Release v3.3.0b4

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.

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.