In this round of releases, we have:
-
v3.16.7-ckt26-10-ev3dev-ev3 for the EV3.
-
v4.1.18-ti-rt-r56-10-ev3dev-bb.org for the BeagleBone.
-
v4.1.21-10-ev3dev-rpi for the Raspberry Pi 0/1.
-
v4.1.21-10-ev3dev-rpi2 for the Raspberry Pi 2/3.
Note: rt in the BeagleBone kernel denotes that it is a realtime kernel.
BeagleBone has been shipping a realtime kernel for a few months now, so it will
be interesting to see if we run into issues or if there is a noticeable difference
in performance. Perhaps in the future we can get a realtime kernel running on
the EV3 as well.
Breaking Changes
Motor Drivers!
There has been a major overhaul of the tacho-motor class. Most of the changes
are under the hood, however there are a few important breaking changes that
users need to know about.
-
speed_regulation attribute is removed. Now, all run-* commands except for
run-direct behave the same as the old speed_regulation = on. If you need
unregulated control of motors (speed_regulation = off) use the run-direct
command.
-
encoder_polarity attribute is removed. You probably were not using this
unless you were using Firgelli linear actuators. More on these later…
-
stop_command is renamed to stop_action. Since we were making breaking
changes, we decided to change this to make it clear that when you write to
this attribute, the motor does not stop until you write stop to command.
Note: This change also affects the dc-motor class.
-
max_speed attribute is added. This returns the maximum speed of the motor
with no load at 9V.
- New
linear subclass for linear actuators.
- This is for use with Firgelli linear actuators.
- These are not automatically detected. You have to specify the driver by
using the
set_device attribute of the output port.
- The devices will show up as
/sys/class/tacho-motor/linearN instead of
/sys/class/tacho-motor/motorN
- These will not have the
count_per_rot attribute. Instead, they will have
count_per_m (tachometer counts per meter of linear travel) and
full_travel_count (tachometer counts for full travel of the actuator)
Fixes
Thanks to some new contributors for the following:
-
@harmooni fixed the HiTechnic Angle Sensor driver.
-
@markosko fixed the HiTechic Compass Sensor driver.
Also we backported a couple of mainline kernel patches to our EV3 kernel:
- Fixed some Sony Dualshock controllers not working.
- Fixed camera button on LEGO Vision Command cameras not working.
And last, but not least, BrickPi got some love:
- Motor control is greatly improved. You can now control motors very close to
the same way you can on the EV3.
- Fixed inconsistent port addresses.
- Fixed a sensor connection bug.
- Fixed NXT/Analog sensors value not changing.
Changelogs
For a more complete changelog, follow the link for your platform:
EV3, BB, RPi or RPi2.
.