Release v3.2.0b2

Added

• Added Motor.stalled(). It can detect stall during speed and position
  control (run, run_angle, ...) just like Motor.control.stalled(), but
  it also detects stall for dc() command when the user controls the voltage
  directly.

Fixed

• Fixed motor not stopping at the end of run_until_stalled (support#662).
• Fixed incorrect battery current reading on Technic hub (support#665).
• When the motor was pushed backwards while stalled, the control.stalled()
  was inadvertently cleared because a nonzero speed was detected. This is fixed
  by checking the intended direction as well.
• 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. This results
  in better speed estimation at low speeds, which makes PID control smoother.
• The Motor.speed() method and DriveBase equivalents now provide the
  estimated speed instead of the value reported by the motor. This is generally
  more responsive.
• Overhauled the control code to make it smaller and more numerically robust
  while using higher position resolution where it is available.
• Changed drive base default speed to go a little slower.
• Updated MicroPython to v1.19.