diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 2f2b08154..67d13acf1 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -31,7 +31,7 @@ jobs:
       uses: actions/upload-artifact@v3
       with:
         name: mpy-cross
-        path: micropython/mpy-cross/mpy-cross
+        path: micropython/mpy-cross/build/mpy-cross
 
   unix_coverage:
     name: unix coverage
@@ -48,9 +48,9 @@ jobs:
       uses: actions/download-artifact@v3
       with:
         name: mpy-cross
-        path: micropython/mpy-cross
+        path: micropython/mpy-cross/build
     - name: Fix file permission
-      run: chmod +x micropython/mpy-cross/mpy-cross
+      run: chmod +x micropython/mpy-cross/build/mpy-cross
     - name: Build
       run: |
         cd micropython
@@ -62,7 +62,7 @@ jobs:
       run: |
         cd micropython
         make -C ports/unix VARIANT=coverage test_full
-        (cd tests && MICROPY_CPYTHON3=python3 MICROPY_MICROPYTHON=../ports/unix/micropython-coverage ./run-multitests.py multi_net/*.py)
+        (cd tests && MICROPY_CPYTHON3=python3 MICROPY_MICROPYTHON=../ports/unix/build-coverage/micropython ./run-multitests.py multi_net/*.py)
     - name: List failed tests
       if: failure()
       run: micropython/tests/run-tests.py --print-failures
@@ -104,7 +104,7 @@ jobs:
       uses: actions/upload-artifact@v3
       with:
         name: pybricks-micropython-build-${{ github.run_number }}
-        path: bricks/ev3dev/pybricks-micropython
+        path: bricks/ev3dev/build-armel/pybricks-micropython
 
   ev3dev_ubuntu_lts:
     name: ev3dev-ubuntu-lts
@@ -138,9 +138,9 @@ jobs:
       uses: actions/download-artifact@v3
       with:
         name: mpy-cross
-        path: micropython/mpy-cross
+        path: micropython/mpy-cross/build
     - name: Fix file permission
-      run: chmod +x micropython/mpy-cross/mpy-cross
+      run: chmod +x micropython/mpy-cross/build/mpy-cross
     - name: Build
       run: make $MAKEOPTS -C bricks/ev3dev
     - name: Test
@@ -172,9 +172,9 @@ jobs:
       uses: actions/download-artifact@v3
       with:
         name: mpy-cross
-        path: micropython/mpy-cross
+        path: micropython/mpy-cross/build
     - name: Fix file permission
-      run: chmod +x micropython/mpy-cross/mpy-cross
+      run: chmod +x micropython/mpy-cross/build/mpy-cross
     - name: Install python
       uses: actions/setup-python@v4
       with:
@@ -227,9 +227,9 @@ jobs:
       uses: actions/download-artifact@v3
       with:
         name: mpy-cross
-        path: micropython/mpy-cross
+        path: micropython/mpy-cross/build
     - name: Fix file permission
-      run: chmod +x micropython/mpy-cross/mpy-cross
+      run: chmod +x micropython/mpy-cross/build/mpy-cross
     - name: Build and test
       run: COVERAGE=1 ./test-virtualhub.sh
     - name: Coveralls
@@ -256,9 +256,9 @@ jobs:
       uses: actions/download-artifact@v3
       with:
         name: mpy-cross
-        path: micropython/mpy-cross
+        path: micropython/mpy-cross/build
     - name: Fix file permission
-      run: chmod +x micropython/mpy-cross/mpy-cross
+      run: chmod +x micropython/mpy-cross/build/mpy-cross
     - name: Build
       run: make $MAKEOPTS -C bricks/ev3rt
 
@@ -278,9 +278,9 @@ jobs:
       uses: actions/download-artifact@v3
       with:
         name: mpy-cross
-        path: micropython/mpy-cross
+        path: micropython/mpy-cross/build
     - name: Fix file permission
-      run: chmod +x micropython/mpy-cross/mpy-cross
+      run: chmod +x micropython/mpy-cross/build/mpy-cross
     - name: Build
       run: make $MAKEOPTS -C bricks/debug build/firmware.dfu
 
diff --git a/.vscode/launch.json b/.vscode/launch.json
index 1a3d686a7..dd30a9c98 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -66,7 +66,7 @@
             "type": "cppdbg",
             "request": "launch",
             "cwd": "${workspaceFolder}/micropython/tests",
-            "program": "${workspaceFolder}/bricks/ev3dev/pybricks-micropython",
+            "program": "${workspaceFolder}/bricks/ev3dev/build-test/pybricks-micropython",
             "args": [
                 "../../tests/ev3dev/brick/battery.py"
             ],
@@ -187,7 +187,7 @@
             "name": "(gdb) Attach",
             "type": "cppdbg",
             "request": "attach",
-            "program": "${workspaceFolder}/bricks/ev3dev/pybricks-micropython",
+            "program": "${workspaceFolder}/bricks/ev3dev/built-test/pybricks-micropython",
             "processId": "${command:pickProcess}",
             "MIMode": "gdb",
             "setupCommands": [
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 7cfa80ac2..2321af2db 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -6,12 +6,12 @@
         {
             "label": "build ev3dev-test",
             "type": "shell",
-            "command": "poetry run make -C bricks/ev3dev pybricks-micropython build-test/libgrx-3.0-vdriver-test.so DEBUG=1 COPT=-O0 BUILD=build-test CROSS_COMPILE= -j"
+            "command": "poetry run make -C bricks/ev3dev build-test/pybricks-micropython build-test/libgrx-3.0-vdriver-test.so DEBUG=1 COPT=-O0 BUILD=build-test CROSS_COMPILE= -j"
         },
         {
             "label": "build ev3dev deploy",
             "type": "shell",
-            "command": "make ev3dev-armel -j && cp bricks/ev3dev/pybricks-micropython /run/user/1000/gvfs/sftp:host=*/home/robot"
+            "command": "make ev3dev-armel -j && cp bricks/ev3dev/build-armel/pybricks-micropython /run/user/1000/gvfs/sftp:host=*/home/robot"
         },
         {
             "label": "build virtualhub",
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 788a7e152..0e268156a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,9 @@
 
