Import sbot's docs for power and motor API

Author: RealOrangeOne

docs/api/power-board.md

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+# Power Board API
+
+The power board can be accessed using the `power_board` property of
+the `Robot` object.
+
+```python
+my_power_board = r.power_board
+```
+
+## Power outputs
+
+The six outputs of the power board are grouped together as `power_board.outputs`.
+
+The power board's six outputs can be turned on and off using the
+`power_on` and `power_off` functions of the group respectively.
+
+!!! tip
+    `power_on` is called when you set up your robot, so
+    this doesn't need to be called manually. The ports will come on
+    automatically as soon as your robot is ready, before the start button is
+    pressed.
+
+```python
+r.power_board.outputs.power_off()
+r.power_board.outputs.power_on()
+```
+
+You can also get information about and control each output in the group.
+An output is indexed using the appropriate `PowerOutputPosition`.
+
+```python
+from sbot import PowerOutputPosition
+
+r.power_board.outputs[PowerOutputPosition.H0].is_enabled = True
+r.power_board.outputs[PowerOutputPosition.L3].is_enabled = False
+
+boolean_value = r.power_board.outputs[PowerOutputPosition.L2].is_enabled
+
+current_amps = r.power_board.outputs[PowerOutputPosition.H1].current
+```
+
+!!! warning
+    The motor and servo boards are powered through these
+    power outputs, whilst the power is off, you won't be able to control
+    your motors or servos. They will register as a missing board and your code will
+    break if you try and control them.
+
+## Battery Sensor
+
+The power board has some sensors that can monitor the status of your battery.
+This can be useful for checking the charge status of your battery.
+
+```python
+battery_voltage = r.power_board.battery_sensor.voltage
+battery_current_amps = r.power_board.battery_sensor.current
+```
+
+## Buzzing 🐝
+
+The power board has a piezo sounder which can buzz.
+
+The `buzz` function accepts two parameters. The first argument is the duration of the beep, in seconds.
+The second argument is either the note you want to play, or the frequency of the buzzer (in Hertz).
+
+Theoretically, the piezo buzzer will buzz at any provided frequency,
+however humans can only hear between [20Hz and
+20000Hz](https://en.wikipedia.org/wiki/Hearing_range#Humans).
+
+The `Note` enum provides notes in [scientific pitch notation](https://en.wikipedia.org/wiki/Scientific_pitch_notation) between
+`C6` and `C8`. You can play other tones by providing a frequency.
+
+!!! tip
+    Calling `buzz` is non-blocking, which means it doesn't
+    actually wait for the piezo to stop buzzing before continuing with your
+    code. If you want to wait for the buzzing to stop, add a
+    `sleep` afterwards! If you send more than 32 beeps to the robot too
+    quickly, your power board will crash!
+
+```python
+from sbot import Note
+
+# Buzz for half a second in D6.
+r.power_board.piezo.buzz(0.5, Note.D6)
+
+# Buzz for 2 seconds at 400Hz
+r.power_board.piezo.buzz(2, 400)
+```
+
+## Start Button
+
+You can manually wait for the start button to be pressed, not only at
+the start.
+
+```python
+r.wait_start()
+```
+
+This may be useful for debugging, but be sure to remove it in the
+competition, as you won't be allowed to touch the start button after a match has begun!

docs/api/servo-board.md

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+# Servo Board API
+
+The kit can control multiple servos simultaneously. One Servo Board can
+control up to twelve servos.
+
+## Accessing the Servo Board
+
+The servo board can be accessed using the `servo_board` property of
+the `Robot` object.
+
+```python
+my_servo_board = r.servo_board
+```
+
+This board object has an array containing the servos connected to it,
+which can be accessed as `servos[0]`, `servos[1]`, `servos[2]`, etc.
+The servo board is labelled so you know which servo is which.
+
+!!! tip
+    Remember that lists start counting at 0.
+
+## Setting servo positions
+
+The position of servos can range from `-1` to `1` inclusive:
+
+```python
+# set servo 1's position to 0.2
+r.servo_board.servos[1].position = 0.2
+
+# Set servo 2's position to -0.55
+r.servo_board.servos[2].position = -0.55
+```
+
+You can read the last value a servo was set to using similar code:
+
+```python
+last_position = r.servo_board.servos[11].position
+```
+
+!!! warning
+    While it is possible to retrieve the last position a servo was set to, this does not guarantee that the servo is currently in that position.
+
+## How the set position relates to the servo angle
+
+!!! danger
+    You should be careful about forcing a servo to drive past its end stops. Some servos are very strong and it could damage the internal gears.
+
+The angle of an RC servo is controlled by the width of a pulse supplied
+to it periodically. There is no standard for the width of this pulse and
+there are differences between manufacturers as to what angle the servo
+will turn to for a given pulse width. To be able to handle the widest
+range of all servos our hardware outputs a very wide range of pulse
+widths which in some cases will force the servo to try and turn past its
+internal end-stops. You should experiment and find what the actual limit
+of your servos are (it almost certainly won't be -1 and 1) and not
+drive them past that.