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Changelog

Unreleased

Added

  • Added pybricks.pupdevices.MarioHub to control it as a peripheral. It cannot be used as a standalone device since it cannot ne updated.
  • Added DriveBase.hold() method (support#2621).

Changed

  • The EV3 Color Sensor now returns Color.NONE instead of None when no color is detected, for consistency with other Color Sensors (support#2603).

Fixed

  • Fixed EV3 light animation stopping when screen is used (support#2599).
  • Fixed Powered Up motors not resetting to the absolute value (support#2620).
  • Fixed segfault when user or block code generator forgets await in one or more tasks that use the same resource (like a DriveBase) along with race=True (support#2621).

4.0.0b7 - 2026-02-19

Added

  • Added supporters to EV3 closing credits.

Fixed

  • Fixed EV3 screen animation not closing on user display actions (support#2585).
  • Fixed EV3 Touch Sensor not detected it is pressed while plugged in (support#2589).
  • Fixed EV3 Large and Medium Motors sometimes not detected (support#2536).
  • Fixed EV3 left up button not detected (support#2592).

4.0.0b6 - 2026-02-19

Added

  • Added connect=True parameter to the Remote, LWP3Device and XboxController classes, along with a connect() method to optionally connect later (support#1800).
  • Added timeout and name parameters to the XboxController.
  • Added support for Powered Up touch sensors that are supported according to the specification, but were never released. Users can make their own switch inputs (pybricks-micropython#454).
  • Added pybricks.pupdevices.TechnicMoveHub to control it as a peripheral. It cannot be used as a standalone device since it cannot run third-party firmware.
  • Added pybricks.pupdevices.DuploTrain to control it as a peripheral. It cannot be used as a standalone device since it cannot ne updated.
  • Added basic user interface for EV3 brick.

Changed

  • Changed the default XboxController connection timeout from indefinite to 10 seconds, consistent with the Remote.
  • Devices like the Remote, LWP3Device, and the XboxController now stay connected when the program ends (support#1382).

Fixed

  • Fixed EV3 motor detection not working correctly while moving (support#2536).

4.0.0b5 - 2026-01-30

Added

  • Added support for absolute turns with and without the gyro with drive_base.turn(angle, absolute=True) (pybricks-micropython#458).
  • Added support for coordinate traversals with drive_base.move_by(dx, dy) for practical navigation (pybricks-micropython#458).

Changed

  • Reset IMU heading to 0.0 at the start of a user program for consistent drivebase behavior.

Fixed

4.0.0b4 - 2026-01-22

Added

  • Enabled NXT Light Sensor, NXT Touch Sensor, NXT Sound Sensor on NXT.
  • Added host_connected_usb to hub.system.info() dictionary.
  • Added program_id to hub.system.info() dictionary (support#2538).

Changed

  • Reduced user stack size to 12 KB on SPIKE Prime Hub to make it the same as SPIKE Essential Hub. This frees up some RAM for system resources, and we never use this much in practice.
  • Allow simultaneous USB and up to two Bluetooth connections to SPIKE Prime. Press the Bluetooth button to allow a connection when already connected.

Fixed

  • Fixed internal rounding error that could could cause a Drive Base to be 1 mm off after driving 3 meters, depending on configuration parameters (support#2500).
  • Fixed Powered Up remote light getting the wrong color (support#2497).
  • Fix shutdown animation not visible when shutting down due to Bluetooth glitches (support#2521).
  • Fixed Powered Up remote raising the wrong exception on timeout (support#2521).
  • Fixed Xbox Controller connection waiting indefinitely if it isn't in pairing mode (support#2521).
  • Fixed Xbox Controller attempting to pair with host (support#2522).
  • Fixed Powered Up remote and Xbox Controller working only after the first connection. All of the above Remote and Xbox Controller were introduced in the previous beta release, so did not affect any stable release (support#2521).
  • Fixed Xbox Controller sometimes not working the first time (support#1509).
  • Fixed motors sometimes not working after boot (support#2550).

4.0.0b3 - 2025-12-05

Added

Changed

  • Make 3D orientation default for heading and drivebase heading control (support#1962).
  • Improved color detection when using default colors. Also changed the HSV calculation for the SPIKE Color Sensor and Boost Color and Distance Sensor to make them more similar. User code should measure HSV values again in old code (pybricks-micropython#421).