 ## [Unreleased]
 
+### Changed
+- Updated MicroPython to v1.20.0.
+
 ## [3.3.0b4] - 2023-04-21
 
 ### Fixed
diff --git a/Makefile b/Makefile
index a444ff3e4..794d53ab6 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2019-2022 The Pybricks Authors
+# Copyright (c) 2019-2023 The Pybricks Authors
 
 # ensure micropython submodule is checked out for building mpy-cross
 ifeq ("$(wildcard micropython/README.md)","")
@@ -30,7 +30,7 @@ clean-doc:
 
 all: movehub cityhub technichub primehub essentialhub virtualhub nxt debug ev3rt doc
 
-clean-all: clean-movehub clean-cityhub clean-technichub clean-primehub clean-essentialhub clean-virtualhub clean-nxt clean-debug clean-doc
+clean-all: clean-movehub clean-cityhub clean-technichub clean-primehub clean-essentialhub clean-virtualhub clean-nxt clean-debug clean-ev3rt clean-doc
 
 ifeq ($(HOST_OS),Linux)
 
diff --git a/bricks/_common/arm_none_eabi.mk b/bricks/_common/arm_none_eabi.mk
index e5101ce6e..2a7f05dbc 100644
--- a/bricks/_common/arm_none_eabi.mk
+++ b/bricks/_common/arm_none_eabi.mk
@@ -175,8 +175,6 @@ CFLAGS += -DSTM32_H='<stm32$(PB_MCU_SERIES_LCASE)xx.h>'
 CFLAGS += -DSTM32_HAL_H='<stm32$(PB_MCU_SERIES_LCASE)xx_hal.h>'
 endif
 
-MPY_CROSS = $(PBTOP)/micropython/mpy-cross/mpy-cross
-
 LIBS = "$(shell $(CC) $(CFLAGS) -print-libgcc-file-name)"
 
 # Sources and libraries common to all pybricks bricks
@@ -192,6 +190,7 @@ include $(PBTOP)/bricks/_common/sources.mk
 # between the top level directory and the micropython/ subdirectory.
 
 PY_EXTRA_SRC_C = $(addprefix shared/,\
+	libc/printf.c \
 	libc/string0.c \
 	readline/readline.c \
 	runtime/gchelper_native.c \
diff --git a/bricks/_common/micropython.c b/bricks/_common/micropython.c
index c392bc2aa..2ef2c045b 100644
--- a/bricks/_common/micropython.c
+++ b/bricks/_common/micropython.c
@@ -48,7 +48,19 @@ void pb_event_poll_hook(void) {
 
 // callback for when stop button is pressed in IDE or on hub
 void pbsys_main_stop_program(bool force_stop) {
-    mp_sched_system_exit_or_abort(force_stop);
+    if (force_stop) {
+        mp_sched_vm_abort();
+    } else {
+        pyexec_system_exit = PYEXEC_FORCED_EXIT;
+
+        static mp_obj_exception_t system_exit;
+        system_exit.base.type = &mp_type_SystemExit;
+        system_exit.traceback_alloc = system_exit.traceback_len = 0;
+        system_exit.traceback_data = NULL;
+        system_exit.args = (mp_obj_tuple_t *)&mp_const_empty_tuple_obj;
+
+        mp_sched_exception(MP_OBJ_FROM_PTR(&system_exit));
+    }
 }
 
 bool pbsys_main_stdin_event(uint8_t c) {
@@ -91,8 +103,8 @@ static void mp_vfs_map_minimal_new_reader(mp_reader_t *reader, mp_vfs_map_minima
 
 // Prints the exception that ended the program.
 static void print_final_exception(mp_obj_t exc) {
-    // Handle graceful stop with button or shutdown.
-    if (mp_obj_exception_match(exc, MP_OBJ_FROM_PTR(&mp_type_SystemAbort)) ||
+    // Handle graceful stop with button.
+    if (pyexec_system_exit == PYEXEC_FORCED_EXIT &&
         mp_obj_exception_match(exc, MP_OBJ_FROM_PTR(&mp_type_SystemExit))) {
         mp_printf(&mp_plat_print, "The program was stopped (%q).\n",
             ((mp_obj_exception_t *)MP_OBJ_TO_PTR(exc))->base.type->name);
@@ -105,19 +117,31 @@ static void print_final_exception(mp_obj_t exc) {
 
 #if PYBRICKS_OPT_COMPILER
 static void run_repl(void) {
-    // Reset REPL history.
     readline_init0();
+    pyexec_system_exit = 0;
+
     nlr_buf_t nlr;
+    nlr.ret_val = NULL;
+
     if (nlr_push(&nlr) == 0) {
+        nlr_set_abort(&nlr);
         // Run the REPL.
         pyexec_friendly_repl();
         nlr_pop();
     } else {
+        // if vm abort
+        if (nlr.ret_val == NULL) {
+            // we are shutting down, so don't bother with cleanup
+            return;
+        }
+
         // clear any pending exceptions (and run any callbacks).
         mp_handle_pending(false);
         // Print which exception triggered this.
         print_final_exception(MP_OBJ_FROM_PTR(nlr.ret_val));
     }
+
+    nlr_set_abort(NULL);
 }
 #endif
 
