5c845c409ecc3"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:9a74041ba0bfa9bc9b9bb2cd3238a6ab3b7618e759b41bd15b5f6ad958d17605"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:b578cbe580e3b41ad17b1c428f382c814b32a6ce90f2d8e39e2e635d49e498d1"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:6db3cfb9b4fcecb4390db154e75b49578c87a3b9979b40cdf90d7e4b945656e1"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:debb633f3f7856f95ad957d9b9c781f8e2c6303ef21724ec94bea2ce2fcbd056"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-win32.whl", hash = "sha256:87071618d3d8ec8b186d53cb6e66955ef2a0e4fa63ccd3709c0c90ac5a43520f"},
+    {file = "charset_normalizer-3.3.1-cp310-cp310-win_amd64.whl", hash = "sha256:e372d7dfd154009142631de2d316adad3cc1c36c32a38b16a4751ba78da2a397"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ae4070f741f8d809075ef697877fd350ecf0b7c5837ed68738607ee0a2c572cf"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:58e875eb7016fd014c0eea46c6fa92b87b62c0cb31b9feae25cbbe62c919f54d"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:dbd95e300367aa0827496fe75a1766d198d34385a58f97683fe6e07f89ca3e3c"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:de0b4caa1c8a21394e8ce971997614a17648f94e1cd0640fbd6b4d14cab13a72"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:985c7965f62f6f32bf432e2681173db41336a9c2611693247069288bcb0c7f8b"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a15c1fe6d26e83fd2e5972425a772cca158eae58b05d4a25a4e474c221053e2d"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ae55d592b02c4349525b6ed8f74c692509e5adffa842e582c0f861751701a673"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:be4d9c2770044a59715eb57c1144dedea7c5d5ae80c68fb9959515037cde2008"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:851cf693fb3aaef71031237cd68699dded198657ec1e76a76eb8be58c03a5d1f"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:31bbaba7218904d2eabecf4feec0d07469284e952a27400f23b6628439439fa7"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:871d045d6ccc181fd863a3cd66ee8e395523ebfbc57f85f91f035f50cee8e3d4"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:501adc5eb6cd5f40a6f77fbd90e5ab915c8fd6e8c614af2db5561e16c600d6f3"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:f5fb672c396d826ca16a022ac04c9dce74e00a1c344f6ad1a0fdc1ba1f332213"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-win32.whl", hash = "sha256:bb06098d019766ca16fc915ecaa455c1f1cd594204e7f840cd6258237b5079a8"},
+    {file = "charset_normalizer-3.3.1-cp311-cp311-win_amd64.whl", hash = "sha256:8af5a8917b8af42295e86b64903156b4f110a30dca5f3b5aedea123fbd638bff"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:7ae8e5142dcc7a49168f4055255dbcced01dc1714a90a21f87448dc8d90617d1"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:5b70bab78accbc672f50e878a5b73ca692f45f5b5e25c8066d748c09405e6a55"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:5ceca5876032362ae73b83347be8b5dbd2d1faf3358deb38c9c88776779b2e2f"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:34d95638ff3613849f473afc33f65c401a89f3b9528d0d213c7037c398a51296"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9edbe6a5bf8b56a4a84533ba2b2f489d0046e755c29616ef8830f9e7d9cf5728"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f6a02a3c7950cafaadcd46a226ad9e12fc9744652cc69f9e5534f98b47f3bbcf"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10b8dd31e10f32410751b3430996f9807fc4d1587ca69772e2aa940a82ab571a"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:edc0202099ea1d82844316604e17d2b175044f9bcb6b398aab781eba957224bd"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:b891a2f68e09c5ef989007fac11476ed33c5c9994449a4e2c3386529d703dc8b"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:71ef3b9be10070360f289aea4838c784f8b851be3ba58cf796262b57775c2f14"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-musllinux_1_1_ppc64le.whl", hash = "sha256:55602981b2dbf8184c098bc10287e8c245e351cd4fdcad050bd7199d5a8bf514"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-musllinux_1_1_s390x.whl", hash = "sha256:46fb9970aa5eeca547d7aa0de5d4b124a288b42eaefac677bde805013c95725c"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:520b7a142d2524f999447b3a0cf95115df81c4f33003c51a6ab637cbda9d0bf4"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-win32.whl", hash = "sha256:8ec8ef42c6cd5856a7613dcd1eaf21e5573b2185263d87d27c8edcae33b62a61"},
+    {file = "charset_normalizer-3.3.1-cp312-cp312-win_amd64.whl", hash = "sha256:baec8148d6b8bd5cee1ae138ba658c71f5b03e0d69d5907703e3e1df96db5e41"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:63a6f59e2d01310f754c270e4a257426fe5a591dc487f1983b3bbe793cf6bac6"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1d6bfc32a68bc0933819cfdfe45f9abc3cae3877e1d90aac7259d57e6e0f85b1"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4f3100d86dcd03c03f7e9c3fdb23d92e32abbca07e7c13ebd7ddfbcb06f5991f"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:39b70a6f88eebe239fa775190796d55a33cfb6d36b9ffdd37843f7c4c1b5dc67"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4e12f8ee80aa35e746230a2af83e81bd6b52daa92a8afaef4fea4a2ce9b9f4fa"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7b6cefa579e1237ce198619b76eaa148b71894fb0d6bcf9024460f9bf30fd228"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:61f1e3fb621f5420523abb71f5771a204b33c21d31e7d9d86881b2cffe92c47c"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:4f6e2a839f83a6a76854d12dbebde50e4b1afa63e27761549d006fa53e9aa80e"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:1ec937546cad86d0dce5396748bf392bb7b62a9eeb8c66efac60e947697f0e58"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:82ca51ff0fc5b641a2d4e1cc8c5ff108699b7a56d7f3ad6f6da9dbb6f0145b48"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:633968254f8d421e70f91c6ebe71ed0ab140220469cf87a9857e21c16687c034"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-win32.whl", hash = "sha256:c0c72d34e7de5604df0fde3644cc079feee5e55464967d10b24b1de268deceb9"},
+    {file = "charset_normalizer-3.3.1-cp37-cp37m-win_amd64.whl", hash = "sha256:63accd11149c0f9a99e3bc095bbdb5a464862d77a7e309ad5938fbc8721235ae"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:5a3580a4fdc4ac05f9e53c57f965e3594b2f99796231380adb2baaab96e22761"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2465aa50c9299d615d757c1c888bc6fef384b7c4aec81c05a0172b4400f98557"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:cb7cd68814308aade9d0c93c5bd2ade9f9441666f8ba5aa9c2d4b389cb5e2a45"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:91e43805ccafa0a91831f9cd5443aa34528c0c3f2cc48c4cb3d9a7721053874b"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:854cc74367180beb327ab9d00f964f6d91da06450b0855cbbb09187bcdb02de5"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c15070ebf11b8b7fd1bfff7217e9324963c82dbdf6182ff7050519e350e7ad9f"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2c4c99f98fc3a1835af8179dcc9013f93594d0670e2fa80c83aa36346ee763d2"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3fb765362688821404ad6cf86772fc54993ec11577cd5a92ac44b4c2ba52155b"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:dced27917823df984fe0c80a5c4ad75cf58df0fbfae890bc08004cd3888922a2"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:a66bcdf19c1a523e41b8e9d53d0cedbfbac2e93c649a2e9502cb26c014d0980c"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:ecd26be9f112c4f96718290c10f4caea6cc798459a3a76636b817a0ed7874e42"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:3f70fd716855cd3b855316b226a1ac8bdb3caf4f7ea96edcccc6f484217c9597"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:17a866d61259c7de1bdadef418a37755050ddb4b922df8b356503234fff7932c"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-win32.whl", hash = "sha256:548eefad783ed787b38cb6f9a574bd8664468cc76d1538215d510a3cd41406cb"},
+    {file = "charset_normalizer-3.3.1-cp38-cp38-win_amd64.whl", hash = "sha256:45f053a0ece92c734d874861ffe6e3cc92150e32136dd59ab1fb070575189c97"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:bc791ec3fd0c4309a753f95bb6c749ef0d8ea3aea91f07ee1cf06b7b02118f2f"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:0c8c61fb505c7dad1d251c284e712d4e0372cef3b067f7ddf82a7fa82e1e9a93"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:2c092be3885a1b7899cd85ce24acedc1034199d6fca1483fa2c3a35c86e43041"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c2000c54c395d9e5e44c99dc7c20a64dc371f777faf8bae4919ad3e99ce5253e"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4cb50a0335382aac15c31b61d8531bc9bb657cfd848b1d7158009472189f3d62"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c30187840d36d0ba2893bc3271a36a517a717f9fd383a98e2697ee890a37c273"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fe81b35c33772e56f4b6cf62cf4aedc1762ef7162a31e6ac7fe5e40d0149eb67"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d0bf89afcbcf4d1bb2652f6580e5e55a840fdf87384f6063c4a4f0c95e378656"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:06cf46bdff72f58645434d467bf5228080801298fbba19fe268a01b4534467f5"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:3c66df3f41abee950d6638adc7eac4730a306b022570f71dd0bd6ba53503ab57"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:cd805513198304026bd379d1d516afbf6c3c13f4382134a2c526b8b854da1c2e"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:9505dc359edb6a330efcd2be825fdb73ee3e628d9010597aa1aee5aa63442e97"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:31445f38053476a0c4e6d12b047b08ced81e2c7c712e5a1ad97bc913256f91b2"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-win32.whl", hash = "sha256:bd28b31730f0e982ace8663d108e01199098432a30a4c410d06fe08fdb9e93f4"},
+    {file = "charset_normalizer-3.3.1-cp39-cp39-win_amd64.whl", hash = "sha256:555fe186da0068d3354cdf4bbcbc609b0ecae4d04c921cc13e209eece7720727"},
+    {file = "charset_normalizer-3.3.1-py3-none-any.whl", hash = "sha256:800561453acdecedaac137bf09cd719c7a440b6800ec182f077bb8e7025fb708"},
 ]
 