Fixed

  • Fixed race=False ignored in pybricks.tools.multitask(). (support#2468)
  • Fixed Essential Hub button being disabled after power off so it could not be switched on again.
  • Fixed TechnicHub class being unavailable on Technic Hub in a recent pre-release (pybricks-micropython#425).

4.0.0b2 - 2025-11-25

Fixed

  • Enable CI releases for v4.x.

4.0.0b1 - 2025-11-25

Added

  • Experimental support for USB connectivity on SPIKE Prime (pybricks-micropython#208). Currently disabled by default.
  • Initial support for pybricks.iodevices.UARTDevice (support#220).
  • Enabled previously hidden support for multiple code slots (pybricks-micropython#264, pybricks-micropython#312).
  • Added the following status flags to the Pybricks protocol:
    • PBIO_PYBRICKS_STATUS_BATTERY_HIGH_TEMP_SHUTDOWN = 10
    • PBIO_PYBRICKS_STATUS_BATTERY_HIGH_TEMP_WARNING = 11
    • PBIO_PYBRICKS_STATUS_USB_HOST_CONNECTED = 12
  • New embedded firmware for LEGO MINDSTORMS EV3:
    • Fast boot on TI AM1808.
    • New clock driver.
    • New display driver.
    • New SPI storage driver.
    • New USB controller.
    • New motor driver.
    • New UART driver with hardware and PRU support.
    • New PRU firmware for LED PWM control.
    • New GPIO driver.
    • New ADC driver.
    • New DCM driver for EV3 auto-detection.
  • Enabled the original pybricks.ev3devices to run on the new embedded EV3 port:
    • Color Sensor.
    • Touch Sensor.
    • Infrared Sensor and Beacon.
    • Gyro Sensor in angle + rate mode, with calibration option.
    • Ultrasonic Sensor.
    • Large and Medium Motor.
  • Enabled the original pybricks.nxtdevices to run on the new embedded EV3 port:
    • Touch Sensor, including 1.0 version without auto-detection.
    • Color Sensor, with background process for background light cancellation.
    • Light Sensor, with background process for background light cancellation.
    • Ultrasonic Sensor, including I2C quirks for LEGO Devices.
    • Sound Sensor.
    • Temperature Sensor in I2C mode.
    • Energy Meter.
    • vernier Adapter.
  • Enabled all original pybricks.iodevices, all async-compatible:
    • PUPDevice / LUMPDevice on Powered Up and EV3.
    • AnalogSensor on EV3.
    • I2CDevice on EV3.
    • UARTDevice on EV3 and Powered Up. Added ability to reset protocol.
    • DCMotor on EV3
  • Added new pbio/image module for image frame handling and display support.
  • Added a new Virtual Hub to simulate the embedded Pybricks ports.

Changed

  • Extensive overhaul of UART drivers on all hubs. This affects all official LEGO UART sensors on all hubs.
  • Extensive overhaul of the pbio/port module. LEGO mode can now be disabled to enable direct access to UART or I2C or ADC on compatible platforms.
  • Extensive overhaul of MicroPython async drivers to make it work across Bluetooth drivers.
  • Extensive overhaul of Bluetooth drivers to split out common code and make async code more stable and safely cancellable.
  • Overhaul of Bluetooth and USB events through a unified pbio/sys/host interface.
  • LWP3Device.read() now gives buffered notification values instead of blocking until a value arrives.
  • Replaced Contiki runloop with new Pybricks protothreads.
  • Enabled flto for smaller firmware build size.
  • Upgraded to MicroPython 1.26. The MPY minor version has changed to v6.3. This only affects people using native code in their user programs.
  • Update NXT build to follow along with EV3 wherever possible.
  • Unified mphalport and micropython.c interface for all hubs.
  • Improved power-off sequence to better handle sensors turning off and internal devices like the IMU turning off.
  • Restored line numbers in error messages on Move Hub
  • Enabled CSUPEROPT on Move Hub and Technic Hub to reduce build size at a slight reduction in VM speed.