@@ -203,9 +227,14 @@ static mpy_info_t *mpy_data_find(qstr name) {
  * Runs the __main__ module from user RAM.
  */
 static void run_user_program(void) {
+    pyexec_system_exit = 0;
 
     nlr_buf_t nlr;
+    nlr.ret_val = NULL;
+
     if (nlr_push(&nlr) == 0) {
+        nlr_set_abort(&nlr);
+
         mpy_info_t *info = mpy_data_find(MP_QSTR___main__);
 
         if (!info) {
@@ -218,7 +247,9 @@ static void run_user_program(void) {
         mp_vfs_map_minimal_new_reader(&reader, &data, mpy_data_get_buf(info), pbio_get_uint32_le(info->mpy_size));
         mp_module_context_t *context = m_new_obj(mp_module_context_t);
         context->module.globals = mp_globals_get();
-        mp_compiled_module_t compiled_module = mp_raw_code_load(&reader, context);
+        mp_compiled_module_t compiled_module;
+        compiled_module.context = context;
+        mp_raw_code_load(&reader, &compiled_module);
         mp_obj_t module_fun = mp_make_function_from_raw_code(compiled_module.rc, context, NULL);
 
         // Run the script while letting CTRL-C interrupt it.
@@ -231,8 +262,15 @@ static void run_user_program(void) {
 
         nlr_pop();
     } else {
-        // Clear any pending exceptions (and run any callbacks).
         mp_hal_set_interrupt_char(-1);
+
+        // if vm abort
+        if (nlr.ret_val == NULL) {
+            // we are shutting down, so don't bother with cleanup
+            return;
+        }
+
+        // Clear any pending exceptions (and run any callbacks).
         mp_handle_pending(false);
 
         print_final_exception(MP_OBJ_FROM_PTR(nlr.ret_val));
@@ -251,6 +289,8 @@ static void run_user_program(void) {
         }
         #endif
     }
+
+    nlr_set_abort(NULL);
 }
 
 // Runs MicroPython with the given program data.
@@ -340,7 +380,9 @@ mp_obj_t pb_builtin_import(size_t n_args, const mp_obj_t *args) {
         // Create new module and execute in its own context.
         mp_obj_t module_obj = mp_obj_new_module(module_name_qstr);
         mp_module_context_t *context = MP_OBJ_TO_PTR(module_obj);
-        mp_compiled_module_t compiled_module = mp_raw_code_load(&reader, context);
+        mp_compiled_module_t compiled_module;
+        compiled_module.context = context;
+        mp_raw_code_load(&reader, &compiled_module);
         do_execute_raw_code(context, compiled_module.rc, compiled_module.context);
 
         // Return the newly imported module.
diff --git a/bricks/_common/mpconfigport.h b/bricks/_common/mpconfigport.h
index 96595205c..0a0b2a4b5 100644
--- a/bricks/_common/mpconfigport.h
+++ b/bricks/_common/mpconfigport.h
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2019-2022 The Pybricks Authors
+// Copyright (c) 2019-2023 The Pybricks Authors
 
 // Common configuration of Pybricks MicroPython ports.
 
@@ -106,6 +106,7 @@
 #define MICROPY_FLOAT_IMPL                      (MICROPY_FLOAT_IMPL_NONE)
 #endif
 #define MICROPY_KBD_EXCEPTION                   (1)
+#define MICROPY_ENABLE_VM_ABORT                 (1)
 #define MICROPY_ENABLE_SCHEDULER                (0)
 #define MICROPY_PY_INSTANCE_ATTRS               (1)
 
diff --git a/bricks/_common_stm32/mpconfigport.h b/bricks/_common_stm32/mpconfigport.h
index 893580784..bd4a3a5e1 100644
--- a/bricks/_common_stm32/mpconfigport.h
+++ b/bricks/_common_stm32/mpconfigport.h
@@ -1,6 +1,6 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2013, 2014 Damien P. George
-// Copyright (c) 2018-2022 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 // Contains the MicroPython configuration for all STM32-based Pybricks ports.
 
@@ -67,7 +67,3 @@ static inline mp_uint_t disable_irq(void) {
 #include <alloca.h>
 
 #define MP_STATE_PORT MP_STATE_VM
-
-#define MICROPY_PORT_ROOT_POINTERS \
-    mp_obj_dict_t *pb_type_Color_dict; \
-    const char *readline_hist[8];
diff --git a/bricks/ev3dev/Makefile b/bricks/ev3dev/Makefile
index dd8b88116..895ff0b8a 100644
--- a/bricks/ev3dev/Makefile
+++ b/bricks/ev3dev/Makefile
@@ -1,6 +1,6 @@
 # SPDX-License-Identifier: MIT
 # Copyright (c) 2013, 2014 Damien P. George
-# Copyright (c) 2019-2022 The Pybricks Authors
+# Copyright (c) 2019-2023 The Pybricks Authors
 
 # ensure required git submodules checked out
 ifeq ("$(wildcard ../../micropython/README.md)","")
@@ -24,6 +24,13 @@ ifeq ("$(wildcard ../../micropython/lib/berkeley-db-1.xx/README)","")
 $(error failed)
 endif
 endif
+ifeq ("$(wildcard ../../micropython/lib/micropython-lib/README.md)","")
+$(info GIT cloning micropython-lib submodule)
+$(info $(shell cd ../../micropython && git submodule update --init lib/micropython-lib))
+ifeq ("$(wildcard ../../micropython/lib/micropython-lib/README.md)","")
+$(error failed)
+endif
+endif
 
 # lets micropython make files work with external files
 USER_C_MODULES = ../..
@@ -47,6 +54,7 @@ UNAME_S := $(shell uname -s)
 
 # include py core make definitions
 include $(TOP)/py/py.mk
+include $(TOP)/extmod/extmod.mk
 
 INC += -I.
 INC += -I$(TOP)
@@ -213,11 +221,12 @@ SRC_C += $(SRC_MOD)
 
 SHARED_SRC_C += $(addprefix shared/,\
 	runtime/gchelper_generic.c \
-	runtime/pyexec.c \
 	timeutils/timeutils.c \
 	$(SHARED_SRC_C_EXTRA) \
 	)
 
+SRC_CXX += \
+
 # Pybricks port core source files
 PYBRICKS_SRC_C += \
 	ev3dev_mphal.c \
@@ -242,17 +251,18 @@ EV3DEV_LIB_SRC_C = $(addprefix lib/,\
 