-[package.extras]
-unicode-backport = ["unicodedata2"]
-
 [[package]]
 name = "click"
-version = "8.1.3"
+version = "8.1.7"
 description = "Composable command line interface toolkit"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
-    {file = "click-8.1.3.tar.gz", hash = "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e"},
+    {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"},
+    {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"},
 ]
 
 [package.dependencies]
@@ -160,14 +239,14 @@ stevedore = "*"
 
 [[package]]
 name = "docutils"
-version = "0.17.1"
+version = "0.18.1"
 description = "Docutils -- Python Documentation Utilities"
 category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 files = [
-    {file = "docutils-0.17.1-py2.py3-none-any.whl", hash = "sha256:cf316c8370a737a022b72b56874f6602acf974a37a9fba42ec2876387549fc61"},
-    {file = "docutils-0.17.1.tar.gz", hash = "sha256:686577d2e4c32380bb50cbb22f575ed742d58168cee37e99117a854bcd88f125"},
+    {file = "docutils-0.18.1-py2.py3-none-any.whl", hash = "sha256:23010f129180089fbcd3bc08cfefccb3b890b0050e1ca00c867036e9d161b98c"},
+    {file = "docutils-0.18.1.tar.gz", hash = "sha256:679987caf361a7539d76e584cbeddc311e3aee937877c87346f31debc63e9d06"},
 ]
 
 [[package]]
@@ -213,26 +292,26 @@ files = [
 
 [[package]]
 name = "importlib-metadata"
-version = "5.1.0"
+version = "6.8.0"
 description = "Read metadata from Python packages"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "importlib_metadata-5.1.0-py3-none-any.whl", hash = "sha256:d84d17e21670ec07990e1044a99efe8d615d860fd176fc29ef5c306068fda313"},
-    {file = "importlib_metadata-5.1.0.tar.gz", hash = "sha256:d5059f9f1e8e41f80e9c56c2ee58811450c31984dfa625329ffd7c0dad88a73b"},
+    {file = "importlib_metadata-6.8.0-py3-none-any.whl", hash = "sha256:3ebb78df84a805d7698245025b975d9d67053cd94c79245ba4b3eb694abe68bb"},
+    {file = "importlib_metadata-6.8.0.tar.gz", hash = "sha256:dbace7892d8c0c4ac1ad096662232f831d4e64f4c4545bd53016a3e9d4654743"},
 ]
 
 [package.dependencies]
 zipp = ">=0.5"
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)"]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
 perf = ["ipython"]
-testing = ["flake8 (<5)", "flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)"]
+testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)", "pytest-ruff"]
 
 [[package]]
-name = "Jinja2"
+name = "jinja2"
 version = "3.1.2"
 description = "A very fast and expressive template engine."
 category = "dev"
@@ -250,53 +329,63 @@ MarkupSafe = ">=2.0"
 i18n = ["Babel (>=2.7)"]
 
 [[package]]
-name = "MarkupSafe"
-version = "2.1.1"
+name = "markupsafe"
+version = "2.1.3"
 description = "Safely add untrusted strings to HTML/XML markup."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "MarkupSafe-2.1.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:86b1f75c4e7c2ac2ccdaec2b9022845dbb81880ca318bb7a0a01fbf7813e3812"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:f121a1420d4e173a5d96e47e9a0c0dcff965afdf1626d28de1460815f7c4ee7a"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a49907dd8420c5685cfa064a1335b6754b74541bbb3706c259c02ed65b644b3e"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10c1bfff05d95783da83491be968e8fe789263689c02724e0c691933c52994f5"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b7bd98b796e2b6553da7225aeb61f447f80a1ca64f41d83612e6139ca5213aa4"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:b09bf97215625a311f669476f44b8b318b075847b49316d3e28c08e41a7a573f"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:694deca8d702d5db21ec83983ce0bb4b26a578e71fbdbd4fdcd387daa90e4d5e"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:efc1913fd2ca4f334418481c7e595c00aad186563bbc1ec76067848c7ca0a933"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-win32.whl", hash = "sha256:4a33dea2b688b3190ee12bd7cfa29d39c9ed176bda40bfa11099a3ce5d3a7ac6"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:dda30ba7e87fbbb7eab1ec9f58678558fd9a6b8b853530e176eabd064da81417"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:671cd1187ed5e62818414afe79ed29da836dde67166a9fac6d435873c44fdd02"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3799351e2336dc91ea70b034983ee71cf2f9533cdff7c14c90ea126bfd95d65a"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e72591e9ecd94d7feb70c1cbd7be7b3ebea3f548870aa91e2732960fa4d57a37"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6fbf47b5d3728c6aea2abb0589b5d30459e369baa772e0f37a0320185e87c980"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:d5ee4f386140395a2c818d149221149c54849dfcfcb9f1debfe07a8b8bd63f9a"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:bcb3ed405ed3222f9904899563d6fc492ff75cce56cba05e32eff40e6acbeaa3"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:e1c0b87e09fa55a220f058d1d49d3fb8df88fbfab58558f1198e08c1e1de842a"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-win32.whl", hash = "sha256:8dc1c72a69aa7e082593c4a203dcf94ddb74bb5c8a731e4e1eb68d031e8498ff"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:97a68e6ada378df82bc9f16b800ab77cbf4b2fada0081794318520138c088e4a"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:e8c843bbcda3a2f1e3c2ab25913c80a3c5376cd00c6e8c4a86a89a28c8dc5452"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:0212a68688482dc52b2d45013df70d169f542b7394fc744c02a57374a4207003"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8e576a51ad59e4bfaac456023a78f6b5e6e7651dcd383bcc3e18d06f9b55d6d1"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4b9fe39a2ccc108a4accc2676e77da025ce383c108593d65cc909add5c3bd601"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:96e37a3dc86e80bf81758c152fe66dbf60ed5eca3d26305edf01892257049925"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:6d0072fea50feec76a4c418096652f2c3238eaa014b2f94aeb1d56a66b41403f"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:089cf3dbf0cd6c100f02945abeb18484bd1ee57a079aefd52cffd17fba910b88"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:6a074d34ee7a5ce3effbc526b7083ec9731bb3cbf921bbe1d3005d4d2bdb3a63"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-win32.whl", hash = "sha256:421be9fbf0ffe9ffd7a378aafebbf6f4602d564d34be190fc19a193232fd12b1"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:fc7b548b17d238737688817ab67deebb30e8073c95749d55538ed473130ec0c7"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:e04e26803c9c3851c931eac40c695602c6295b8d432cbe78609649ad9bd2da8a"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:b87db4360013327109564f0e591bd2a3b318547bcef31b468a92ee504d07ae4f"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:99a2a507ed3ac881b975a2976d59f38c19386d128e7a9a18b7df6fff1fd4c1d6"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:56442863ed2b06d19c37f94d999035e15ee982988920e12a5b4ba29b62ad1f77"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3ce11ee3f23f79dbd06fb3d63e2f6af7b12db1d46932fe7bd8afa259a5996603"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:33b74d289bd2f5e527beadcaa3f401e0df0a89927c1559c8566c066fa4248ab7"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:43093fb83d8343aac0b1baa75516da6092f58f41200907ef92448ecab8825135"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:8e3dcf21f367459434c18e71b2a9532d96547aef8a871872a5bd69a715c15f96"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-win32.whl", hash = "sha256:d4306c36ca495956b6d568d276ac11fdd9c30a36f1b6eb928070dc5360b22e1c"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:46d00d6cfecdde84d40e572d63735ef81423ad31184100411e6e3388d405e247"},
-    {file = "MarkupSafe-2.1.1.tar.gz", hash = "sha256:7f91197cc9e48f989d12e4e6fbc46495c446636dfc81b9ccf50bb0ec74b91d4b"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:cd0f502fe016460680cd20aaa5a76d241d6f35a1c3350c474bac1273803893fa"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e09031c87a1e51556fdcb46e5bd4f59dfb743061cf93c4d6831bf894f125eb57"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:68e78619a61ecf91e76aa3e6e8e33fc4894a2bebe93410754bd28fce0a8a4f9f"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:65c1a9bcdadc6c28eecee2c119465aebff8f7a584dd719facdd9e825ec61ab52"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:525808b8019e36eb524b8c68acdd63a37e75714eac50e988180b169d64480a00"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:962f82a3086483f5e5f64dbad880d31038b698494799b097bc59c2edf392fce6"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:aa7bd130efab1c280bed0f45501b7c8795f9fdbeb02e965371bbef3523627779"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:c9c804664ebe8f83a211cace637506669e7890fec1b4195b505c214e50dd4eb7"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-win32.whl", hash = "sha256:10bbfe99883db80bdbaff2dcf681dfc6533a614f700da1287707e8a5d78a8431"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-win_amd64.whl", hash = "sha256:1577735524cdad32f9f694208aa75e422adba74f1baee7551620e43a3141f559"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ad9e82fb8f09ade1c3e1b996a6337afac2b8b9e365f926f5a61aacc71adc5b3c"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:3c0fae6c3be832a0a0473ac912810b2877c8cb9d76ca48de1ed31e1c68386575"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b076b6226fb84157e3f7c971a47ff3a679d837cf338547532ab866c57930dbee"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bfce63a9e7834b12b87c64d6b155fdd9b3b96191b6bd334bf37db7ff1fe457f2"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:338ae27d6b8745585f87218a3f23f1512dbf52c26c28e322dbe54bcede54ccb9"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:e4dd52d80b8c83fdce44e12478ad2e85c64ea965e75d66dbeafb0a3e77308fcc"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:df0be2b576a7abbf737b1575f048c23fb1d769f267ec4358296f31c2479db8f9"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:5bbe06f8eeafd38e5d0a4894ffec89378b6c6a625ff57e3028921f8ff59318ac"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-win32.whl", hash = "sha256:dd15ff04ffd7e05ffcb7fe79f1b98041b8ea30ae9234aed2a9168b5797c3effb"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-win_amd64.whl", hash = "sha256:134da1eca9ec0ae528110ccc9e48041e0828d79f24121a1a146161103c76e686"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:8e254ae696c88d98da6555f5ace2279cf7cd5b3f52be2b5cf97feafe883b58d2"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb0932dc158471523c9637e807d9bfb93e06a95cbf010f1a38b98623b929ef2b"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9402b03f1a1b4dc4c19845e5c749e3ab82d5078d16a2a4c2cd2df62d57bb0707"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ca379055a47383d02a5400cb0d110cef0a776fc644cda797db0c5696cfd7e18e"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:b7ff0f54cb4ff66dd38bebd335a38e2c22c41a8ee45aa608efc890ac3e3931bc"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:c011a4149cfbcf9f03994ec2edffcb8b1dc2d2aede7ca243746df97a5d41ce48"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:56d9f2ecac662ca1611d183feb03a3fa4406469dafe241673d521dd5ae92a155"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-win32.whl", hash = "sha256:8758846a7e80910096950b67071243da3e5a20ed2546e6392603c096778d48e0"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-win_amd64.whl", hash = "sha256:787003c0ddb00500e49a10f2844fac87aa6ce977b90b0feaaf9de23c22508b24"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:2ef12179d3a291be237280175b542c07a36e7f60718296278d8593d21ca937d4"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2c1b19b3aaacc6e57b7e25710ff571c24d6c3613a45e905b1fde04d691b98ee0"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8afafd99945ead6e075b973fefa56379c5b5c53fd8937dad92c662da5d8fd5ee"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8c41976a29d078bb235fea9b2ecd3da465df42a562910f9022f1a03107bd02be"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d080e0a5eb2529460b30190fcfcc4199bd7f827663f858a226a81bc27beaa97e"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:69c0f17e9f5a7afdf2cc9fb2d1ce6aabdb3bafb7f38017c0b77862bcec2bbad8"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:504b320cd4b7eff6f968eddf81127112db685e81f7e36e75f9f84f0df46041c3"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:42de32b22b6b804f42c5d98be4f7e5e977ecdd9ee9b660fda1a3edf03b11792d"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-win32.whl", hash = "sha256:ceb01949af7121f9fc39f7d27f91be8546f3fb112c608bc4029aef0bab86a2a5"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-win_amd64.whl", hash = "sha256:1b40069d487e7edb2676d3fbdb2b0829ffa2cd63a2ec26c4938b2d34391b4ecc"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:8023faf4e01efadfa183e863fefde0046de576c6f14659e8782065bcece22198"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:6b2b56950d93e41f33b4223ead100ea0fe11f8e6ee5f641eb753ce4b77a7042b"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9dcdfd0eaf283af041973bff14a2e143b8bd64e069f4c383416ecd79a81aab58"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:05fb21170423db021895e1ea1e1f3ab3adb85d1c2333cbc2310f2a26bc77272e"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:282c2cb35b5b673bbcadb33a585408104df04f14b2d9b01d4c345a3b92861c2c"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:ab4a0df41e7c16a1392727727e7998a467472d0ad65f3ad5e6e765015df08636"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:7ef3cb2ebbf91e330e3bb937efada0edd9003683db6b57bb108c4001f37a02ea"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:0a4e4a1aff6c7ac4cd55792abf96c915634c2b97e3cc1c7129578aa68ebd754e"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-win32.whl", hash = "sha256:fec21693218efe39aa7f8599346e90c705afa52c5b31ae019b2e57e8f6542bb2"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-win_amd64.whl", hash = "sha256:3fd4abcb888d15a94f32b75d8fd18ee162ca0c064f35b11134be77050296d6ba"},
+    {file = "MarkupSafe-2.1.3.tar.gz", hash = "sha256:af598ed32d6ae86f1b747b82783958b1a4ab8f617b06fe68795c7f026abbdcad"},
 ]
 