Fixed

  • Reduced hanging when broadcasting and observing at the same time with Technic Hub (support#2206).
  • Fixed hub shutting down immediately after disconnecting Bluetooth when no program had run for a while.
  • Fixed some error messages not printing on a new line if a program ends.
  • Fix speaker when playing a frequency of 0.
  • pybricks.tools: Fix crash when cross() args are wrong type.

Removed

  • Removed support for Pybricks on ev3dev. The official 2.0 release remains available for anyone who needs Pybricks on Debian Linux.
  • Removed the experimental build of Pybricks on EV3RT. This is no longer needed now that the embedded build is ready.
  • Removed unix-variant of the Virtual Hub. This has been replaced with a simulated embedded hub.

3.6.1 - 2025-03-11

Fixed

  • Fixed overflow in saturation and value for ambient color measurement. This can occur with very bright screens (pybricks-micropython#295).
  • Fixed drive base stall condition not being raised if the right motor is individually controlled and then stalled (pybricks-micropython#294).

3.6.0 - 2025-03-02

Changed

  • Bump version from beta to 3.6.0 without additional changes.

3.6.0b5 - 2025-02-26

Changed

  • Changed order of the DriveBase.arc method parameters. This method has not yet been released or documented, so this is not a breaking change (support#1157).
  • Reduced voltage threshold at which the charging light goes from red to green to indicate that the battery is full from 8300 to 8190 mV (pybricks-micropython#292).
  • Simplified API for hub.imu.up() and hub.imu.tilt() to only use a single calibrated keyword argument instead of separate use_gyro options. This had not been released yet so is not a breaking change.

3.6.0b4 - 2025-02-14

Fixed

  • Fixed low-battery warning on boot (pybricks-micropython#292) when the voltage is not actually low.
  • Fixed light indidicator always briefly showing green when just plugged in or after rebooting (pybricks-micropython#292) even if battery is not actually full.

3.6.0b3 - 2025-02-14

Added

  • Added optional calibrated=True parameter to acceleration() and up() and angular_velocity() and rotation methods of the IMU (support#943).
  • Implemented hub.imu.orientation() to give the rotation matrix of the hub or robot with respect to the inertial frame.
  • Added calibration parameters that can be set for angular velocity offset and scale and acceleration offset and scale.
  • Added hub.system.reset_storage to restore storage and settings to default state.
  • Replaced update_heading_correction with _imu_calibrate.py for 3D calibration (support#1907).

Changed

  • Enabled UTF-8 support for str objects.
  • The method DriveBase.angle() now returns a float (support#1844). This makes it properly equivalent to hub.imu.heading.
  • Re-implemented tilt using the gyro data by default. Pure accelerometer tilt can still be obtained with hub.imu.tilt(calibrated=False).
  • Re-implemented hub.imu.heading() to use optionally use the projection of 3D orientation to improve performance when the hub is lifted off the ground. The 1D-based heading remains the default for now.
  • Change return value of connected() property from bool to int using the value of pbdrv_usb_get_bcd(). This will allow pro users to be able to tell if they have a "nonstandard" charger that could prevent proper charging (pybricks-micropython#274).
  • When the Bluetooth button is selected to stop the program, don't disable the stop button while the hub menu is active (support#1975).

Fixed

  • Fixed battery charging timeout if it didn't reach 100% after about 6 hours. This is same behavior observed in official firmware. (pybricks-micropython#292).
  • Fixed inconsistent battery level reported to user. Now it uses the same value as used by the light indicator (support#2055).
  • Fixed DriveBase.angle() getting an incorrectly rounded gyro value, which could cause turn(360) to be off by a degree (support#1844).
  • Fixed hub silently ignoring non-orthogonal base axis when it should raise.
  • Fixed not handling negative duration in Speaker.beep() (support#1996).

Removed

  • Removed ev3dev and ev3rt-based CI builds. Pybricks 2.0 on ev3dev will continue to be available as a separate download.

3.6.0b2 - 2024-10-15

Added

  • Allow color objects to be iterated as h, s, v = color_object or indexed as color_object[0]. This allows access to these properties in block coding (support#1661).
  • Added observe_enable to the hub BLE class to selectively turn observing on and off, just like you can with broadcasting (support#1806).
  • Added hub.system.info() method with hub status flags (support#1496) and value representing how the program was started.

