4.0.0

4.0.0 - 2026-06-08

Changed

• Temporarily disable unfinished USB support for SPIKE so it doesn't block the
  stable release. It will remain enabled in beta releases.

Fixed

• Fixed button LEFT_DOWN returning LEFT_UP in the method
  ev3devices.InfraredSensor.keypad() (support#2724).
• Fixed pybricks.pupdevices.Remote.name not setting name (support#2720).

4.0.0b11 - 2026-05-30

Added

• Added power_pin (int) on UARTDevice()

Changed

• Changed powered (bool) to power_pin (int) on I2CDevice() to make it
  generic enough for all iodevices like UARTDevice. Added permission request.
• Moved BLE broadcasting and observing to pybricks.messaging.BLERadio instead
  of an object on each hub (support#2274).
• Moved pybricks.tools.AppData to pybricks.messaging.AppData (support#2274).

Fixed

• Fixed SPIKE Prime and possibly other hubs with Bluetooth stuck on shutdown in
  case of an unhandled Bluetooth issue. This fixes the forced shutdown guard.
  This would otherwise prevent shutdown and reboot in some cases if the hub
  was being shutdown while still connected to Bluetooth.
• Fixed SPIKE Prime waiting indefinitely on sending a Bluetooth message if the
  hub became disconnected. On shutdown, this would then lead to the issue above.
• Increased number of data messages that may be missed in the LUMP protocol before
  falling out of sync. We were more lenient about this in v3.6.1 and third
  party devices have come to rely on this, so we keep it (support#2698).

4.0.0b10 - 2026-05-15

Added

• Enabled pybricks.tools.AppData on Move Hub.

Changed

• Changed initialization of AppData to allow multiple modes instead of a
  single format. ustruct.unpack is no longer automatically called. Now it
  works seemlessly with the camera sensors in Pybricks Code.

Fixed

• Fixed EV3 apps not loading images (pybricks-micropython#470).

4.0.0b9 - 2026-04-16

Added

• Added Port View on EV3 apps tab.

Fixed

• Fixed USB connection resetting on app losing focus or high print volume.

4.0.0b8 - 2026-03-19

Added

• Added pybricks.pupdevices.MarioHub to control it as a peripheral. It
  cannot be used as a standalone device since it cannot ne updated.
• Added DriveBase.hold() method (support#2621).
• Added Motor Button Control and Motor IR Control on EV3 apps tab.
• Enabled USB coding support for SPIKE Prime, SPIKE Essential, and MINDSTORMS
  Robot Inventor.

Changed

• The EV3 Color Sensor now returns Color.NONE instead of None when no color
  is detected, for consistency with other Color Sensors (support#2603).
• The EV3 Infrared Sensor buttons method now returns a set instead of a list,
  for consistency with hub buttons.

Fixed

• Fixed EV3 light animation stopping when screen is used (support#2599).
• Fixed Powered Up motors not resetting to the absolute value (support#2620).
• Fixed segfault when user or block code generator forgets await in one or
  more tasks that use the same resource (like a DriveBase) along
  with race=True (support#2621).

4.0.0b7 - 2026-02-26

Added

• Added supporters to EV3 closing credits.

Fixed

• Fixed EV3 screen animation not closing on user display actions (support#2585).
• Fixed EV3 Touch Sensor not detected it is pressed while plugged in (support#2589).
• Fixed EV3 Large and Medium Motors sometimes not detected (support#2536).
• Fixed EV3 left up button not detected (support#2592).

4.0.0b6 - 2026-02-19

Added

• Added connect=True parameter to the Remote, LWP3Device
  and XboxController classes, along with a connect() method to optionally
  connect later (support#1800).
• Added timeout and name parameters to the XboxController.
• Added support for Powered Up touch sensors that are supported according to
  the specification, but were never released. Users can make their own switch
  inputs (pybricks-micropython#454).
• Added pybricks.pupdevices.TechnicMoveHub to control it as a peripheral. It
  cannot be used as a standalone device since it cannot run third-party firmware.
• Added pybricks.pupdevices.DuploTrain to control it as a peripheral. It
  cannot be used as a standalone device since it cannot ne updated.
• Added basic user interface for EV3 brick.

