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.. pybricks-requirements::

:mod:`tools <pybricks.tools>` -- General purpose tools

.. automodule:: pybricks.tools
    :no-members:

Timing tools

.. blockimg:: pybricks_blockWaitTime


.. autofunction:: wait


.. blockimg:: pybricks_variables_set_stopwatch


.. autoclass:: pybricks.tools.StopWatch
    :no-members:

    .. blockimg:: pybricks_blockStopWatchTime

    .. automethod:: pybricks.tools.StopWatch.time

    .. blockimg:: pybricks_blockStopWatchDo_StopWatch_pause

    .. automethod:: pybricks.tools.StopWatch.pause

    .. blockimg:: pybricks_blockStopWatchDo_StopWatch_resume

    .. automethod:: pybricks.tools.StopWatch.resume

    .. blockimg:: pybricks_blockStopWatchDo_StopWatch_reset

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

Input tools

.. blockimg:: pybricks_blockReadInput_read_input_first_byte


.. blockimg:: pybricks_blockReadInput_read_input_first_char
    :stack:


.. blockimg:: pybricks_blockReadInput_read_input_last_byte
    :stack:


.. blockimg:: pybricks_blockReadInput_read_input_last_char
    :stack:


.. autofunction:: pybricks.tools.read_input_byte


.. versionchanged:: 3.3

    Added ``last`` and ``chr`` options.



.. pybricks-requirements:: light-matrix


.. autofunction:: pybricks.tools.hub_menu


.. literalinclude::
    ../../../examples/pup/tools/hub_menu.py

Linear algebra tools

.. versionchanged:: 3.3

    These tools were previously located in the ``pybricks.geometry`` module.


.. pybricks-requirements:: stm32-float


.. autoclass:: pybricks.tools.Matrix
    :no-members:

    .. autoattribute:: pybricks.tools::Matrix.T

    .. autoattribute:: pybricks.tools::Matrix.shape


.. pybricks-requirements:: stm32-float


.. blockimg:: pybricks_blockVector


.. 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.

.. blockimg:: pybricks_blockMultiTask


.. 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

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.