Changed

  • Relaxed speed limit from 1000 deg/s to 1200 deg/s for external Boost motor (support#1623).
  • Make broadcast_channel optional instead of defaulting to 0.

Fixed

  • Fixed persistent data not being deleted when swapping from 3.6.0b1 to 3.5.0 and back to 3.6.0b1 (support#1846).
  • Fixed controls stopping if use_gyro is called again with the same argument as already active (support#1858).
  • Fixed lockup and reboot with f-strings and slice allocations in tight loops (support#1668).
  • Fixed program restarting if the stop button was held to end the program without an exception (support#1863).
  • Fixed program lockup when restarting a hub light or light matrix animation at exact multiples of its animation interval (support#1295).

3.6.0b1 - 2024-09-24

Added

  • Allow Bluetooth to be toggled off and on with the Bluetooth button on the Prime Hub and the Inventor Hub (support#1615), and have this state persist between reboots.
  • Added heading_correction to hub.imu.settings to allow for automatic correction of the hub.imu.heading() value (support#1678).
  • Added update_heading_correction to interactively set the heading correction value (support#1678).
  • Added optional one byte program identifier to program start command. For now, this is added to start various builtin programs, but it prepares for the ability to start different downloaded programs too (pybricks-micropython#254).
  • Added one byte program identifier to the hub status report to the host.
  • Added interface and implementation for storing and selecting multiple code slots on the Prime Hub and Inventor Hub.
  • Added ability to set distance and angle in DriveBase.reset(). If the DriveBase is using the gyro, it will be set to the same angle. (support#1617).
  • Added DriveBase.arc method with more intuitive parameters to drive along an arc, to eventually replace DriveBase.curve (support#1157).

Changed

  • Changed protocol to Pybricks Profile v1.4.0.
  • When upgrading the firmware to a new version, the user program will now be erased. This avoids issues with incompatible program files (support#1622).
  • The angular_velocity_threshold, and acceleration_threshold settings in hub.imu.settings are now persistent between reboots.
  • Reduced hub poweroff time from 3 to 2 second to make it easier to turn off the hub (pybricks-micropython#250).
  • Improved font for the digits 0--9 when displaying them with hub.display.char(str(x)) (pybricks-micropython#253).
  • On SPIKE Prime Hub and Robot Inventor Hub, moved Bluetooth indications to the Bluetooth light. Only warning lights will be shown on the main button light. See (support#1716) and (pybricks-micropython#261).
  • Allow gyro calibration only while all motors are coasting (support#1840) to prevent recalibration during very steady moves (support#1687)
  • Reduced default angular velocity stationary threshold from an undocumented 5 deg/s to 2 deg/s to reduce unwanted calibration while moving (support#1105).
  • If imu.reset_heading() is called while a drive base is actively using the gyro, an exception will be raised (support#1818).

Fixed

  • Fixed not able to connect to new Technic Move hub with LWP3Device().
  • Removed gc_collect() from tools.run_task() loop to fix unwanted delays.
  • Fixed await wait(0) never yielding, so parallel tasks could lock up (support#1429).

Removed

  • Removed loop_time argument to pybricks.tools.run_task as this wasn't having the desired effect, and would cause loop round trips to take 10 ms for every await wait(1) (support#1460). This was an undocumented feature.

3.5.0 - 2024-04-11

Changed

  • Bump version from release candidate to 3.5.0 without additional changes.

3.5.0b2 - 2024-04-05

Added

  • Added optional keyword arguments to pybricks.tools.read_input_byte() for automatic conversion via chr and to skip to the last byte (support#1574).
  • Added disconnect method to pybricks.pupdevices.Remote and pybricks.iodevices.LWP3Device (support#802).

Changed

  • Raise a descriptive error when the Car class can't find a steering mechanism end stop within 10 seconds (support#1564).
  • Extended region of readable data with hub.system.storage to include user program (pybricks-micropython#243).

Fixed

  • Fixed hubs not shutting down when holding hub button (support#1419).

3.5.0b1 - 2024-03-21

Added

  • Added support for rumble in XboxController (support#1024).
  • Added Button.UP, Button.DOWN, Button.LEFT, and Button.RIGHT to XboxController buttons method (support#1537). The separate directional pad method remains available.

Changed

  • Allow single floating point value for brightness array (support#1547).

