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CHANGELOG.md

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Changelog

Unreleased

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.