 OBJ = $(PY_O)
 OBJ += $(addprefix $(BUILD)/, $(SRC_C:.c=.o))
+OBJ += $(addprefix $(BUILD)/, $(SRC_CXX:.cpp=.o))
 OBJ += $(addprefix $(BUILD)/, $(SHARED_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(CONTIKI_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(EV3DEV_LIB_SRC_C:.c=.o))
-OBJ += $(addprefix $(BUILD)/, $(EXTMOD_SRC_C:.c=.o))
+OBJ += $(addprefix $(BUILD)/, $(SRC_EXTMOD_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(PBIO_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(PY_EXTRA_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(PYBRICKS_PYBRICKS_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(PYBRICKS_SRC_C:.c=.o))
 
 # List of sources for qstr extraction
-SRC_QSTR += $(SRC_C) $(SHARED_SRC_C) $(PY_EXTRA_SRC_C) $(EXTMOD_SRC_C) $(PYBRICKS_SRC_C) $(PYBRICKS_PYBRICKS_SRC_C)
+SRC_QSTR += $(SRC_C) $(SHARED_SRC_C) $(PY_EXTRA_SRC_C) $(SRC_EXTMOD_C) $(PYBRICKS_SRC_C) $(PYBRICKS_PYBRICKS_SRC_C)
 # Append any auto-generated sources that are needed by sources listed in
 # SRC_QSTR
 SRC_QSTR_AUTO_DEPS +=
@@ -263,9 +273,6 @@ ifneq ($(FROZEN_MANIFEST),)
 CFLAGS += -DMICROPY_QSTR_EXTRA_POOL=mp_qstr_frozen_const_pool
 CFLAGS += -DMICROPY_MODULE_FROZEN_MPY
 CFLAGS += -DMPZ_DIG_SIZE=16 # force 16 bits to work on both 32 and 64 bit archs
-endif
-
-ifneq ($(FROZEN_MANIFEST),)
 CFLAGS += -DMICROPY_MODULE_FROZEN_STR
 endif
 
@@ -292,14 +299,14 @@ $(GRX_TEST_PLUGIN_OBJ): ../../tests/ev3dev/grx-plugin.c
 $(GRX_TEST_PLUGIN_LIB): $(GRX_TEST_PLUGIN_OBJ)
 	$(Q)$(CC) -shared -o $@ $^ $(LDFLAGS)
 
-test-ev3dev: $(PROG) $(TOP)/tests/run-tests.py $(GRX_TEST_PLUGIN_LIB)
-	cd $(TOP)/tests && MICROPY_MICROPYTHON="../../tests/ev3dev/test-wrapper.sh" \
+test-ev3dev: $(BUILD)/$(PROG) $(TOP)/tests/run-tests.py $(GRX_TEST_PLUGIN_LIB)
+	cd $(TOP)/tests && PYBRICKS_MICROPYTHON="$(realpath $<)" MICROPY_MICROPYTHON="../../tests/ev3dev/test-wrapper.sh" \
 		GRX_PLUGIN_PATH=$(realpath $(BUILD)) GRX_DRIVER=test \
 		./run-tests.py --test-dirs $(EV3DEV_TEST_DIRS)
 
-test: $(PROG) $(TOP)/tests/run-tests.py $(GRX_TEST_PLUGIN_LIB)
+test: $(BUILD)/$(PROG) $(TOP)/tests/run-tests.py $(GRX_TEST_PLUGIN_LIB)
 	$(eval DIRNAME=../bricks/$(notdir $(CURDIR)))
-	cd $(TOP)/tests && MICROPY_MICROPYTHON="../../tests/ev3dev/test-wrapper.sh" \
+	cd $(TOP)/tests && PYBRICKS_MICROPYTHON="$(realpath $<)" MICROPY_MICROPYTHON="../../tests/ev3dev/test-wrapper.sh" \
 		GRX_PLUGIN_PATH=$(realpath $(BUILD)) GRX_DRIVER=test \
 		./run-tests.py
 
@@ -314,9 +321,9 @@ endif
 PREFIX = /usr/local
 BINDIR = $(DESTDIR)$(PREFIX)/bin
 
-install: $(PROG)
+install: $(BUILD)/$(PROG)
 	install -d $(BINDIR)
-	install $(PROG) $(BINDIR)/$(PROG)
+	install $(BUILD)/$(PROG) $(BINDIR)/$(PROG)
 
 uninstall:
 	-rm $(BINDIR)/$(PROG)
diff --git a/bricks/ev3dev/README.md b/bricks/ev3dev/README.md
index 4f00c419b..e85b0d224 100644
--- a/bricks/ev3dev/README.md
+++ b/bricks/ev3dev/README.md
@@ -27,7 +27,7 @@ sudo ln -s /home/robot/pybricks-micropython /usr/bin/pybricks-micropython
 Once you've followed the steps above, you can build and deploy using:
 
 ```
-make ev3dev-armel && cp bricks/ev3dev/pybricks-micropython /run/user/1000/gvfs/sftp:host=*,user=robot/home/robot
+make ev3dev-armel && cp bricks/ev3dev/build-armel/pybricks-micropython /run/user/1000/gvfs/sftp:host=*,user=robot/home/robot
 ```
 
 Then all pybricks-micropython tools and projects will use the new build without
diff --git a/bricks/ev3dev/docker/README.md b/bricks/ev3dev/docker/README.md
index b11d947e7..608853d2b 100644
--- a/bricks/ev3dev/docker/README.md
+++ b/bricks/ev3dev/docker/README.md
@@ -15,7 +15,7 @@ submodules and have built `mpy-cross` for the host OS (`make -C mpy-cross`).
 