Changed

• Changed the default XboxController connection timeout from indefinite
  to 10 seconds, consistent with the Remote.
• Devices like the Remote, LWP3Device, and the XboxController now stay
  connected when the program ends (support#1382).

Fixed

• Fixed EV3 motor detection not working correctly while moving (support#2536).

4.0.0b5 - 2026-01-30

Added

• Added support for absolute turns with and without the gyro
  with drive_base.turn(angle, absolute=True) (pybricks-micropython#458).
• Added support for coordinate traversals with drive_base.move_by(dx, dy) for
  practical navigation (pybricks-micropython#458).

Changed

• Reset IMU heading to 0.0 at the start of a user program for consistent
  drivebase behavior.

Fixed

• Fix missing classes in pybricks.iodevices on SPIKE Prime (regression in
  4.0.0b2) (pybricks-micropython#456).

4.0.0b4 - 2026-01-22

Added

• Enabled NXT Light Sensor, NXT Touch Sensor, NXT Sound Sensor on NXT.
• Added host_connected_usb to hub.system.info() dictionary.
• Added program_id to hub.system.info() dictionary (support#2538).

Changed

• Reduced user stack size to 12 KB on SPIKE Prime Hub to make it the same as
  SPIKE Essential Hub. This frees up some RAM for system resources, and we never
  use this much in practice.
• Allow simultaneous USB and up to two Bluetooth connections to SPIKE Prime.
  Press the Bluetooth button to allow a connection when already connected.

Fixed

• Fixed internal rounding error that could could cause a Drive Base to be 1 mm
  off after driving 3 meters, depending on configuration parameters (support#2500).
• Fixed Powered Up remote light getting the wrong color (support#2497).
• Fix shutdown animation not visible when shutting down due to Bluetooth glitches (support#2521).
• Fixed Powered Up remote raising the wrong exception on timeout (support#2521).
• Fixed Xbox Controller connection waiting indefinitely if it isn't in pairing mode (support#2521).
• Fixed Xbox Controller attempting to pair with host (support#2522).
• Fixed Powered Up remote and Xbox Controller working only after the first
  connection. All of the above Remote and Xbox Controller were introduced in
  the previous beta release, so did not affect any stable release (support#2521).
• Fixed Xbox Controller sometimes not working the first time (support#1509).
• Fixed motors sometimes not working after boot (support#2550).

4.0.0b3 - 2025-12-05

Added

• Added preliminary BTstack support for EV3 (pybricks-micropython#405).

Changed

• Make 3D orientation default for heading and drivebase heading control (support#1962).
• Improved color detection when using default colors. Also changed the HSV calculation
  for the SPIKE Color Sensor and Boost Color and Distance Sensor to make them
  more similar. User code should measure HSV values again in old code (pybricks-micropython#421).

Fixed

• Fixed race=False ignored in pybricks.tools.multitask(). (support#2468)
• Fixed Essential Hub button being disabled after power off so it could not be
  switched on again.
• Fixed TechnicHub class being unavailable on Technic Hub in a recent
  pre-release (pybricks-micropython#425).

4.0.0b2 - 2025-11-25

Fixed

• Enable CI releases for v4.x.

