3.6.0b1

Changelog

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 3 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

Changed

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

3.5.0b2

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

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

Changed

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

3.4.0b3

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.

Release v3.3.0

Changed

• Bump version from release candidate to 3.3.0.

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