# Firmware Changelog

### **Version 1.8.2 (Latest Version)**

* Improved USB recovery in case of fault event (e.g. ESD fault)
* Improved DC motor output linearity
* Improved closed-loop control modes
* Improved I2C speeds
* Minor bug fixes 

[Download REV Hub Firmware Version 1.8.2](https://www.revrobotics.com/content/sw/REVHubFirmware_1_08_02.bin)

### **Version 1.7.2**

* Fixes a bug where encoder counts would occasionally reset.

[Download REV Hub Firmware Version 1.7.2](https://www.revrobotics.com/content/sw/REVHubFirmware_1_07_02.bin)

### **Version 1.7.0**

* Fixes a bug where some I2C sensors can lock up the bus causing other additional performance issues.
* Added new status LED blink code:
  * Blinking orange indicates the Expansion Hub is only powered over USB. In other words, turn on your main power switch!
* Other minor performance tweaks.

[Download REV Hub Firmware Version 1.7.0](https://www.revrobotics.com/content/sw/REVHubFirmware_1_07_00.bin)

### **Version 1.6.0**

* Original Release

[Download REV Hub Firmware Version 1.6.0](https://www.revrobotics.com/content/sw/REVHubFirmware_1_06_00.bin)