 [[package]]
@@ -313,70 +402,67 @@ files = [
 
 [[package]]
 name = "mypy-extensions"
-version = "0.4.3"
-description = "Experimental type system extensions for programs checked with the mypy typechecker."
+version = "1.0.0"
+description = "Type system extensions for programs checked with the mypy type checker."
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.5"
 files = [
-    {file = "mypy_extensions-0.4.3-py2.py3-none-any.whl", hash = "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d"},
-    {file = "mypy_extensions-0.4.3.tar.gz", hash = "sha256:2d82818f5bb3e369420cb3c4060a7970edba416647068eb4c5343488a6c604a8"},
+    {file = "mypy_extensions-1.0.0-py3-none-any.whl", hash = "sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d"},
+    {file = "mypy_extensions-1.0.0.tar.gz", hash = "sha256:75dbf8955dc00442a438fc4d0666508a9a97b6bd41aa2f0ffe9d2f2725af0782"},
 ]
 
 [[package]]
 name = "packaging"
-version = "21.3"
+version = "23.2"
 description = "Core utilities for Python packages"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 files = [
-    {file = "packaging-21.3-py3-none-any.whl", hash = "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"},
-    {file = "packaging-21.3.tar.gz", hash = "sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb"},
+    {file = "packaging-23.2-py3-none-any.whl", hash = "sha256:8c491190033a9af7e1d931d0b5dacc2ef47509b34dd0de67ed209b5203fc88c7"},
+    {file = "packaging-23.2.tar.gz", hash = "sha256:048fb0e9405036518eaaf48a55953c750c11e1a1b68e0dd1a9d62ed0c092cfc5"},
 ]
 
-[package.dependencies]
-pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
-
 [[package]]
 name = "pathspec"
-version = "0.10.2"
+version = "0.11.2"
 description = "Utility library for gitignore style pattern matching of file paths."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "pathspec-0.10.2-py3-none-any.whl", hash = "sha256:88c2606f2c1e818b978540f73ecc908e13999c6c3a383daf3705652ae79807a5"},
-    {file = "pathspec-0.10.2.tar.gz", hash = "sha256:8f6bf73e5758fd365ef5d58ce09ac7c27d2833a8d7da51712eac6e27e35141b0"},
+    {file = "pathspec-0.11.2-py3-none-any.whl", hash = "sha256:1d6ed233af05e679efb96b1851550ea95bbb64b7c490b0f5aa52996c11e92a20"},
+    {file = "pathspec-0.11.2.tar.gz", hash = "sha256:e0d8d0ac2f12da61956eb2306b69f9469b42f4deb0f3cb6ed47b9cce9996ced3"},
 ]
 
 [[package]]
 name = "pbr"
-version = "5.11.0"
+version = "5.11.1"
 description = "Python Build Reasonableness"
 category = "dev"
 optional = false
 python-versions = ">=2.6"
 files = [
-    {file = "pbr-5.11.0-py2.py3-none-any.whl", hash = "sha256:db2317ff07c84c4c63648c9064a79fe9d9f5c7ce85a9099d4b6258b3db83225a"},
-    {file = "pbr-5.11.0.tar.gz", hash = "sha256:b97bc6695b2aff02144133c2e7399d5885223d42b7912ffaec2ca3898e673bfe"},
+    {file = "pbr-5.11.1-py2.py3-none-any.whl", hash = "sha256:567f09558bae2b3ab53cb3c1e2e33e726ff3338e7bae3db5dc954b3a44eef12b"},
+    {file = "pbr-5.11.1.tar.gz", hash = "sha256:aefc51675b0b533d56bb5fd1c8c6c0522fe31896679882e1c4c63d5e4a0fccb3"},
 ]
 
 [[package]]
 name = "platformdirs"
-version = "2.5.4"
+version = "3.11.0"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "platformdirs-2.5.4-py3-none-any.whl", hash = "sha256:af0276409f9a02373d540bf8480021a048711d572745aef4b7842dad245eba10"},
-    {file = "platformdirs-2.5.4.tar.gz", hash = "sha256:1006647646d80f16130f052404c6b901e80ee4ed6bef6792e1f238a8969106f7"},
+    {file = "platformdirs-3.11.0-py3-none-any.whl", hash = "sha256:e9d171d00af68be50e9202731309c4e658fd8bc76f55c11c7dd760d023bda68e"},
+    {file = "platformdirs-3.11.0.tar.gz", hash = "sha256:cf8ee52a3afdb965072dcc652433e0c7e3e40cf5ea1477cd4b3b1d2eb75495b3"},
 ]
 
