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 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).

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

• Added Hub.system attribute (support#321).

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.