 3. Transfer the generated `pybricks-micropython` to the EV3 Brick.
 
-        scp bricks/ev3dev/pybricks-micropython robot@ev3dev:~
+        scp bricks/ev3dev/build-armel/pybricks-micropython robot@ev3dev:~
 
 4. Run it on the EV3.
 
diff --git a/bricks/ev3dev/docker/setup.sh b/bricks/ev3dev/docker/setup.sh
index 1aa10ac79..efa9a2693 100755
--- a/bricks/ev3dev/docker/setup.sh
+++ b/bricks/ev3dev/docker/setup.sh
@@ -73,6 +73,7 @@ docker run \
     --name ${container_name} \
     --env "TERM=${TERM}" \
     --env "DESTDIR=/build/dist" \
+    --env "MICROPY_MPYCROSS=/src/micropython/mpy-cross/build-armel/mpy-cross" \
     --user $(id -u):$(id -g) \
     --tty \
     --detach \
diff --git a/bricks/ev3dev/manifest.py b/bricks/ev3dev/manifest.py
index f36556e58..8dd552435 100644
--- a/bricks/ev3dev/manifest.py
+++ b/bricks/ev3dev/manifest.py
@@ -1,3 +1 @@
 freeze_as_mpy("./modules")
-freeze_as_mpy("$(MPY_DIR)/tools", "upip.py")
-freeze_as_mpy("$(MPY_DIR)/tools", "upip_utarfile.py", opt=3)
diff --git a/bricks/ev3dev/mpconfigport.h b/bricks/ev3dev/mpconfigport.h
index 21c68d27e..557fb5c85 100644
--- a/bricks/ev3dev/mpconfigport.h
+++ b/bricks/ev3dev/mpconfigport.h
@@ -1,6 +1,6 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2013, 2014 Damien P. George
-// Copyright (c) 2018-2022 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 // Pybricks brick specific definitions
 #include "brickconfig.h"
@@ -143,6 +143,7 @@ static const char pybricks_ev3dev_help_text[] =
 #define MICROPY_MODULE_GETATTR                  (1)
 #define MICROPY_PY_DELATTR_SETATTR              (1)
 #define MICROPY_PY_REVERSE_SPECIAL_METHODS      (1)
+#define MICROPY_PY_BUILTINS_BYTES_HEX           (1)
 #define MICROPY_PY_BUILTINS_MEMORYVIEW_ITEMSIZE (1)
 #define MICROPY_PY_BUILTINS_NEXT2               (1)
 #define MICROPY_PY_BUILTINS_RANGE_BINOP         (1)
@@ -363,12 +364,6 @@ struct _mp_bluetooth_nimble_malloc_t;
 #define MICROPY_BLUETOOTH_ROOT_POINTERS
 #endif
 
-#define MICROPY_PORT_ROOT_POINTERS \
-    mp_obj_dict_t *pb_type_Color_dict; \
-    const char *readline_hist[50]; \
-    void *mmap_region_head; \
-    MICROPY_BLUETOOTH_ROOT_POINTERS \
-
 // We need to provide a declaration/definition of alloca()
 // unless support for it is disabled.
 #if !defined(MICROPY_NO_ALLOCA) || MICROPY_NO_ALLOCA == 0
diff --git a/bricks/ev3dev/pb_type_ev3dev_font.c b/bricks/ev3dev/pb_type_ev3dev_font.c
index a5161158d..bc1304f76 100644
--- a/bricks/ev3dev/pb_type_ev3dev_font.c
+++ b/bricks/ev3dev/pb_type_ev3dev_font.c
@@ -1,6 +1,6 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2013, 2014 Damien P. George
-// Copyright (c) 2019-2021 The Pybricks Authors
+// Copyright (c) 2019-2023 The Pybricks Authors
 
 // class Screen
 
@@ -151,14 +151,13 @@ STATIC const mp_rom_map_elem_t ev3dev_Font_locals_dict_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(ev3dev_Font_locals_dict, ev3dev_Font_locals_dict_table);
 
-const mp_obj_type_t pb_type_ev3dev_Font = {
-    { &mp_type_type },
-    .name = MP_QSTR_Font,
-    .make_new = ev3dev_Font_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = ev3dev_Font_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&ev3dev_Font_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ev3dev_Font,
+    MP_QSTR_Font,
+    MP_TYPE_FLAG_NONE,
+    make_new, ev3dev_Font_make_new,
+    attr, pb_attribute_handler,
+    protocol, ev3dev_Font_attr_dict,
+    locals_dict, &ev3dev_Font_locals_dict);
 
 GrxFont *pb_ev3dev_Font_obj_get_font(mp_const_obj_t obj) {
     if (!mp_obj_is_type(obj, &pb_type_ev3dev_Font)) {
diff --git a/bricks/ev3dev/pb_type_ev3dev_image.c b/bricks/ev3dev/pb_type_ev3dev_image.c
index 4e5ee5ddb..74f3324db 100644
--- a/bricks/ev3dev/pb_type_ev3dev_image.c
+++ b/bricks/ev3dev/pb_type_ev3dev_image.c
@@ -1,6 +1,6 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2013, 2014 Damien P. George
-// Copyright (c) 2019-2021 The Pybricks Authors
+// Copyright (c) 2019-2023 The Pybricks Authors
 
 // class Image
 //
@@ -408,13 +408,15 @@ STATIC mp_obj_t ev3dev_Image_draw_text(size_t n_args, const mp_obj_t *pos_args,
 
     mp_int_t x = pb_obj_get_int(x_in);
     mp_int_t y = pb_obj_get_int(y_in);
+
     if (!mp_obj_is_str_or_bytes(text_in)) {
         vstr_t vstr;
         mp_print_t print;
         vstr_init_print(&vstr, 16, &print);
         mp_obj_print_helper(&print, text_in, PRINT_STR);
-        text_in = mp_obj_new_str_from_vstr(&mp_type_str, &vstr);
+        text_in = mp_obj_new_str_from_vstr(&vstr);
     }
+
     const char *text = mp_obj_str_get_str(text_in);
     GrxColor text_color = map_color(text_color_in);
     GrxColor background_color = map_color(background_color_in);
@@ -570,11 +572,10 @@ STATIC const mp_rom_map_elem_t ev3dev_Image_locals_dict_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(ev3dev_Image_locals_dict, ev3dev_Image_locals_dict_table);
 
