Release v3.2.1

Fixed

• Fixed imu.angular_velocity returning the values of imu.acceleration.

Release v3.2.0

Changed

• Buffered stdout is flushed before ending user program.

Fixed

• Fixed SPIKE/MINDSTORMS hubs advertising after disconnect while user program
  is still running (support#849).
• Fixed Essential hub hanging on boot when bootloader entered but USB cable
  not connected (support#821).
• Fixed button needs debouncing on City/Technic/Essential hubs (support#716).
• Fixed motor hold drifting away under external input movement (support#863).

Release v3.2.0c1

Fixed

• Fixed motor.control.limits() not working if acceleration was None.
• Fixed crash on calling methods on uninitialized objects (support#805).
• Fixed crash on calling methods in __init__(self, ...) before
  calling super().__init(...) on uninitialized objects (support#777).
• Reverted Pybricks Code stop button raises SystemAbort instead of
  SystemExit (support#834).
• Improved stop message raised on SystemExit and SystemAbort (support#836).
• Fixed Technic Hub and City Hub sometimes not shutting down when a Bluetooth
  operation is busy (support#814).
• Fixed hub.system methods not working (support#837).

Changed

• Changed default XYZ orientation of the Technic Hub and the Essential Hub to
  match the SPIKE Prime Hub and Move Hub (support#848).

Release v3.2.0b6

Added

• Added support for PBIO_PYBRICKS_COMMAND_REBOOT_TO_UPDATE_MODE Pybricks
  Profile BLE command.
• Implemented Motor.load() which now measures load both during active
  conditions (run) and passive conditions (dc).

Changed

• The Pybricks Code stop button will force the program to exit even if the user
  catches the SystemExit exception (pybricks-micropython#117).
• Changed PrimeHub.display.image() to PrimeHub.display.icon() and renamed
  its kwarg from image to icon (support#409).
• Deprecated Control.load(), Control.stalled(), and Control.done()
  methods, but they will continue to exist in the firmware until further
  notice ([support#822]). New scripts are encouraged to use the (improved)
  variants available directly on Motor objects.

Fixed

• Fixed connecting Remote on BOOST move hub (support#793).

Removed

• Removed hub.system.reset() method.
• Disabled micropython module on Move Hub.

Release v3.2.0b5

Added

• Added DriveBase.stalled() for convenient stall detection.
• Added DriveBase.done() for convenient completion detection, which is
  practical when combined with wait=False.
• Added Motor.done() for convenient completion detection, which is
  practical when combined with wait=False. Especially on Move Hub, which
  does not have the control attribute enabled.

Fixed

• Fixed brief hub freeze on pybricks.common.Logger.save() when not connected
  to the computer (support#738).
• Fixed drive base stall flags being set while not stalled (support#767).
• Fixed Motor.run_target raising exception for short moves (support#786).

Release v3.2.0b4

Added

• Indicate that the hub is shutting down by quickly flashing the hub light for
  half a second. This makes it easier to see when you can stop pressing the
  button.
• Indicate that the SPIKE Prime hub is booting and shutting down by fading
  the stop sign in and out.
• Implemented iterator protocol on geometry.Matrix class.
• Added support for multi-file projects (pybricks-micropython#115).
• Added new System.storage() API (support#85).

Changed

• Battery full indication (green light) comes on earlier (support#647).
• New indication for over-charging battery (blinking green light).
• On Move Hub, City Hub, and Technic Hub, programs can now be restarted with
  the button after downloading them. They are saved on shutdown.
• Improved program download process. Reduces the likelihood of getting errors
  about incompatible .mpy files when accidentally entering characters in the
  terminal window when no program is active.
• On Prime Hub and Essential Hub, there is no longer a wait time after boot
  before you can start programs.
• On Prime Hub and Essential Hub, the user program is now stored in a section
  of the external flash that is not used by any file system of other known
  firmwares, in order to avoid compatibility issues when changing firmware.
• Restored the Motor.speed() method and DriveBase equivalent to provide
  speed as a numerical derivative of the motor position, instead of a
  model-based estimate. For most use cases, this is a more intuitive result
  because this speed value is not affected by mechanical load.
• When using the REPL, everything from all Pybricks modules was automatically
  imported for convenience. Now, MicroPython modules are also automatically
  imported (support#741).
• Updated Bluetooth to Pybricks Profile v1.2.0.
• Bluetooth now uses random private address instead of static public address
  (support#600).