 [package.extras]
-docs = ["furo (>=2022.9.29)", "proselint (>=0.13)", "sphinx (>=5.3)", "sphinx-autodoc-typehints (>=1.19.4)"]
-test = ["appdirs (==1.4.4)", "pytest (>=7.2)", "pytest-cov (>=4)", "pytest-mock (>=3.10)"]
+docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.1)", "sphinx-autodoc-typehints (>=1.24)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4)", "pytest-cov (>=4.1)", "pytest-mock (>=3.11.1)"]
 
 [[package]]
 name = "pycodestyle"
@@ -403,64 +489,49 @@ files = [
 ]
 
 [[package]]
-name = "Pygments"
-version = "2.13.0"
+name = "pygments"
+version = "2.16.1"
 description = "Pygments is a syntax highlighting package written in Python."
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 files = [
-    {file = "Pygments-2.13.0-py3-none-any.whl", hash = "sha256:f643f331ab57ba3c9d89212ee4a2dabc6e94f117cf4eefde99a0574720d14c42"},
-    {file = "Pygments-2.13.0.tar.gz", hash = "sha256:56a8508ae95f98e2b9bdf93a6be5ae3f7d8af858b43e02c5a2ff083726be40c1"},
+    {file = "Pygments-2.16.1-py3-none-any.whl", hash = "sha256:13fc09fa63bc8d8671a6d247e1eb303c4b343eaee81d861f3404db2935653692"},
+    {file = "Pygments-2.16.1.tar.gz", hash = "sha256:1daff0494820c69bc8941e407aa20f577374ee88364ee10a98fdbe0aece96e29"},
 ]
 
 [package.extras]
 plugins = ["importlib-metadata"]
 
-[[package]]
-name = "pyparsing"
-version = "3.0.9"
-description = "pyparsing module - Classes and methods to define and execute parsing grammars"
-category = "dev"
-optional = false
-python-versions = ">=3.6.8"
-files = [
-    {file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
-    {file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
-]
-
-[package.extras]
-diagrams = ["jinja2", "railroad-diagrams"]
-
 [[package]]
 name = "pytz"
-version = "2022.6"
+version = "2023.3.post1"
 description = "World timezone definitions, modern and historical"
 category = "dev"
 optional = false
 python-versions = "*"
 files = [
-    {file = "pytz-2022.6-py2.py3-none-any.whl", hash = "sha256:222439474e9c98fced559f1709d89e6c9cbf8d79c794ff3eb9f8800064291427"},
-    {file = "pytz-2022.6.tar.gz", hash = "sha256:e89512406b793ca39f5971bc999cc538ce125c0e51c27941bef4568b460095e2"},
+    {file = "pytz-2023.3.post1-py2.py3-none-any.whl", hash = "sha256:ce42d816b81b68506614c11e8937d3aa9e41007ceb50bfdcb0749b921bf646c7"},
+    {file = "pytz-2023.3.post1.tar.gz", hash = "sha256:7b4fddbeb94a1eba4b557da24f19fdf9db575192544270a9101d8509f9f43d7b"},
 ]
 
 [[package]]
 name = "requests"
-version = "2.28.1"
+version = "2.31.0"
 description = "Python HTTP for Humans."
 category = "dev"
 optional = false
-python-versions = ">=3.7, <4"
+python-versions = ">=3.7"
 files = [
-    {file = "requests-2.28.1-py3-none-any.whl", hash = "sha256:8fefa2a1a1365bf5520aac41836fbee479da67864514bdb821f31ce07ce65349"},
-    {file = "requests-2.28.1.tar.gz", hash = "sha256:7c5599b102feddaa661c826c56ab4fee28bfd17f5abca1ebbe3e7f19d7c97983"},
+    {file = "requests-2.31.0-py3-none-any.whl", hash = "sha256:58cd2187c01e70e6e26505bca751777aa9f2ee0b7f4300988b709f44e013003f"},
+    {file = "requests-2.31.0.tar.gz", hash = "sha256:942c5a758f98d790eaed1a29cb6eefc7ffb0d1cf7af05c3d2791656dbd6ad1e1"},
 ]
 
 [package.dependencies]
 certifi = ">=2017.4.17"
-charset-normalizer = ">=2,<3"
+charset-normalizer = ">=2,<4"
 idna = ">=2.5,<4"
-urllib3 = ">=1.21.1,<1.27"
+urllib3 = ">=1.21.1,<3"
 
 [package.extras]
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
@@ -506,7 +577,7 @@ files = [
 
 [[package]]
 name = "Sphinx"
-version = "5.1.0.dev20221209"
+version = "5.1.0.dev20231023"
 description = "Python documentation generator"
 category = "dev"
 optional = false
@@ -536,43 +607,44 @@ sphinxcontrib-serializinghtml = ">=1.1.5"
 [package.extras]
 docs = ["sphinxcontrib-websupport"]
 lint = ["docutils-stubs", "flake8 (>=3.5.0)", "isort", "mypy (>=0.950)", "types-requests", "types-typed-ast"]
-test = ["cython", "html5lib", "pytest (>=4.6)", "typed-ast"]
+test = ["cython", "html5lib", "pytest (>=4.6)", "typed_ast"]
 
 [package.source]
 type = "git"
 url = "https://github.com/pybricks/sphinx.git"
-reference = "b00124cb"
-resolved_reference = "b00124cb07318fd6875f6d53e0b26e50c7dde597"
+reference = "cd277d09"
+resolved_reference = "cd277d098ea2df9c79f0a4cbce28a426ec4120bc"
 
 [[package]]
 name = "sphinx-rtd-theme"
-version = "1.1.1"
+version = "1.3.0"
 description = "Read the Docs theme for Sphinx"
 category = "dev"
 optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
 files = [
-    {file = "sphinx_rtd_theme-1.1.1-py2.py3-none-any.whl", hash = "sha256:31faa07d3e97c8955637fc3f1423a5ab2c44b74b8cc558a51498c202ce5cbda7"},
-    {file = "sphinx_rtd_theme-1.1.1.tar.gz", hash = "sha256:6146c845f1e1947b3c3dd4432c28998a1693ccc742b4f9ad7c63129f0757c103"},
+    {file = "sphinx_rtd_theme-1.3.0-py2.py3-none-any.whl", hash = "sha256:46ddef89cc2416a81ecfbeaceab1881948c014b1b6e4450b815311a89fb977b0"},
+    {file = "sphinx_rtd_theme-1.3.0.tar.gz", hash = "sha256:590b030c7abb9cf038ec053b95e5380b5c70d61591eb0b552063fbe7c41f0931"},
 ]
 
 [package.dependencies]
-docutils = "<0.18"
-sphinx = ">=1.6,<6"
+docutils = "<0.19"
+sphinx = ">=1.6,<8"
+sphinxcontrib-jquery = ">=4,<5"
 
 [package.extras]
 dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
-version = "1.0.2"
-description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
+version = "1.0.4"
+description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 category = "dev"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.8"
 files = [
-    {file = "sphinxcontrib-applehelp-1.0.2.tar.gz", hash = "sha256:a072735ec80e7675e3f432fcae8610ecf509c5f1869d17e2eecff44389cdbc58"},
-    {file = "sphinxcontrib_applehelp-1.0.2-py2.py3-none-any.whl", hash = "sha256:806111e5e962be97c29ec4c1e7fe277bfd19e9652fb1a4392105b43e01af885a"},
+    {file = "sphinxcontrib-applehelp-1.0.4.tar.gz", hash = "sha256:828f867945bbe39817c210a1abfd1bc4895c8b73fcaade56d45357a348a07d7e"},
+    {file = "sphinxcontrib_applehelp-1.0.4-py3-none-any.whl", hash = "sha256:29d341f67fb0f6f586b23ad80e072c8e6ad0b48417db2bde114a4c9746feb228"},
 ]
 
 [package.extras]
@@ -597,20 +669,35 @@ test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.0"
+version = "2.0.1"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
-    {file = "sphinxcontrib-htmlhelp-2.0.0.tar.gz", hash = "sha256:f5f8bb2d0d629f398bf47d0d69c07bc13b65f75a81ad9e2f71a63d4b7a2f6db2"},
-    {file = "sphinxcontrib_htmlhelp-2.0.0-py2.py3-none-any.whl", hash = "sha256:d412243dfb797ae3ec2b59eca0e52dac12e75a241bf0e4eb861e450d06c6ed07"},
+    {file = "sphinxcontrib-htmlhelp-2.0.1.tar.gz", hash = "sha256:0cbdd302815330058422b98a113195c9249825d681e18f11e8b1f78a2f11efff"},
+    {file = "sphinxcontrib_htmlhelp-2.0.1-py3-none-any.whl", hash = "sha256:c38cb46dccf316c79de6e5515e1770414b797162b23cd3d06e67020e1d2a6903"},
 ]
 
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["html5lib", "pytest"]
 
+[[package]]
+name = "sphinxcontrib-jquery"
+version = "4.1"
+description = "Extension to include jQuery on newer Sphinx releases"
+category = "dev"
+optional = false
+python-versions = ">=2.7"
+files = [
+    {file = "sphinxcontrib-jquery-4.1.tar.gz", hash = "sha256:1620739f04e36a2c779f1a131a2dfd49b2fd07351bf1968ced074365933abc7a"},
+    {file = "sphinxcontrib_jquery-4.1-py2.py3-none-any.whl", hash = "sha256:f936030d7d0147dd026a4f2b5a57343d233f1fc7b363f68b3d4f1cb0993878ae"},
+]
+
+[package.dependencies]
+Sphinx = ">=1.8"
+
 [[package]]
 name = "sphinxcontrib-jsmath"
 version = "1.0.1"
@@ -660,14 +747,14 @@ test = ["pytest"]
 