-const mp_obj_type_t pb_type_ev3dev_Image = {
-    { &mp_type_type },
-    .name = MP_QSTR_Image,
-    .make_new = ev3dev_Image_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = ev3dev_Image_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&ev3dev_Image_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ev3dev_Image,
+    MP_QSTR_Image,
+    MP_TYPE_FLAG_NONE,
+    make_new, ev3dev_Image_make_new,
+    attr, pb_attribute_handler,
+    protocol, ev3dev_Image_attr_dict,
+    locals_dict, &ev3dev_Image_locals_dict);
diff --git a/bricks/ev3dev/pb_type_ev3dev_speaker.c b/bricks/ev3dev/pb_type_ev3dev_speaker.c
index dbfd08291..ade1b37bd 100644
--- a/bricks/ev3dev/pb_type_ev3dev_speaker.c
+++ b/bricks/ev3dev/pb_type_ev3dev_speaker.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 // class Speaker
 //
@@ -657,9 +657,8 @@ STATIC const mp_rom_map_elem_t ev3dev_Speaker_locals_dict_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(ev3dev_Speaker_locals_dict, ev3dev_Speaker_locals_dict_table);
 
-const mp_obj_type_t pb_type_ev3dev_Speaker = {
-    { &mp_type_type },
-    .name = MP_QSTR_Speaker,
-    .make_new = ev3dev_Speaker_make_new,
-    .locals_dict = (mp_obj_dict_t *)&ev3dev_Speaker_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ev3dev_Speaker,
+    MP_QSTR_Speaker,
+    MP_TYPE_FLAG_NONE,
+    make_new, ev3dev_Speaker_make_new,
+    locals_dict, &ev3dev_Speaker_locals_dict);
diff --git a/bricks/ev3rt/Makefile b/bricks/ev3rt/Makefile
index 3e3452517..eb4e3b442 100644
--- a/bricks/ev3rt/Makefile
+++ b/bricks/ev3rt/Makefile
@@ -108,6 +108,7 @@ PY_EMBEDDED_SRC_C = $(addprefix bricks/,\
 # between the top level directory and the micropython/ subdirectory.
 
 PY_EXTRA_SRC_C += $(addprefix shared/,\
+	libc/printf.c \
 	libc/string0.c \
 	readline/readline.c \
 	runtime/gchelper_native.c \
diff --git a/bricks/ev3rt/mpconfigport.h b/bricks/ev3rt/mpconfigport.h
index 74f350f7e..d8e684620 100644
--- a/bricks/ev3rt/mpconfigport.h
+++ b/bricks/ev3rt/mpconfigport.h
@@ -1,6 +1,6 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2013, 2014 Damien P. George
-// Copyright (c) 2018-2022 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include <stdint.h>
 #include <pbdrv/config.h>
@@ -114,7 +114,3 @@ static inline mp_uint_t disable_irq(void) {
 #include <alloca.h>
 
 #define MP_STATE_PORT MP_STATE_VM
-
-#define MICROPY_PORT_ROOT_POINTERS \
-    mp_obj_dict_t *pb_type_Color_dict; \
-    const char *readline_hist[8];
diff --git a/bricks/nxt/mpconfigport.h b/bricks/nxt/mpconfigport.h
index 7b076ba8b..8c401d621 100644
--- a/bricks/nxt/mpconfigport.h
+++ b/bricks/nxt/mpconfigport.h
@@ -91,7 +91,3 @@ void nx_interrupts_enable(uint32_t);
     } while (0);
 
 #define MP_STATE_PORT MP_STATE_VM
-
-#define MICROPY_PORT_ROOT_POINTERS \
-    mp_obj_dict_t *pb_type_Color_dict; \
-    const char *readline_hist[8];
diff --git a/bricks/virtualhub/mpconfigvariant.h b/bricks/virtualhub/mpconfigvariant.h
index 378ee4b93..2c87a115e 100644
--- a/bricks/virtualhub/mpconfigvariant.h
+++ b/bricks/virtualhub/mpconfigvariant.h
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2022 The Pybricks Authors
+// Copyright (c) 2022-2023 The Pybricks Authors
 
 #define PYBRICKS_HUB_CLASS_NAME         (MP_QSTR_VirtualHub)
 
@@ -42,14 +42,23 @@
 #define PYBRICKS_OPT_CUSTOM_IMPORT              (1)
 
 // Upstream MicroPython options
+#define MICROPY_FLOAT_IMPL                      (MICROPY_FLOAT_IMPL_FLOAT)
+#define MICROPY_LONGINT_IMPL                    (MICROPY_LONGINT_IMPL_LONGLONG)
 #define MICROPY_MODULE_ATTR_DELEGATION          (1)
 #define MICROPY_MODULE_BUILTIN_INIT             (1)
 #define MICROPY_PY_BUILTINS_HELP                (1)
 #define MICROPY_PY_BUILTINS_HELP_MODULES        (1)
 #define MICROPY_PY_SYS_SETTRACE                 (1)
-#define MICROPY_PERSISTENT_CODE_SAVE            (1)
+#define MICROPY_PY_UERRNO                       (1)
+#define MICROPY_PY_UOS                          (1)
+#define MICROPY_PY_UOS_GETENV_PUTENV_UNSETENV   (1)
+#define MICROPY_PY_UOS_INCLUDEFILE              "ports/unix/moduos.c"
 #define MICROPY_PY_URANDOM_EXTRA_FUNCS          (1)
 #define MICROPY_PY_BUILTINS_SLICE_INDICES       (1)
+#define MICROPY_PERSISTENT_CODE_SAVE            (1)
+#define MICROPY_STREAMS_POSIX_API               (1)
+#define MICROPY_HELPER_REPL                     (1)
+#define MICROPY_KBD_EXCEPTION                   (1)
 
 // REVISIT: This list currently matches the stm32 builds. We may consider
 // adding more like the ev3dev build.
@@ -77,9 +86,6 @@
         pb_virtualhub_port_deinit(); \
 } while (0)
 
