3.6.0

Changelog

[Unreleased]

[3.6.0] - 2024-03-02

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 with...

3.6.0b5

Changelog

[Unreleased]

[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 ...

3.6.0b4

Fixed

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

3.6.0b3

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.

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(use_gyro=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

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

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).