 [[package]]
 name = "stevedore"
-version = "4.1.1"
+version = "5.1.0"
 description = "Manage dynamic plugins for Python applications"
 category = "dev"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "stevedore-4.1.1-py3-none-any.whl", hash = "sha256:aa6436565c069b2946fe4ebff07f5041e0c8bf18c7376dd29edf80cf7d524e4e"},
-    {file = "stevedore-4.1.1.tar.gz", hash = "sha256:7f8aeb6e3f90f96832c301bff21a7eb5eefbe894c88c506483d355565d88cc1a"},
+    {file = "stevedore-5.1.0-py3-none-any.whl", hash = "sha256:8cc040628f3cea5d7128f2e76cf486b2251a4e543c7b938f58d9a377f6694a2d"},
+    {file = "stevedore-5.1.0.tar.gz", hash = "sha256:a54534acf9b89bc7ed264807013b505bf07f74dbe4bcfa37d32bd063870b087c"},
 ]
 
 [package.dependencies]
@@ -699,50 +786,51 @@ files = [
 
 [[package]]
 name = "typing-extensions"
-version = "4.4.0"
-description = "Backported and Experimental Type Hints for Python 3.7+"
+version = "4.8.0"
+description = "Backported and Experimental Type Hints for Python 3.8+"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "typing_extensions-4.4.0-py3-none-any.whl", hash = "sha256:16fa4864408f655d35ec496218b85f79b3437c829e93320c7c9215ccfd92489e"},
-    {file = "typing_extensions-4.4.0.tar.gz", hash = "sha256:1511434bb92bf8dd198c12b1cc812e800d4181cfcb867674e0f8279cc93087aa"},
+    {file = "typing_extensions-4.8.0-py3-none-any.whl", hash = "sha256:8f92fc8806f9a6b641eaa5318da32b44d401efaac0f6678c9bc448ba3605faa0"},
+    {file = "typing_extensions-4.8.0.tar.gz", hash = "sha256:df8e4339e9cb77357558cbdbceca33c303714cf861d1eef15e1070055ae8b7ef"},
 ]
 
 [[package]]
 name = "urllib3"
-version = "1.26.13"
+version = "2.0.7"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
+python-versions = ">=3.7"
 files = [
-    {file = "urllib3-1.26.13-py2.py3-none-any.whl", hash = "sha256:47cc05d99aaa09c9e72ed5809b60e7ba354e64b59c9c173ac3018642d8bb41fc"},
-    {file = "urllib3-1.26.13.tar.gz", hash = "sha256:c083dd0dce68dbfbe1129d5271cb90f9447dea7d52097c6e0126120c521ddea8"},
+    {file = "urllib3-2.0.7-py3-none-any.whl", hash = "sha256:fdb6d215c776278489906c2f8916e6e7d4f5a9b602ccbcfdf7f016fc8da0596e"},
+    {file = "urllib3-2.0.7.tar.gz", hash = "sha256:c97dfde1f7bd43a71c8d2a58e369e9b2bf692d1334ea9f9cae55add7d0dd0f84"},
 ]
 
 [package.extras]
-brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)", "brotlipy (>=0.6.0)"]
-secure = ["certifi", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "ipaddress", "pyOpenSSL (>=0.14)", "urllib3-secure-extra"]
-socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
+brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"]
+secure = ["certifi", "cryptography (>=1.9)", "idna (>=2.0.0)", "pyopenssl (>=17.1.0)", "urllib3-secure-extra"]
+socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
+zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "zipp"
-version = "3.11.0"
+version = "3.17.0"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.11.0-py3-none-any.whl", hash = "sha256:83a28fcb75844b5c0cdaf5aa4003c2d728c77e05f5aeabe8e95e56727005fbaa"},
-    {file = "zipp-3.11.0.tar.gz", hash = "sha256:a7a22e05929290a67401440b39690ae6563279bced5f314609d9d03798f56766"},
+    {file = "zipp-3.17.0-py3-none-any.whl", hash = "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31"},
+    {file = "zipp-3.17.0.tar.gz", hash = "sha256:84e64a1c28cf7e91ed2078bb8cc8c259cb19b76942096c8d7b84947690cabaf0"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)"]
-testing = ["flake8 (<5)", "func-timeout", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
+testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.8"
-content-hash = "2257db817f98695b16f12009a95e9c11447b5ba2df438ae4058853fbcbd5d814"
+content-hash = "c3ac22f3861c372d4572b51aa6263a693a8c42a7fa77ff5e735fea3be0e3f15b"
diff --git a/pyproject.toml b/pyproject.toml
index 110c84c7..c8dcbe23 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "pybricks"
-version = "3.3.0b5"
+version = "3.3.0b9"
 description = "Documentation and user-API stubs for Pybricks MicroPython"
 authors = ["The Pybricks Authors <dev@pybricks.com>"]
 maintainers = ["Laurens Valk <laurens@pybricks.com>", "David Lechner <david@pybricks.com>" ]
@@ -36,7 +36,7 @@ doc8 = "^0.8.1"
 flake8 = "^4.0"
 
 [tool.poetry.group.doc.dependencies]
-Sphinx = { git = "https://github.com/pybricks/sphinx.git", rev = "b00124cb" }
+Sphinx = { git = "https://github.com/pybricks/sphinx.git", rev = "cd277d09" }
 sphinx-rtd-theme = "^1.0.0"
 toml = "^0.10.0"
 
diff --git a/setup.cfg b/setup.cfg
index ce263880..3572f3cb 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,6 +1,6 @@
 
 [flake8]
-exclude = .venv/,*.pyi,jedi/
+exclude = .venv/,*.pyi,jedi/,examples/pup/tools/hub_menu.py
 max-line-length = 88
 ignore = E203,E501,W503
 
diff --git a/src/pybricks/_common.py b/src/pybricks/_common.py
index d4f19906..75d30d34 100644
--- a/src/pybricks/_common.py
+++ b/src/pybricks/_common.py
@@ -12,8 +12,31 @@
 from .parameters import Axis, Direction, Stop, Button, Port, Color, Side
 
 if TYPE_CHECKING:
+    from typing import Any, Awaitable, TypeVar
+
     from .parameters import Number
 
+    _T_co = TypeVar("_T_co", covariant=True)
+
+    class MaybeAwaitable(None, Awaitable[None]):
+        ...
+
+    # HACK: Cannot subclass bool, so using Any instead.
+    class MaybeAwaitableBool(Any, Awaitable[bool]):
+        ...
+
+    class MaybeAwaitableFloat(float, Awaitable[float]):
+        ...
+
+    class MaybeAwaitableInt(int, Awaitable[int]):
+        ...
+
+    class MaybeAwaitableTuple(Tuple[_T_co], Awaitable[Tuple[_T_co]]):
+        ...
+
+    class MaybeAwaitableColor(Color, Awaitable[Color]):
+        ...
+
 
 class System:
     """System control actions for a hub."""
@@ -78,8 +101,8 @@ def storage(self, offset: int, *, write: bytes) -> None:
 
     def storage(self, offset, read=None, write=None):
         """
-        storage(self, offset, write=)
-        storage(self, offset, read=) -> bytes
+        storage(offset, write=)
+        storage(offset, read=) -> bytes
 
         Reads or writes binary data to persistent storage.
 
@@ -393,10 +416,12 @@ def __init__(
                 Choose ``False`` to keep the
                 current value, so your program knows where it left off last
                 time.
-            profile (Number, deg): Precision profile. A lower value
-                means more precise movement; a larger value means
-                smoother movement. If no value is given, a suitable profile for
-                this motor type will be selected automatically.
+            profile (Number, deg): Precision profile. This is the approximate
+                position tolerance in degrees that is acceptable in your
+                application. A lower value gives more precise but more erratic
+                movement; a higher value gives less precise but smoother
+                movement. If no value is given, a suitable profile for this
+                motor type will be selected automatically (about 11 degrees).
         """
 
     def angle(self) -> int:
@@ -476,7 +501,7 @@ def run(self, speed: Number) -> None:
 
     def run_time(
         self, speed: Number, time: Number, then: Stop = Stop.HOLD, wait: bool = True
-    ) -> None:
+    ) -> MaybeAwaitable:
         """run_time(speed, time, then=Stop.HOLD, wait=True)
 
         Runs the motor at a constant speed for a given amount of time.
@@ -499,7 +524,7 @@ def run_angle(
         rotation_angle: Number,
         then: Stop = Stop.HOLD,
         wait: bool = True,
-    ) -> None:
+    ) -> MaybeAwaitable:
         """run_angle(speed, rotation_angle, then=Stop.HOLD, wait=True)
 
         Runs the motor at a constant speed by a given angle.
@@ -519,7 +544,7 @@ def run_target(
         target_angle: Number,
         then: Stop = Stop.HOLD,
         wait: bool = True,
-    ) -> None:
+    ) -> MaybeAwaitable:
         """run_target(speed, target_angle, then=Stop.HOLD, wait=True)
 