3.4.0 - 2024-03-11

Changed

  • Additional error checking in pybricks.robotics.Car setup (support#1502).

3.4.0b3 - 2024-03-05

Added

  • Added joystick_deadzone keyword argument to suppress controller drift in the XboxController (support#1473).
  • Added pybricks.tools.running to return if a stopwatch is currently running (support#1490).

Changed

  • Use Button parameter for XboxController (support#1488), not strings.
  • If pybricks.tools.run_task is called without arguments, it will return whether the runloop is running or not (support#1499).
  • On Move Hub, the verbosity of error messages is further reduced to reduce the firmware size, to allow for bug fixes/updates (pybricks-micropython#240).
  • Re-implemented pybricks.robotics.Car in C so it can be enabled on Move Hub which does not support frozen modules (support#1502).

Fixes

  • Fix pybricks.iodevices not allowing writing -128 value (support#1366) and raise informative error messages instead of clamping the input.

3.4.0b2 - 2024-02-10

Added

  • Added pybricks.iodevices.XboxController (support#191, support#1024).
  • Re-enable pybricks.iodevices.LWP3Device missing from last beta.

Fixes

  • Fix hub not shutting down while a program runs (support#1438).

Changed

  • On Technic Hub and City Hub, the Bluetooth chip is now configured to reject connection parameter updates from peripherals. This avoids interference with broadcast when used with the Xbox controller.

3.4.0b1 - 2024-01-30

Added

  • Added pybricks.robotics.Car for controlling a car with one or more drive motors and a steering motor. This is a convenience class that combines several motors to provide the functionality used in most Technic cars.

Fixes

  • Fix observing stopping on City and Technic hubs after some time (support#1096).
  • Fix Bluetooth locking up when connecting Bluetooth adapter with small MTU to Technic and City hubs (support#947).
  • Fix Technic Hub not always starting automatically after firmware exiting update mode (support#1408). Also apply this to Move Hub and City Hub.
  • Fix Bluetooth locking up when connecting Bluetooth adapter with small MTU to Technic and City hubs (support#947).
  • Fix Remote pairing difficulty (support#880).
  • Fix Remote light not working or crashing the hub (support#1357).
  • Fix Technic Hub and City Hub broadcasting missing messages (support#1357).
  • Fix Technic Hub and City Hub broadcasting delays.

Changed

  • Changed polarity of output in the Light class. This makes no difference for the Light class, but it makes the class usable for certain custom devices (pybricks-micropython#166).
  • Improved Bluetooth peripheral scanning and connect process to allow for new device types to be added in the future.

Changed

  • Changed keypad return type to set instead of tuple. This affects the remote and hubs.

3.3.0 - 2023-11-24

Changed

  • Bump version from release candidate to 3.3.0.

3.3.0c1 - 2023-11-20

Added

Changed

  • Allow Move Hub to ignore broadcast instead of raising an exception while connected.

Fixed

  • Fixed Move Hub accelerometer not working since v3.3.0b5 (support#1269).
  • Fixed Bluetooth chip locking up on Technic and City hubs when broadcasting (support#1095).
  • Fixed potential crash when GC occurs while observing BLE data (support#1278)
  • Fixed Technic Hub and City Hub eventually stopping observing BLE data after a few minutes (support#1096) by implementing an auto-reset workaround.

3.3.0b9 - 2023-10-26

Added

  • Added hub.buttons as an alias for hub.button on buttons with one hub (support#1254).
  • Implemented brake for DriveBase (support#881).

Changed

  • The use_gyro method is added to the normal DriveBase class instead of having a separate GyroDriveBase class. Since the latter was only released in beta versions, this is not a breaking change (support#1054).
  • New color distance function used by the color sensors that is more consistent when distinguishing user-provided colors (pybricks-micropython#104).
  • Updated the unreleased BLE API to ensure sent and received objects are the same. Allows one of the supported types or a list/tuple thereof.

Fixed

  • Improved external device detection speed (support#1140).
  • Fixed Powered Up Tilt Sensor not working (support#1189).
  • Fixed surface=False not working in ColorSensor (support#1232).
  • Fixed PUPDevice.write not selecting correct mode (support#1213).
  • Fixed City Hub turning back on after shutdown (support#1195).
  • Fixed SPIKE hubs not broadcasting at all when attempting to broadcast in a tight loop (support#1151).