4.0.0b1 - 2025-11-25

Added

• Experimental support for USB connectivity on SPIKE Prime (pybricks-micropython#208). Currently disabled by default.
• Initial support for pybricks.iodevices.UARTDevice (support#220).
• Enabled previously hidden support for multiple code
  slots (pybricks-micropython#264, pybricks-micropython#312).
• Added the following status flags to the Pybricks protocol:
  • PBIO_PYBRICKS_STATUS_BATTERY_HIGH_TEMP_SHUTDOWN = 10
  • PBIO_PYBRICKS_STATUS_BATTERY_HIGH_TEMP_WARNING = 11
  • PBIO_PYBRICKS_STATUS_USB_HOST_CONNECTED = 12
• New embedded firmware for LEGO MINDSTORMS EV3:
  • Fast boot on TI AM1808.
  • New clock driver.
  • New display driver.
  • New SPI storage driver.
  • New USB controller.
  • New motor driver.
  • New UART driver with hardware and PRU support.
  • New PRU firmware for LED PWM control.
  • New GPIO driver.
  • New ADC driver.
  • New DCM driver for EV3 auto-detection.
• Enabled the original pybricks.ev3devices to run on the new embedded EV3 port:
  • Color Sensor.
  • Touch Sensor.
  • Infrared Sensor and Beacon.
  • Gyro Sensor in angle + rate mode, with calibration option.
  • Ultrasonic Sensor.
  • Large and Medium Motor.
• Enabled the original pybricks.nxtdevices to run on the new embedded EV3 port:
  • Touch Sensor, including 1.0 version without auto-detection.
  • Color Sensor, with background process for background light cancellation.
  • Light Sensor, with background process for background light cancellation.
  • Ultrasonic Sensor, including I2C quirks for LEGO Devices.
  • Sound Sensor.
  • Temperature Sensor in I2C mode.
  • Energy Meter.
  • vernier Adapter.
• Enabled all original pybricks.iodevices, all async-compatible:
  • PUPDevice / LUMPDevice on Powered Up and EV3.
  • AnalogSensor on EV3.
  • I2CDevice on EV3.
  • UARTDevice on EV3 and Powered Up. Added ability to reset protocol.
  • DCMotor on EV3
• Added new pbio/image module for image frame handling and display support.
• Added a new Virtual Hub to simulate the embedded Pybricks ports.

Changed

• Extensive overhaul of UART drivers on all hubs. This affects all
  official LEGO UART sensors on all hubs.
• Extensive overhaul of the pbio/port module. LEGO mode can now be disabled
  to enable direct access to UART or I2C or ADC on compatible platforms.
• Extensive overhaul of MicroPython async drivers to make it work across
  Bluetooth drivers.
• Extensive overhaul of Bluetooth drivers to split out common code and make
  async code more stable and safely cancellable.
• Overhaul of Bluetooth and USB events through a unified pbio/sys/host interface.
• LWP3Device.read() now gives buffered notification values instead of blocking
  until a value arrives.
• Replaced Contiki runloop with new Pybricks protothreads.
• Enabled flto for smaller firmware build size.
• Upgraded to MicroPython 1.26. The MPY minor version has changed to v6.3.
  This only affects people using native code in their user programs.
• Update NXT build to follow along with EV3 wherever possible.
• Unified mphalport and micropython.c interface for all hubs.
• Improved power-off sequence to better handle sensors turning off and internal
  devices like the IMU turning off.
• Restored line numbers in error messages on Move Hub
• Enabled CSUPEROPT on Move Hub and Technic Hub to reduce build size at a
  slight reduction in VM speed.

Fixed

• Reduced hanging when broadcasting and observing at the same time with Technic
  Hub (support#2206).
• Fixed hub shutting down immediately after disconnecting Bluetooth when
  no program had run for a while.
• Fixed some error messages not printing on a new line if a program ends.
• Fix speaker when playing a frequency of 0.
• pybricks.tools: Fix crash when cross() args are wrong type.

Removed

• Removed support for Pybricks on ev3dev. The official 2.0 release remains
  available for anyone who needs Pybricks on Debian Linux.
• Removed the experimental build of Pybricks on EV3RT. This is no longer needed
  now that the embedded build is ready.
• Removed unix-variant of the Virtual Hub. This has been replaced with a simulated
  embedded hub.