         Runs the motor at a constant speed towards a given target angle.
@@ -540,7 +565,7 @@ def run_until_stalled(
         speed: Number,
         then: Stop = Stop.COAST,
         duty_limit: Optional[Number] = None,
-    ) -> int:
+    ) -> MaybeAwaitableInt:
         """
         run_until_stalled(speed, then=Stop.COAST, duty_limit=None) -> int: deg
 
@@ -604,7 +629,7 @@ def volume(self, *args):
             volume (Number, %): Volume of the speaker in the 0-100 range.
         """
 
-    def beep(self, frequency: Number = 500, duration: Number = 100) -> None:
+    def beep(self, frequency: Number = 500, duration: Number = 100) -> MaybeAwaitable:
         """beep(frequency=500, duration=100)
 
         Play a beep/tone.
@@ -618,7 +643,7 @@ def beep(self, frequency: Number = 500, duration: Number = 100) -> None:
                 play continues to play indefinitely.
         """
 
-    def play_notes(self, notes: Iterable[str], tempo: Number = 120) -> None:
+    def play_notes(self, notes: Iterable[str], tempo: Number = 120) -> MaybeAwaitable:
         """play_notes(notes, tempo=120)
 
         Plays a sequence of musical notes. For example:
@@ -705,10 +730,31 @@ def animate(self, colors: Collection[Color], interval: Number) -> None:
         """
 
 
+class ExternalColorLight:
+    """Control a multi-color light."""
+
+    def on(self, color: Color) -> MaybeAwaitable:
+        """on(color)
+
+        Turns on the light at the specified color.
+
+        Arguments:
+            color (Color): Color of the light.
+        """
+
+    def off(self) -> MaybeAwaitable:
+        """off()
+
+        Turns off the light.
+        """
+
+
 class LightArray3:
     """Control an array of three single-color lights."""
 
-    def on(self, brightness: Union[Number, Tuple[Number, Number, Number]]) -> None:
+    def on(
+        self, brightness: Union[Number, Tuple[Number, Number, Number]]
+    ) -> MaybeAwaitable:
         """on(brightness)
 
         Turns on the lights at the specified brightness.
@@ -720,10 +766,11 @@ def on(self, brightness: Union[Number, Tuple[Number, Number, Number]]) -> None:
                 of each light individually.
         """
 
-    def off(self) -> None:
+    def off(self) -> MaybeAwaitable:
         """off()
 
-        Turns off all the lights."""
+        Turns off all the lights.
+        """
 
 
 class LightArray4(LightArray3):
@@ -731,7 +778,7 @@ class LightArray4(LightArray3):
 
     def on(
         self, brightness: Union[Number, Tuple[Number, Number, Number, Number]]
-    ) -> None:
+    ) -> MaybeAwaitable:
         """on(brightness)
 
         Turns on the lights at the specified brightness.
@@ -1164,7 +1211,7 @@ def __init__(self, port: Port):
             port (Port): Port to which the sensor is connected.
         """
 
-    def color(self) -> Color:
+    def color(self) -> MaybeAwaitableColor:
         """color() -> Color
 
         Scans the color of a surface.
@@ -1178,7 +1225,7 @@ def color(self) -> Color:
             Detected color.
         """
 
-    def hsv(self) -> Color:
+    def hsv(self) -> MaybeAwaitableColor:
         """hsv() -> Color
 
         Scans the color of a surface.
@@ -1192,7 +1239,7 @@ def hsv(self) -> Color:
             saturation (0--100), and a brightness value (0--100).
         """
 
-    def ambient(self) -> int:
+    def ambient(self) -> MaybeAwaitableInt:
         """ambient() -> int: %
 
         Measures the ambient light intensity.
@@ -1202,7 +1249,7 @@ def ambient(self) -> int:
             to 100% (bright).
         """
 
-    def reflection(self) -> int:
+    def reflection(self) -> MaybeAwaitableInt:
         """reflection() -> int: %
 
         Measures how much a surface reflects the light emitted by the
@@ -1248,7 +1295,7 @@ class AmbientColorSensor(CommonColorSensor):
     """Like CommonColorSensor, but also detects ambient colors when the sensor
     light is turned off"""
 
-    def color(self, surface: bool = True) -> Optional[Color]:
+    def color(self, surface: bool = True) -> MaybeAwaitableColor:
         """color(surface=True) -> Color
 
         Scans the color of a surface or an external light source.
@@ -1267,7 +1314,7 @@ def color(self, surface: bool = True) -> Optional[Color]:
             Detected color.`
         """
 
-    def hsv(self, surface: bool = True) -> Color:
+    def hsv(self, surface: bool = True) -> MaybeAwaitableColor:
         """hsv(surface=True) -> Color
 
         Scans the color of a surface or an external light source.
@@ -1294,44 +1341,42 @@ class BLE:
     .. versionadded:: 3.3
     """
 
-    def broadcast(self, *args: Union[None, bool, int, float, str, bytes]) -> None:
-        """broadcast(data0, data1, ...)
+    def broadcast(self, data: Union[bool, int, float, str, bytes]) -> None:
+        """broadcast(data)
 
-        Starts broadcasting the given data values.
+        Starts broadcasting the given data on
+        the *broadcast_channel* you selected when initializing the hub.
 
-        Each value can be any of ``int``, ``float``, ``str``, ``bytes``,
-        ``None``, ``True``, or ``False``. The data is broadcasted on the
-        *broadcast_channel* you selected when initializing the hub.
+        Data may be of type ``int``, ``float``, ``str``, ``bytes``,
+        ``True``, or ``False``, or a tuple thereof.
 
-        The total data size is quite limited (26 bytes). ``None``, ``True`` and
+        The total data size is quite limited (26 bytes). ``True`` and
         ``False`` take 1 byte each. ``float`` takes 5 bytes. ``int`` takes 2 to
         5 bytes depending on how big the number is. ``str`` and ``bytes`` take
         the number of bytes in the object plus one extra byte.
 
-        Params:
-            args: Zero or more values to be broadcast.
-
-
+        Args:
+            data: The value or values to be broadcast.
 
         .. versionadded:: 3.3
         """
 
     def observe(
         self, channel: int
-    ) -> Optional[Tuple[Union[None, bool, int, float, str, bytes], ...]]:
-        """observe(channel) -> tuple | None
+    ) -> Optional[Tuple[Union[bool, int, float, str, bytes], ...]]:
+        """observe(channel) -> bool | int | float | str | bytes | tuple | None
 
         Retrieves the last observed data for a given channel.
 
+        Receiving data is more reliable when the hub is not connected
+        to a computer or other devices at the same time.
+
         Args:
             channel (int): The channel to observe (0 to 255).
 
         Returns:
-            A tuple of the received data or ``None`` if no recent data is
-            available.
-
-        .. tip:: Receiving data is more reliable when the hub is not connected
-            to a computer or other devices at the same time.
+            The received data in the same format as it was sent, or ``None``
+            if no recent data is available.
 
         .. versionadded:: 3.3
         """
@@ -1341,8 +1386,8 @@ def signal_strength(self, channel: int) -> int:
 
         Gets the average signal strength in dBm for the given channel.
 
-        This is useful for detecting how near the broadcasting device is. A close
-        device may have a signal strength around -40 dBm while a far away device
+        This indicates how near the broadcasting device is. Nearby devices
+        may have a signal strength around -40 dBm, while far away devices
         might have a signal strength around -70 dBm.
 
         Args:
diff --git a/src/pybricks/iodevices.py b/src/pybricks/iodevices.py
index 3d218398..8d650e56 100644
--- a/src/pybricks/iodevices.py
+++ b/src/pybricks/iodevices.py
@@ -1,13 +1,18 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2020 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors
 
 """Generic input/output devices."""
 
-from typing import Dict, Tuple, Optional, overload
+from __future__ import annotations
+
+from typing import Dict, Tuple, Optional, overload, TYPE_CHECKING
 
 from . import _common
 from .parameters import Port as _Port
 
+if TYPE_CHECKING:
+    from ._common import MaybeAwaitable, MaybeAwaitableTuple
+
 
 class PUPDevice:
     """Powered Up motor or sensor."""
@@ -28,7 +33,7 @@ def info(self) -> Dict[str, str]:
             Dictionary with information, such as the device ``id``.
         """
 
-    def read(self, mode: int) -> Tuple:
+    def read(self, mode: int) -> MaybeAwaitableTuple:
         """read(mode) -> Tuple
 
         Reads values from a given mode.
@@ -40,7 +45,7 @@ def read(self, mode: int) -> Tuple:
             Values read from the sensor.
         """
 
-    def write(self, mode: int, data: Tuple) -> None:
+    def write(self, mode: int, data: Tuple) -> MaybeAwaitable:
         """write(mode, data)
 
         Writes values to the sensor. Only selected sensors and modes support
@@ -62,7 +67,7 @@ def __init__(self, port: _Port):
             port (Port): Port to which the device is connected.
         """
 
-    def read(self, mode: int) -> Tuple:
+    def read(self, mode: int) -> MaybeAwaitableTuple:
         """read(mode) -> Tuple
 
         Reads values from a given mode.
@@ -95,7 +100,7 @@ def __init__(self, port: _Port):
             port (Port): Port to which the device is connected.
         """
 
-    def read(self, mode: str) -> Tuple:
+    def read(self, mode: str) -> MaybeAwaitableTuple:
         """read(mode) -> Tuple
 
         Reads values at a given mode.
@@ -331,3 +336,9 @@ def read(self) -> bytes:
         Returns:
             The raw binary message.
         """
+
+
+# hide from jedi
+if TYPE_CHECKING:
+    del MaybeAwaitable
+    del MaybeAwaitableTuple
diff --git a/src/pybricks/pupdevices.py b/src/pybricks/pupdevices.py
index 86dc7f90..19a464db 100644
--- a/src/pybricks/pupdevices.py
+++ b/src/pybricks/pupdevices.py
@@ -1,16 +1,23 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2022 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors
 
 """LEGO® Powered Up motor, sensors, and lights."""
 