3.3.0b8 - 2023-07-07

Added

  • Added use_gyro method to toggle gyro use on and off in the GyroDriveBase class (support#1054).
  • Added pybricks.tools.read_input_byte() function (support#1102).

Changed

  • Relaxed thresholds that define when the IMU is stationary, to make the defaults work better in noisier conditions (support#1105).

Fixed

  • Fixed Technic (Extra) Large motors not working (support#1131) on all hubs.
  • Fixed Powered Up Light not working (support#1131) on all hubs.
  • Fixed UART sensors not working on Technic Hub (support#1137).
  • Fixed incorrect number of ports on City Hub (support#1131).

3.3.0b7 - 2023-06-30

Added

  • Added 'modes' entry to the dictionary returned by PUPDevice.info(). It is a tuple of (name, num_values, data_type) tuples for each available mode.
  • Added pybricks.tools.read_input_byte() function (support#1102).
  • Added pybricks.tools.hub_menu() function (support#1064).

Changed

  • Changed internal drivers for LEGO devices (motors and sensors) on all platforms.

Fixed

  • Fixed hub will not power off when Bluetooth chip crashes on City and Technic hubs (support#1095).
  • Fixed off() method in ColorLightMatrix, UltrasonicSensor, ColorSensor (support#1098).

3.3.0b6 - 2023-06-02

Added

Changed

  • Updated BTStack to v1.5.5.

Fixed

  • Fixed BLE broadcast not working on City hub.
  • Fixed crash on BTStack hubs when program stopped during call to ble.broadcast().
  • Fixed BLE broadcast not working on Technic hub when not connected (support#1086).
  • Fixed delayed sensor sync on boot on City hub (support#747).

3.3.0b5 - 2023-05-16

Added

  • Enabled the gc module (except on BOOST Move hub).
  • Added hub.ble attribute for broadcasting/observing (pybricks-micropython#158).

Changed

  • Updated MicroPython to v1.20.0.

Fixed

3.3.0b4 - 2023-04-21

Fixed

  • Fixed gyro on Technic Hub occasionally giving a bad value, which made it not calibrate properly (support#1026).
  • Fixed discrepancy in heading value across hubs by accounting for sampling time (support#1022).
  • Fixed iterator for Matrix objects giving bad values.
  • Fixed Bluetooth sometimes locking up on Technic/City hubs (support#567).
  • Fixed GyroDriveBase being slow to respond to heading perturbations when driving at high speed (support#1032).

Added

  • Added pybricks.tools.cross(a, b) to get a vector cross product.
  • Added experimental implementation of hub.imu.heading() (support#912).
  • Added support for reading single-axis rotation, which is useful in applications like balancing robots, where full 3D orientation is not required, or even undesired.
  • Added hub.imu.ready() to check that the IMU has been calibrated and is ready for use.
  • Added GyroDriveBase class to control drivebase steering with the gyro.
  • Added optional window parameter to Motor.speed to specify the differentiation window size that determines the average speed. This lets the user choose smaller values to get a more responsive (but noisier) or higher values to get a smoother (but more delayed) speed signal.

Removed

  • Removed positive_direction from DriveBase initializer. This was temporarily added in the previous beta release to facilitate gyro support, but made it more complicated than needed (support#992).
  • Removed pybricks.geometry in an effort to reduce the number of modules with just a few elements. Matrix and vector have moved to tools. The Axis enum was moved to parameters. Each item can still be imported from its original location for backwards compatibility.

3.3.0b3 - 2023-03-28

Added

  • Added positive_direction to DriveBase initializer. It defaults to clockwise to ensure this is not a breaking change. Users can now change it to counterclockwise, which is more common in engineering (support#989).
  • Added support for setting drivebase acceleration and deceleration separately using a tuple, consistent with single motors (support#881).

Fixed

  • Fixed allocator interfering with motor control when memory usage is high (support#977).
  • Fixed Stop.NONE not working properly for some drivebase geometries (support#972).
  • Fixed reading programs larger than 65535 bytes on boot on SPIKE hubs. ([support#996).
  • Various Bluetooth stability and reliability improvements on BOOST Move hub (support#320, support#324, support#417).
  • Fixed Bluetooth random address not changing on City and Technic hubs (support#1011).

