From d548c200621ef740a9ab06385a18affaecdb4a65 Mon Sep 17 00:00:00 2001
From: David Lechner <david@pybricks.com>
Date: Wed, 6 Jul 2022 13:22:23 -0500
Subject: [PATCH] update Pybricks firmware to v3.2.0b2

---
 CHANGELOG.md | 27 ++++++++++++++++++++++++++-
 package.json |  2 +-
 yarn.lock    | 10 +++++-----
 3 files changed, 32 insertions(+), 7 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 51be7772..d80abc75 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,7 +2,32 @@
 
 # Changelog
 
-## [2.0.0-beta.2]
+## [Unreleased]
+
+### Changed
+- Updated firmware to Pybricks v3.2.0b2:
+
+  ### Added
+  - Added `Motor.stalled()` method.
+
+  ### Fixed
+  - Fixed motor not stopping at the end of `run_until_stalled` ([support#662]).
+  - Fixed incorrect battery current reading on Technic hub ([support#665]).
+  - Fixed non-zero speed reported when stalled.
+  - Fixed I/O devices not syncing at high baud rate.
+  - Fixed `ENODEV` error while device connection manager is busy ([support#674]).
+
+  ### Changed
+  - Reworked internal motor model that is used to estimate speed.
+  - Speed methods now use estimated speed instead of reported speed.
+  - Changed drive base default speed to go a little slower.
+  - Updated MicroPython to v1.19.
+
+  [support#662]: https://github.com/pybricks/support/issues/662
+  [support#665]: https://github.com/pybricks/support/issues/665
+  [support#674]: https://github.com/pybricks/support/issues/674
+
+## [2.0.0-beta.2] - 2022-06-24
 
 ### Added
 - Added basic intellisense to the code editor.
diff --git a/package.json b/package.json
index c56a2546..ac0d3961 100644
--- a/package.json
+++ b/package.json
@@ -12,7 +12,7 @@
         "@blueprintjs/core": "^4.5.0",
         "@blueprintjs/popover2": "^1.4.1",
         "@pmmmwh/react-refresh-webpack-plugin": "^0.5.7",
-        "@pybricks/firmware": "4.15.0",
+        "@pybricks/firmware": "4.16.1",
         "@pybricks/ide-docs": "2.2.0",
         "@pybricks/mpy-cross-v5": "^2.0.0",
         "@pybricks/mpy-cross-v6": "^1.0.0",
diff --git a/yarn.lock b/yarn.lock
index 62e95ebe..940a3727 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -2260,12 +2260,12 @@ __metadata:
   languageName: node
   linkType: hard
 
-"@pybricks/firmware@npm:4.15.0":
-  version: 4.15.0
-  resolution: "@pybricks/firmware@npm:4.15.0"
+"@pybricks/firmware@npm:4.16.1":
+  version: 4.16.1
+  resolution: "@pybricks/firmware@npm:4.16.1"
   dependencies:
     jszip: ^3.7.1
-  checksum: 9aed7ff24b3d00103e4da9e6470cfb5246baa204551ed0e70c166d3206d5027dc5d6f322fe8d2d36d085ac7bb6895ad8d2ab819d514f2709dff4635efb25afbf
+  checksum: 37c136f4d32dfac4938279ef7dc2eb9fcd1635a5f650161e54ba0f60050217be8f34bbc1632adec1b8bb566929db205e874c4eacb6fa2174b6d6dfa936b97a21
   languageName: node
   linkType: hard
 
@@ -2298,7 +2298,7 @@ __metadata:
     "@blueprintjs/core": ^4.5.0
     "@blueprintjs/popover2": ^1.4.1
     "@pmmmwh/react-refresh-webpack-plugin": ^0.5.7
-    "@pybricks/firmware": 4.15.0
+    "@pybricks/firmware": 4.16.1
     "@pybricks/ide-docs": 2.2.0
     "@pybricks/mpy-cross-v5": ^2.0.0
     "@pybricks/mpy-cross-v6": ^1.0.0