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, Collection, Optional, Union, overload, Tuple
+from typing import TYPE_CHECKING, Collection, Optional, Union, overload
 
 from . import _common
 from .parameters import Button, Color, Direction
 
 if TYPE_CHECKING:
+    from ._common import (
+        MaybeAwaitable,
+        MaybeAwaitableBool,
+        MaybeAwaitableFloat,
+        MaybeAwaitableInt,
+        MaybeAwaitableTuple,
+    )
     from .parameters import Number, Port
 
 
@@ -63,10 +70,12 @@ def __init__(
                 Choose ``False`` to keep the
                 current value, so your program knows where it left off last
                 time.
-            profile (Number, deg): Precision profile. A lower value
-                means more precise movement; a larger value means
-                smoother movement. If no value is given, a suitable profile for
-                this motor type will be selected automatically.
+            profile (Number, deg): Precision profile. This is the approximate
+                position tolerance in degrees that is acceptable in your
+                application. A lower value gives more precise but more erratic
+                movement; a higher value gives less precise but smoother
+                movement. If no value is given, a suitable profile for this
+                motor type will be selected automatically (about 11 degrees).
         """
 
     def reset_angle(self, angle: Optional[Number] = None) -> None:
@@ -144,7 +153,7 @@ def __init__(self, port: Port):
             port (Port): Port to which the sensor is connected.
         """
 
-    def tilt(self) -> Tuple[int, int]:
+    def tilt(self) -> MaybeAwaitableTuple[int, int]:
         """tilt() -> Tuple[int, int]: deg
 
         Measures the tilt relative to the horizontal plane.
@@ -157,7 +166,7 @@ def tilt(self) -> Tuple[int, int]:
 class ColorDistanceSensor(_common.CommonColorSensor):
     """LEGO® Powered Up Color and Distance Sensor."""
 
-    light = _common.ColorLight()
+    light = _common.ExternalColorLight()
 
     # HACK: jedi can't find inherited __init__ so docs have to be duplicated
     def __init__(self, port: Port):
@@ -167,7 +176,7 @@ def __init__(self, port: Port):
             port (Port): Port to which the sensor is connected.
         """
 
-    def distance(self) -> int:
+    def distance(self) -> MaybeAwaitableInt:
         """distance() -> int: %
 
         Measures the relative distance between the sensor and an object
@@ -178,7 +187,7 @@ def distance(self) -> int:
         """
 
 
-class PFMotor(DCMotor):
+class PFMotor:
     """Control Power Functions motors with the infrared functionality of the
     :class:`ColorDistanceSensor <pybricks.pupdevices.ColorDistanceSensor>`."""
 
@@ -204,6 +213,32 @@ def __init__(
                 turn when you give a positive duty cycle value.
         """
 
+    def dc(self, duty: Number) -> MaybeAwaitable:
+        """dc(duty)
+
+        Rotates the motor at a given duty cycle (also known as "power").
+
+        Arguments:
+            duty (Number, %): The duty cycle (-100.0 to 100).
+        """
+
+    def stop(self) -> MaybeAwaitable:
+        """stop()
+
+        Stops the motor and lets it spin freely.
+
+        The motor gradually stops due to friction.
+        """
+
+    def brake(self) -> MaybeAwaitable:
+        """brake()
+
+        Passively brakes the motor.
+
+        The motor stops due to friction, plus the voltage that
+        is generated while the motor is still moving.
+        """
+
 
 class ColorSensor(_common.AmbientColorSensor):
     """LEGO® SPIKE Color Sensor."""
@@ -232,7 +267,7 @@ def __init__(self, port: Port):
 
         """
 
-    def distance(self) -> int:
+    def distance(self) -> MaybeAwaitableInt:
         """distance() -> int: mm
 
         Measures the distance between the sensor and an object using
@@ -244,7 +279,7 @@ def distance(self) -> int:
 
         """
 
-    def presence(self) -> bool:
+    def presence(self) -> MaybeAwaitableBool:
         """presence() -> bool
 
         Checks for the presence of other ultrasonic sensors by detecting
@@ -265,7 +300,7 @@ def __init__(self, port: Port):
             port (Port): Port to which the sensor is connected.
         """
 
-    def force(self) -> float:
+    def force(self) -> MaybeAwaitableFloat:
         """force() -> float: N
 
         Measures the force exerted on the sensor.
@@ -274,7 +309,7 @@ def force(self) -> float:
             Measured force (up to approximately 10.00 N).
         """
 
-    def distance(self) -> float:
+    def distance(self) -> MaybeAwaitableFloat:
         """distance() -> float: mm
 
         Measures by how much the sensor button has moved.
@@ -283,7 +318,7 @@ def distance(self) -> float:
             Movement up to approximately 8.00 mm.
         """
 
-    def pressed(self, force: Number = 3) -> bool:
+    def pressed(self, force: Number = 3) -> MaybeAwaitableBool:
         """pressed(force=3) -> bool
 
         Checks if the sensor button is pressed.
@@ -295,7 +330,7 @@ def pressed(self, force: Number = 3) -> bool:
             ``True`` if the sensor is pressed, ``False`` if it is not.
         """
 
-    def touched(self) -> bool:
+    def touched(self) -> MaybeAwaitableBool:
         """touched() -> bool
 
         Checks if the sensor is touched.
@@ -323,7 +358,7 @@ def __init__(self, port: Port):
         """
         ...
 
-    def on(self, color: Union[Color, Collection[Color]]) -> None:
+    def on(self, color: Union[Color, Collection[Color]]) -> MaybeAwaitable:
         """on(colors)
 
         Turns the lights on.
@@ -336,7 +371,7 @@ def on(self, color: Union[Color, Collection[Color]]) -> None:
         """
         ...
 
-    def off(self) -> None:
+    def off(self) -> MaybeAwaitable:
         """off()
 
         Turns all lights off.
@@ -354,7 +389,7 @@ def __init__(self, port: Port):
             port (Port): Port to which the sensor is connected.
         """
 
-    def reflection(self) -> int:
+    def reflection(self) -> MaybeAwaitableInt:
         """reflection() -> int: %
 
         Measures the reflection of a surface using an infrared light.
@@ -364,7 +399,7 @@ def reflection(self) -> int:
             100% (high reflection).
         """
 
-    def distance(self) -> int:
+    def distance(self) -> MaybeAwaitableInt:
         """distance() -> int: %
 
         Measures the relative distance between the sensor and an object
@@ -374,7 +409,7 @@ def distance(self) -> int:
             Distance ranging from 0% (closest) to 100% (farthest).
         """
 
-    def count(self) -> int:
+    def count(self) -> MaybeAwaitableInt:
         """count() -> int
 
         Counts the number of objects that have passed by the sensor.
@@ -415,5 +450,10 @@ def off(self) -> None:
     del Button
     del Color
     del Direction
+    del MaybeAwaitable
+    del MaybeAwaitableBool
+    del MaybeAwaitableFloat
+    del MaybeAwaitableInt
+    del MaybeAwaitableTuple
     del Number
     del Port
diff --git a/src/pybricks/robotics.py b/src/pybricks/robotics.py
index 65ef209a..e2f7fc6d 100644
--- a/src/pybricks/robotics.py
+++ b/src/pybricks/robotics.py
@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2018-2022 The Pybricks Authors
+# Copyright (c) 2018-2023 The Pybricks Authors
 
 """Robotics module for the Pybricks API."""
 
@@ -11,7 +11,7 @@
 from .parameters import Stop
 
 if TYPE_CHECKING:
-    from ._common import Motor
+    from ._common import Motor, MaybeAwaitable
     from .parameters import Number
 
 
@@ -86,6 +86,12 @@ def stop(self) -> None:
 
         Stops the robot by letting the motors spin freely."""
 