Changed

  • Methods like control.limits() now check the user input and raise a ValueError if a value is out of bounds (support#484). This affects only settings setters, which are usually used as a one-off. Nothing changes to speed values set at runtime. These are still capped to valid numbers without raising exceptions.
  • Renamed precision_profile to profile in the Motor initializer.
  • In DriveBase, wheel_diameter and axle_track now accept decimal values for increased precision (support#830).

Removed

  • Removed DriveBase.left and DriveBase.right properties (support#910).

3.3.0b2 - 2023-03-08

Added

  • Added precision_profile parameter to Motor initializer. This can be used to reduce control gains to get smoother motions for heavy loads or heavily gear applications where precision is less relevant.

Changed

  • Changed how the PID values are initialized for each motor. This may lead to slightly altered performance.

Fixed

  • Fixed move hub crashing on boot.
  • Fixed position based commands starting from the wrong position if the previous command was a time based command that could not hit its target (support#956).
  • Fixed EV3 motors getting out of date with the updated motor controllers (support#941) and (support#955).
  • Fixed long delay when connecting to remote on SPIKE hubs (support#466).

3.3.0b1 - 2023-02-17

Added

  • Added support for frozen modules when building from source (support#829).
  • Added close() method to DCMotor and Motor so they can be closed and re-initialized later (support#904).
  • Fixed workaround for motor hold drifting away under external input movement (support#863).
  • Added Motor.model object to interact with the motor state estimator.
  • Added Stop.BRAKE_SMART as then option for motors. It works just like SMART_COAST, but with passive electrical braking.
  • Added logging support for control stall and pause state.

Fixed

  • Fixed Light controlling wrong ports on Move hub (support#913).
  • Reduced motor motion while holding position and added configurable setter and getter for this deadzone.
  • Fixed type checking optimized out on Move hub (support#950).
  • Fixed end-user stall flag coming up too early in position based control.
  • Further reduced stutter at low motor speeds (support#366).

3.2.2 - 2023-01-06

Fixed

  • Fixed some objects do not implement __hash__ (support#876).
  • Fixed Motor.run_time not completing under load (support#903).

3.2.1 - 2022-12-26

Fixed

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

3.2.0 - 2022-12-20

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).

3.2.0c1 - 2022-12-09

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).

3.2.0b6 - 2022-12-02

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.

3.2.0b5 - 2022-11-11

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).

3.2.0b4 - 2022-10-21

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).

3.2.0b3 - 2022-07-20

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.

3.2.0b2 - 2022-07-06

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.

3.2.0b1 - 2022-06-03

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).

3.1.0 - 2021-12-16

Changed

  • Renamed new DCMotor.dc_settings() method to DCMotor.settings() (support#536).

Fixed

  • Fixed direction for DriveBase.turn() and Drivebase.curve() for some arguments (support#535).
  • Fixed then=Stop.COAST not working in DriveBase methods (support#535).

3.1.0c1 - 2021-11-19

Added

  • Added DriveBase.curve() method to drive an arc segment.
  • Added then and wait arguments to DriveBase methods (support#57).

Changed

  • Dropped integral_range argument from Control.pid(). This setting was ineffective and never used. When set incorrectly, the motor could get stuck for certain combinations of kp and ki.
  • Improved motor behavior for cases with low-speed, low-load, but high inertia (support#366).
  • Changed how the duty cycle limit is set for Motor and DCMotor. It is now set as a voltage limit via a dedicated method, instead of Motor.control.

Fixed

  • Fixed then=Stop.COAST being ignored in most motor commands.
  • Fixed brake()/light.off() not working on Move hub I/O port C (support#501).
  • Fixed Remote() failing to connect when hub is connected to 2019 or newer MacBooks (support#397).
  • Fixed intermittent improper detection of hot-plugged I/O devices (support#500).
  • A program now stops when a Motor is unplugged while it is running, instead of getting in a bad state.

3.1.0b1 - 2021-09-21

Added

  • Support for LEGO Technic Color Light Matrix (support#440).
  • Support for LEGO UART devices with a new battery power flag. This is required to support the new LEGO Technic Color Light Matrix (support#440).
  • Support for the SPIKE Essential hub/Technic Small hub (support#439).

