Release v3.3.0b3

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).

Release v3.3.0b2

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• Fixed EV3 motors getting out of date with the updated motor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).

Release v3.3.0b1

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).

Release v3.2.3

Added

• Added close() method to DCMotor and Motor so they can be closed and
  re-initialized later (support#904).

Fixed

• Fixed Light controlling wrong ports on Move hub (support#913).
• Fixed type checking optimized out on Move hub (support#950).

Release v3.2.2

Fixed

• Fixed some objects do not implement __hash__ (support#876).
• Fixed Motor.run_time not completing under load (support#903).

Release v3.2.1

Fixed

• Fixed imu.angular_velocity returning the values of imu.acceleration.

Release v3.2.0

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).

Release v3.2.0c1

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).

Release v3.2.0b6

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.

Release v3.2.0b5

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).