+    def brake(self) -> None:
+        """brake()
+
+        Stops the robot by passively braking the motors.
+        """
+
     def distance(self) -> int:
         """distance() -> int: mm
 
@@ -161,7 +167,7 @@ def settings(self, *args):
 
     def straight(
         self, distance: Number, then: Stop = Stop.HOLD, wait: bool = True
-    ) -> None:
+    ) -> MaybeAwaitable:
         """straight(distance, then=Stop.HOLD, wait=True)
 
         Drives straight for a given distance and then stops.
@@ -173,7 +179,9 @@ def straight(
                          with the rest of the program.
         """
 
-    def turn(self, angle: Number, then: Stop = Stop.HOLD, wait: bool = True) -> None:
+    def turn(
+        self, angle: Number, then: Stop = Stop.HOLD, wait: bool = True
+    ) -> MaybeAwaitable:
         """turn(angle, then=Stop.HOLD, wait=True)
 
         Turns in place by a given angle and then stops.
@@ -187,7 +195,7 @@ def turn(self, angle: Number, then: Stop = Stop.HOLD, wait: bool = True) -> None
 
     def curve(
         self, radius: Number, angle: Number, then: Stop = Stop.HOLD, wait: bool = True
-    ) -> None:
+    ) -> MaybeAwaitable:
         """curve(radius, angle, then=Stop.HOLD, wait=True)
 
         Drives an arc along a circle of a given radius, by a given angle.
@@ -221,15 +229,21 @@ def stalled(self) -> bool:
             ``True`` if the drivebase is stalled, ``False`` if not.
         """
 
+    def use_gyro(self, use_gyro: bool) -> None:
+        """use_gyro(use_gyro)
 
-class GyroDriveBase(DriveBase):
-    """A robotic vehicle with two powered wheels and an optional support
-    wheel or caster. It measures the heading using the hub's built-in gyroscope,
-    which can make turning and driving straight more accurate."""
+        Choose ``True`` to use the gyro sensor for turning and driving
+        straight. Choose ``False`` to rely only on the motor's built-in
+        rotation sensors.
+
+        Arguments:
+            use_gyro (bool): ``True`` to enable, ``False`` to disable.
+        """
 
 
 # HACK: hide from jedi
 if TYPE_CHECKING:
     del Motor
     del Number
+    del MaybeAwaitable
     del Stop
diff --git a/src/pybricks/tools.py b/src/pybricks/tools.py
index 64f8bc7e..2abfdd6a 100644
--- a/src/pybricks/tools.py
+++ b/src/pybricks/tools.py
@@ -5,13 +5,14 @@
 
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, Any, Sequence, Tuple, overload
+from typing import TYPE_CHECKING, Any, Optional, Sequence, Tuple, overload, Coroutine
 
 if TYPE_CHECKING:
+    from ._common import MaybeAwaitable, MaybeAwaitableTuple
     from .parameters import Number
 
 
-def wait(time: Number) -> None:
+def wait(time: Number) -> MaybeAwaitable:
     """wait(time)
 
     Pauses the user program for a specified amount of time.
@@ -222,6 +223,72 @@ def cross(a: Matrix, b: Matrix) -> Matrix:
     """
 
 
+def read_input_byte() -> Optional[int]:
+    """
+    read_input_byte() -> int | None
+
+    Reads one byte from standard input without blocking.
+
+    Returns:
+        The numeric value of the byte read or ``None`` if no data is available.
+    """
+
+
+def hub_menu(*symbols: int | str) -> int | str:
+    """
+    hub_menu(symbol1, symbol2, ...) -> int | str
+
+    Shows a menu on the hub display and waits for the user to select an item
+    using the buttons. Can be used in your own menu-program that lets you
+    choose which of your other programs to run.
+
+    Note that this is just a convenience function that combines the display,
+    buttons, and waits to make a simple menu. This means that it can be used
+    anywhere in a program, not just at the start.
+
+    Arguments:
+        symbol1 (int or str): The first symbol to show in the menu.
+        symbol2 (int or str): The second symbol, and so on...
+
+    Returns:
+        The selected symbol.
+    """
+
+
+def multitask(*coroutines: Coroutine, race=False) -> MaybeAwaitableTuple:
+    """
+    multitask(coroutine1, coroutine2, ...) -> Tuple
+
+    Runs multiple coroutines concurrently. This creates a new coroutine that
+    can be used like any other, including in another ``multitask`` statement.
+
+    Arguments:
+        coroutines (coroutine, coroutine, ...): One or more coroutines to run
+            in parallel.
+        race (bool): Choose ``False`` to wait for all coroutines to finish.
+            Choose ``True`` to wait for one coroutine to finish and then
+            cancel the others, as if it's a "race".
+
+    Returns:
+        Tuple of the return values of each coroutine. Unfinished coroutines
+        will have ``None`` as their return value.
+    """
+
+
+def run_task(coroutine: Coroutine):
+    """
+    run_task(coroutine)
+
+    Runs a coroutine from start to finish while blocking the rest of the
+    program. This is used primarily to run the main coroutine of a program.
+
+    Arguments:
+        coroutine (coroutine): The main coroutine to run.
+    """
+
+
 # HACK: hide from jedi
 if TYPE_CHECKING:
     del Number
+    del MaybeAwaitable
+    del MaybeAwaitableTuple
diff --git a/src/ubuiltins/__init__.py b/src/ubuiltins/__init__.py
index f88c89ed..d2cd104d 100644
--- a/src/ubuiltins/__init__.py
+++ b/src/ubuiltins/__init__.py
@@ -23,6 +23,7 @@
     Any,
     Callable,
     Dict,
+    Hashable,
     Iterable,
     Iterator,
     List,
@@ -33,6 +34,7 @@
     SupportsFloat,
     SupportsInt,
     Tuple,
+    TypeVar,
     Union,
     overload,
 )
@@ -55,6 +57,8 @@
 _str = str
 _type = type
 
+_Self = TypeVar("_Self")
+
 # Functions and types
 
 
@@ -1084,6 +1088,207 @@ def round(*args):
     """
 
 
+class set:
+    @overload
+    def __init__(self) -> None:
+        ...
+
+    @overload
+    def __init__(self, iterable: Iterable[Hashable]) -> None:
+        ...
+
+    def __init__(self, *args) -> None:
+        """
+        set()
+        set(iterable)
+
+        Creates a new set.
+
+        With no arguments, creates a new empty set, otherwise creates a set
+        containing unique items of *iterable*.
+
+        Sets can also be created using a set literal::
+
+            my_set = {1, 2, 3}
+
+        Elements of a set must be hashable. There are only a few types, like
+        :class:`list` that aren't hashable.
+
+        Args:
+            iterable: An iterable of hashable objects.
+        """
+
+    def copy(self: _Self) -> _Self:
+        """
+        copy() -> set
+
+        Returns a shallow copy of the set.
+
+        Returns:
+            A new set.
+        """
+
+    def difference(self: _Self, *others: set) -> _Self:
+        """
+        difference(other1, other2, ...) -> set
+
+        Returns a new set with elements that are not in any of the other sets.
+
+        The difference can also be computed using the ``-`` operator::
+
+            diff = s - other
+
+        Args:
+            others: 1 or more other sets.
+
+        Returns:
+            A new set.
+        """
+
+    def intersection(self: _Self, *others: set) -> _Self:
+        """
+        intersection(other1, other2, ...) -> set
+
+        Returns a new set with elements that are common between this set and
+        all other sets.
+
+        The intersection can also be computed using the ``&`` operator::
+
+            intersect = s & other
+
+        Args:
+            others: 1 or more other sets.
+
+        Returns:
+            A new set.
+        """
+
+    def isdisjoint(self, other: set) -> bool:
+        """
+        isdisjoint(other) -> bool
+
+        Tests if a set and *other* have no elements in common.
+
+        Args:
+            other: Another set.
+
+        Returns:
+            ``True`` if this set has no elements in common with *other*,
+            otherwise ``False``.
+        """
+
+    def issubset(self, other: set) -> bool:
+        """
+        issubset(other) -> bool
+
+        Tests if a set is a subset of *other*.
+
+        The test can also be performed using using the ``<=`` operator::
+
+            if s <= other:
+                # s is subset of other
+                ...
+
+        Args:
+            other: Another set.
+
+        Returns:
+            ``True`` if this set is a subset of *other*, otherwise ``False``.
+        """
+
+    def issuperset(self, other: set) -> bool:
+        """
+        issuperset(other) -> bool
+
+        Tests if a set is a superset of *other*.
+
+        The test can also be performed using using the ``>=`` operator::
+
+            if s >= other:
+                # s is superset of other
+                ...
+
+        Args:
+            other: Another set.
+
+        Returns:
+            ``True`` if this set is a superset of *other*, otherwise ``False``.
+        """
+
+    def symmetric_difference(self: _Self, other: set) -> _Self:
+        """
+        symmetric_difference(other) -> bool
+
+        Returns a new set with elements in one set or the other but not in both.
+
+        The symmetric difference can also be computed using the ``^`` operator::
+
+            diff = s ^ other
+
+        Args:
+            other: Another set.
+
+        Returns:
+            A new set.
+        """
+
+    def union(self: _Self, *others: set) -> _Self:
+        """
+        union(other1, other2, ...) -> set
+
+        Returns a new set with elements from this set and all other sets.
+
+        The union can also be computed using the ``|`` operator::
+
+            u = s | other
+
+        Args:
+            others: 1 or more other sets.
+
+        Returns:
+            A new set.
+        """
+
+    def __contains__(self, item: Hashable) -> bool:
+        ...
+
+    def __len__(self) -> int:
+        ...
+
+    def __bool__(self) -> bool:
+        ...
+
+    def __gt__(self, other: set) -> bool:
+        ...
+
+    def __lt__(self, other: set) -> bool:
+        ...
+
+    def __ge__(self, other: set) -> bool:
+        ...
+
+    def __le__(self, other: set) -> bool:
+        ...
+
+    def __eq__(self, other: set) -> bool:
+        ...
+
+    def __ne__(self, other: set) -> bool:
+        ...
+
+    def __sub__(self: _Self, other: set) -> _Self:
+        ...
+
+    def __and__(self: _Self, other: set) -> _Self:
+        ...
+
+    def __or__(self: _Self, other: set) -> _Self:
+        ...
+
+    def __xor__(self: _Self, other: set) -> _Self:
+        ...
+
+
 def setattr(object: Any, name: _str, value: Any) -> None:
     """
     setattr(object, name, value)