3.5.0

Changelog

[Unreleased]

[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

• Added MoveHub.imu.tilt() (support#539).
• Enabled hub init orientation support for Move Hub (support#539).

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...

3.5.0b2

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).

3.5.0b1

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

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.

3.4.0b3

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.

Release v3.3.0

[3.3.0] - 2023-11-24

Changed

• Bump version from release candidate to 3.3.0.

[3.3.0c1] - 2023-11-20

Added

• Added MoveHub.imu.tilt() ([support#539]).
• Enabled hub init orientation support for Move Hub ([support#539]).

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

• Enabled builtin set type (except on BOOST Move hub) (support#402).
• Added experimental support for multitasking (pybricks-micropython#166).

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

• Fixed stdin containing 0x06 command byte (support#1052).
• Fixed motor process causing delays on ev3dev (support#1035).

[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]).

[sup...

Release v3.3.0c1

Added

• Added MoveHub.imu.tilt() (support#539).
• Enabled hub init orientation support for Move Hub (support#539).

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.

Release v3.3.0b9

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).

Release v3.3.0b8

v3.3.0b8

Release v3.3.0b7

v3.3.0b7