Fixed

  • Fixed Ultrasonic Sensor and Color Sensor turning off when a user script ends (support#456).
  • Hub reset due to watchdog timer when writing data to UART I/O device (support#304).
  • City/Technic hubs not connecting via Bluetooth on macOS 12 (support#489).

Changed

  • Updated to MicroPython v1.17.

3.1.0a4 - 2021-08-30

Added

  • Enabled builtin bytearray (pybricks-micropython#60).
  • Enabled ustruct module (pybricks-micropython#60).
  • Added alpha support for dual boot installation on the SPIKE Prime Hub.
  • Added pybricks.experimental.hello_world function to make it easier for new contributors to experiment with Pybricks using C code.
  • Added ability to import the main.mpy that is embedded in the firmware from a download and run program (support#408).
  • Added pybricks.iodevices.LWP3Device to communicate with a device that supports the LEGO Wireless Protocol 3.0.00 (pybricks-micropython#68)

Changed

  • Move Hub Bluetooth optimizations to reduce firmware size (pybricks-micropython#49).
  • Disabled pybricks.iodevices module on Move Hub to reduce firmware size.
  • Improvements to pybricks.pupdevices.Remote:
    • Check if a remote is already connected before attempting to create a new connection.
    • Rename first argument from address to name to match documentation.
    • Implement connecting by name.
    • Add name() method.
    • Add light attribute.

3.1.0a3 - 2021-07-19

Added

  • Added reset_angle=False keyword argument to Motor() class. This makes resetting the angle optional, allowing to maintain absolute positioning for robots with gears (support#389).

Changed

  • Moved MicroPython math module to umath to be consistent with other MicroPython modules.

Fixed

  • Fixed City hub not always powering off on shutdown (support#385).
  • Fixed Move hub turning back on after shutdown (support#386).

3.1.0a2 - 2021-07-06

Added

  • Support for reading button state on Technic Hub, City Hub, and Move Hub.
  • Support for reading hub name on all Powered Up hubs.
  • Enable MicroPython slicing feature on Technic Hub, City Hub, Prime Hub.
  • Added pystone benchmark tests for all hubs.
  • Added hub.system.shutdown() for graceful shutdown (support#58).

Changed

  • Move Remote class from experimental to pupdevices.
  • Move Remote.pressed() to Remote.buttons.pressed().
  • Remove pybricks.experimental module on Move Hub.
  • Increased Move Hub heap from 6K to 7K due to recently freed RAM (pybricks-micropython#57).
  • Changed hub.system.reset(action) to accept 2 only (support#379). This is technically a breaking change, although this method was never officially released or documented. With this change, entering firmware update mode remains possible for backwards-compatibility, but unsafe power off methods are removed.

Fixed

  • Fix Bluetooth not disconnecting when shutting down and button is still pressed.
  • Fix I/O ports not powering off when shutting down and button is still pressed.
  • Fix version number only showing git hash and not v3.x.

3.1.0a1 - 2021-06-23

Added

  • Added PnP ID characteristic to Device Information Service and to advertising data (pybricks-micropython#49).
  • Added special location in firmware for storing hub name (support#52). Note: Support will need to be added to tools separately to make use of this.
  • Added configuration option to run a simplified version of motor PID control. It is activated on the Move Hub to reduce build size. Motor performance on the other hubs is unaffected.
  • Experimental support for the Powered Up remote control (support#186).

Changed

  • Updated MicroPython to v1.16.
  • Simplified the Powered Up UART Protocol host implementation. Unused device properties are no longer stored in order to reduce flash and RAM usage (pybricks-micropython#57).

3.0.0 - 2021-06-08

Added

Changed

  • Hub.reset() moved to Hub.system.reset() (support#321).
  • Motor methods now raise OSError with uerrno.EBUSY instead of uerrno.EPERM if the motor is currently being used and the operation cannot be completed.

Fixed

  • Fixed resetting motor angle while holding position causes movement (support#352).
  • Fixed DriveBase not resetting during initialization (pybricks-micropython#21).
  • Fixed Ctrl+C stopping REPL when first started (support#347).
  • Fixed UART I/O devices retuning uninitialized data (support#361).

Prerelease

Prerelease changes are documented at support#48.