Version 4.0.0

• getAngularDisplacement() of the HeadingSensor class returns an unsigned int instead of an int. The output the user will be getting is in the range of [0,360) in order to standardize the readings from the various sensors (Gyroscope, IMU etc). Therefore, when someone is using an extension of the HeadingSensor class (e.g. an L3G4200D Gyroscope or an MPU6050) the behavior will be the same, regardless of the underlying differences.
• Other parts of the library that were dependent on the previous format, have been changed accordingly, e.g. Car::rotate(int degrees) and will work in the same way.

Warning: This change alters the behavior of the API in a non-backwards compatible manner and might cause some already existing sketches to behave unexpectedly, e.g. when getAngularDisplacement() was used to define the heading. An quick fix/workaround is to subtract 360 out of the new readings if they are larger than 180 (so 359 becomes -1 and 270 becomes -90).

Version 3.2.2

• Added an example that will help novice users to get started with how to connect the motors to the Smartcar shield

Version 3.2.1

• Small fix in the SRF08 example
• Minor internal change in the Car constructor

Version 3.2.0

• Architectural changes in the library (see: wiki/Library Architecture)
• Brushed DC motors are not separately represented in a programmatic way, increasing the modularity of the library and loosening the coupling.
• A DC motor can be used for simple steering of the car

Version 3.1.7

• Improvements (faster and more consistent) in ultrasonic measurements, based on the NewPing 1.7 library.
• DCMotors class renamed to ShieldMotors

Version 3.1.6

• Faster measurements with getMedianDistance of SR04 sensors.

Version 3.1.5

• Small improvements in ultrasonic sensor measurements

Version 3.1.4

• Various compatibility improvements for different boards (especially 32-bit ones) such as Arduino Due or Teensy
• Additional example sketches

Version 3.1.3

• Bug fix in Car::rotate
• Improvements in Odometer::getSpeed (now using microseconds instead of milliseconds to measure the dt)
• Improvements in PID controller (now using floats, so to make the response to disturbances more accurate and not lose information contained in decimals)
• New example (PID behavior monitor) added

Version 3.1.0

• Introducing HeadingSensor parent class, that is used instead of Gyroscope, therefore allowing other classes to be used instead of Gyroscope.
• HeadingSensor and Odometer classes, are not used by reference, without essentially using a copy of them in the Car class, as before. This makes the library more consistent and increasing performance.
• Example that illustrates the control of a Smartcar that uses a servo motor for steering and an esc for throttling added.
• No need to include anymore the Servo and Wire libraries in the user sketches, according to Arduino IDE 1.6.6 or higher.
• Various small fixes.