-#define MICROPY_VARIANT_ROOT_POINTERS \
-    mp_obj_dict_t *pb_type_Color_dict;
-
 #define MICROPY_VM_HOOK_LOOP do { \
         extern void pb_virtualhub_poll(void); \
         pb_virtualhub_poll(); \
diff --git a/bricks/virtualhub/mpconfigvariant.mk b/bricks/virtualhub/mpconfigvariant.mk
index 0ccf3bb07..c62c464b7 100644
--- a/bricks/virtualhub/mpconfigvariant.mk
+++ b/bricks/virtualhub/mpconfigvariant.mk
@@ -1,5 +1,5 @@
 # SPDX-License-Identifier: MIT
-# Copyright (c) 2022 The Pybricks Authors
+# Copyright (c) 2022-2023 The Pybricks Authors
 
 ###############################
 # Standard MicroPython config #
@@ -31,10 +31,10 @@ MICROPY_PY_SOCKET = 1
 MICROPY_PY_FFI = 1
 
 # ussl module requires one of the TLS libraries below
-MICROPY_PY_USSL = 1
+MICROPY_PY_USSL = 0
 # axTLS has minimal size but implements only a subset of modern TLS
 # functionality, so may have problems with some servers.
-MICROPY_SSL_AXTLS = 1
+MICROPY_SSL_AXTLS = 0
 # mbedTLS is more up to date and complete implementation, but also
 # more bloated.
 MICROPY_SSL_MBEDTLS = 0
@@ -46,6 +46,10 @@ MICROPY_PY_JNI = 0
 # as submodules (currently affects only libffi).
 MICROPY_STANDALONE = 0
 
+MICROPY_VFS_FAT = 0
+MICROPY_VFS_LFS1 = 0
+MICROPY_VFS_LFS2 = 0
+
 ######################
 # Pybricks additions #
 ######################
@@ -62,9 +66,8 @@ INC += -I../../../lib/pbio/platform/virtual_hub
 PBIO_PLATFORM = virtual_hub
 include ../../../bricks/_common/sources.mk
 
-EXTMOD_SRC_C += $(PYBRICKS_PYBRICKS_SRC_C)
-LIB_SRC_C += $(CONTIKI_SRC_C)
-LIB_SRC_C += $(PBIO_SRC_C)
+SRC_EXTMOD_C += $(PYBRICKS_PYBRICKS_SRC_C)
+SRC_THIRDPARTY_C += $(CONTIKI_SRC_C) $(PBIO_SRC_C)
 
 # realtime library for timer signals
 LIB += -lrt
diff --git a/micropython b/micropython
index 70b94d726..6c633a8dd 160000
--- a/micropython
+++ b/micropython
@@ -1 +1 @@
-Subproject commit 70b94d72648a1365f11058b9312d668d2fd0fe3e
+Subproject commit 6c633a8dd9f7dd933dae709e9c697330a5d56cca
diff --git a/pybricks/common/pb_type_charger.c b/pybricks/common/pb_type_charger.c
index aed40b712..9ef7629ca 100644
--- a/pybricks/common/pb_type_charger.c
+++ b/pybricks/common/pb_type_charger.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2021-2022 The Pybricks Authors
+// Copyright (c) 2021-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -43,11 +43,10 @@ STATIC const mp_rom_map_elem_t Charger_locals_dict_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(Charger_locals_dict, Charger_locals_dict_table);
 
-const mp_obj_type_t pb_type_Charger = {
-    .base = { .type = &mp_type_type },
-    .name = MP_QSTR_Charger,
-    .locals_dict = (mp_obj_dict_t *)&Charger_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_Charger,
+    MP_QSTR_Charger,
+    MP_TYPE_FLAG_NONE,
+    locals_dict, &Charger_locals_dict);
 
 mp_obj_t pb_type_Charger_obj_new(void) {
     pb_obj_Charger_t *self = mp_obj_malloc(pb_obj_Charger_t, &pb_type_Charger);
diff --git a/pybricks/common/pb_type_colorlight_external.c b/pybricks/common/pb_type_colorlight_external.c
index 8c3b03d57..3e9e5a974 100644
--- a/pybricks/common/pb_type_colorlight_external.c
+++ b/pybricks/common/pb_type_colorlight_external.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -55,11 +55,10 @@ STATIC const mp_rom_map_elem_t common_ColorLight_external_locals_dict_table[] =
 STATIC MP_DEFINE_CONST_DICT(common_ColorLight_external_locals_dict, common_ColorLight_external_locals_dict_table);
 
 // type(pybricks.builtins.ColorLight)
-STATIC const mp_obj_type_t pb_type_ColorLight_external = {
-    { &mp_type_type },
-    .name = MP_QSTR_ColorLight,
-    .locals_dict = (mp_obj_dict_t *)&common_ColorLight_external_locals_dict,
-};
+STATIC MP_DEFINE_CONST_OBJ_TYPE(pb_type_ColorLight_external,
+    MP_QSTR_ColorLight,
+    MP_TYPE_FLAG_NONE,
+    locals_dict, &common_ColorLight_external_locals_dict);
 
 // pybricks._common.ColorLight.__init__
 mp_obj_t pb_type_ColorLight_external_obj_new(void *context, pb_type_ColorLight_on_t on) {
diff --git a/pybricks/common/pb_type_colorlight_internal.c b/pybricks/common/pb_type_colorlight_internal.c
index 1e03859fb..d6a0e573a 100644
--- a/pybricks/common/pb_type_colorlight_internal.c
+++ b/pybricks/common/pb_type_colorlight_internal.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -136,11 +136,10 @@ STATIC const mp_rom_map_elem_t common_ColorLight_internal_locals_dict_table[] =
 STATIC MP_DEFINE_CONST_DICT(common_ColorLight_internal_locals_dict, common_ColorLight_internal_locals_dict_table);
 