Fixed

• Fixed motors going out of sync when starting program (support#679).
• Fixed motor torque signal overflowing under load (support#729).
• Fixed city hub turning back on after shutdown (support#692).
• Fixed IMU I2C bus lockup on SPIKE hubs (support#232).
• Fixed REPL history corrupt after soft reset (support#699).
• Fixed "ValueError: incompatible .mpy file" when pressing the button when
  there is no program yet (support#599).

Release v3.2.0b3

Fixed

• Fix integral control not working properly due to mistakes introduced while converting the controllers to use millidegrees.

Changed

• Motor.run_time no longer raises an exception for negative time values. Negative times are now treated as zero, thus producing a stationary
  trajectory.

Release v3.2.0b2

Added

• Added Motor.stalled(). It can detect stall during speed and position
  control (run, run_angle, ...) just like Motor.control.stalled(), but
  it also detects stall for dc() command when the user controls the voltage
  directly.

Fixed

• Fixed motor not stopping at the end of run_until_stalled (support#662).
• Fixed incorrect battery current reading on Technic hub (support#665).
• When the motor was pushed backwards while stalled, the control.stalled()
  was inadvertently cleared because a nonzero speed was detected. This is fixed
  by checking the intended direction as well.
• Fixed I/O devices not syncing at high baud rate.
• Fixed ENODEV error while device connection manager is busy (support#674).

Changed

• Reworked internal motor model that is used to estimate speed. This results
  in better speed estimation at low speeds, which makes PID control smoother.
• The Motor.speed() method and DriveBase equivalents now provide the
  estimated speed instead of the value reported by the motor. This is generally
  more responsive.
• Overhauled the control code to make it smaller and more numerically robust
  while using higher position resolution where it is available.
• Changed drive base default speed to go a little slower.
• Updated MicroPython to v1.19.

Release v3.2.0b1

Added

• Added Stop.NONE as then option for motors. This allows subsequent
  motor and drive base commands to transition without stopping.
• Added Stop.COAST_SMART as then option for motors. This still coasts the
  motor, but it keeps track of the previously used position target. When a new
  relative angle command is given (e.g. rotate 90 degrees), it uses that
  position as the starting point. This avoids accumulation of errors when using
  relative angles in succession.
• Made motor deceleration configurable separately from acceleration.
• Enabled ujson module.
• Added ability to use more than one DriveBase in the same script.
• Added support for battery charging on Prime and essential hubs.

Changed

• Changed how DriveBases and Motor classes can be used together.
  Previously, an individual motor could not be used when a drive base used it.
  From now on, devices can always be used. If they were already in use by
  something else, that other class will just be stopped (coast).
• Changed how unexpected motor problems are handled, such as a cable being
  unplugged while it was running. Previously, this raised a SystemExit no
  matter which motor was unplugged. Now it will return an OSError with
  ENODEV, which is consistent with trying to initialize a motor that isn't
  there. The Motor class must be initialized again to use the motor again.
• Changing settings while a motor is moving no longer raises an exception. Some
  settings will not take effect until a new motor command is given.
• Disabled Motor.control and Motor.log on Move Hub to save space.
• Changed LED color calibration on Prime hub to make yellow less green.
• Updated to upstream MicroPython v1.18.
• Changed imu.acceleration() units to mm/s/s (pybricks-micropython#88) for
  Move Hub, Technic Hub, and Prime Hub.

Fixed

• Fixed color calibration on Powered Up remote control (support#424).
• Fixed 3x3 Light Matrix colors with hue > 255 not working correctly (support#619).

Release v3.1.0

v3.1.0