 // type(pybricks.builtins.ColorLight)
-STATIC const mp_obj_type_t pb_type_ColorLight_internal = {
-    { &mp_type_type },
-    .name = MP_QSTR_ColorLight,
-    .locals_dict = (mp_obj_dict_t *)&common_ColorLight_internal_locals_dict,
-};
+STATIC MP_DEFINE_CONST_OBJ_TYPE(pb_type_ColorLight_internal,
+    MP_QSTR_ColorLight,
+    MP_TYPE_FLAG_NONE,
+    locals_dict, &common_ColorLight_internal_locals_dict);
 
 // pybricks._common.ColorLight.__init__
 mp_obj_t common_ColorLight_internal_obj_new(pbio_color_light_t *light) {
diff --git a/pybricks/common/pb_type_control.c b/pybricks/common/pb_type_control.c
index 8ecd0b5e8..d0aff56ea 100644
--- a/pybricks/common/pb_type_control.c
+++ b/pybricks/common/pb_type_control.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2022 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include <pbio/control.h>
 
@@ -302,12 +302,11 @@ STATIC const mp_rom_map_elem_t pb_type_Control_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(pb_type_Control_locals_dict, pb_type_Control_locals_dict_table);
 
 // type(pybricks.common.Control)
-const mp_obj_type_t pb_type_Control = {
-    { &mp_type_type },
-    .name = MP_QSTR_Control,
-    .attr = pb_attribute_handler,
-    .protocol = pb_type_Control_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&pb_type_Control_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_Control,
+    MP_QSTR_Control,
+    MP_TYPE_FLAG_NONE,
+    attr, pb_attribute_handler,
+    protocol, pb_type_Control_attr_dict,
+    locals_dict, &pb_type_Control_locals_dict);
 
 #endif // PYBRICKS_PY_COMMON_CONTROL
diff --git a/pybricks/common/pb_type_dcmotor.c b/pybricks/common/pb_type_dcmotor.c
index 2fcd143b9..6c8900186 100644
--- a/pybricks/common/pb_type_dcmotor.c
+++ b/pybricks/common/pb_type_dcmotor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2022 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -143,12 +143,11 @@ STATIC const mp_rom_map_elem_t common_DCMotor_locals_dict_table[] = {
 MP_DEFINE_CONST_DICT(common_DCMotor_locals_dict, common_DCMotor_locals_dict_table);
 
 // type(pybricks.builtins.DCMotor)
-const mp_obj_type_t pb_type_DCMotor = {
-    { &mp_type_type },
-    .name = MP_QSTR_DCMotor,
-    .print = common_DCMotor_print,
-    .make_new = common_DCMotor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&common_DCMotor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_DCMotor,
+    MP_QSTR_DCMotor,
+    MP_TYPE_FLAG_NONE,
+    print, common_DCMotor_print,
+    make_new, common_DCMotor_make_new,
+    locals_dict, &common_DCMotor_locals_dict);
 
 #endif // PYBRICKS_PY_COMMON_MOTORS
diff --git a/pybricks/common/pb_type_imu.c b/pybricks/common/pb_type_imu.c
index f13d9185a..935c5907e 100644
--- a/pybricks/common/pb_type_imu.c
+++ b/pybricks/common/pb_type_imu.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2020-2022 The Pybricks Authors
+// Copyright (c) 2020-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -227,11 +227,10 @@ STATIC const mp_rom_map_elem_t common_IMU_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(common_IMU_locals_dict, common_IMU_locals_dict_table);
 
 // type(pybricks.common.IMU)
-STATIC const mp_obj_type_t pb_type_IMU = {
-    { &mp_type_type },
-    .name = MP_QSTR_IMU,
-    .locals_dict = (mp_obj_dict_t *)&common_IMU_locals_dict,
-};
+STATIC MP_DEFINE_CONST_OBJ_TYPE(pb_type_IMU,
+    MP_QSTR_IMU,
+    MP_TYPE_FLAG_NONE,
+    locals_dict, &common_IMU_locals_dict);
 
 STATIC common_IMU_obj_t singleton_imu_obj = {
     .base.type = &pb_type_IMU,
diff --git a/pybricks/common/pb_type_keypad.c b/pybricks/common/pb_type_keypad.c
index 97b38c45d..e3e889c7c 100644
--- a/pybricks/common/pb_type_keypad.c
+++ b/pybricks/common/pb_type_keypad.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -50,11 +50,10 @@ STATIC const mp_rom_map_elem_t common_Keypad_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(common_Keypad_locals_dict, common_Keypad_locals_dict_table);
 
 // type(pybricks.common.Keypad)
-STATIC const mp_obj_type_t pb_type_Keypad = {
-    { &mp_type_type },
-    .name = MP_QSTR_Keypad,
-    .locals_dict = (mp_obj_dict_t *)&common_Keypad_locals_dict,
-};
+STATIC MP_DEFINE_CONST_OBJ_TYPE(pb_type_Keypad,
+    MP_QSTR_Keypad,
+    MP_TYPE_FLAG_NONE,
+    locals_dict, &common_Keypad_locals_dict);
 
 // pybricks._common.Keypad.__init__
 mp_obj_t pb_type_Keypad_obj_new(uint8_t number_of_buttons, const pb_obj_enum_member_t **buttons, pbio_button_is_pressed_func_t is_pressed) {
diff --git a/pybricks/common/pb_type_lightarray.c b/pybricks/common/pb_type_lightarray.c
index 516f7b839..b81f15124 100644
--- a/pybricks/common/pb_type_lightarray.c
+++ b/pybricks/common/pb_type_lightarray.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -76,11 +76,10 @@ STATIC const mp_rom_map_elem_t common_LightArray_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(common_LightArray_locals_dict, common_LightArray_locals_dict_table);
 
 // type(pybricks.builtins.LightArray)
-STATIC const mp_obj_type_t pb_type_LightArray = {
-    { &mp_type_type },
-    .name = MP_QSTR_LightArray,
-    .locals_dict = (mp_obj_dict_t *)&common_LightArray_locals_dict,
-};
+STATIC MP_DEFINE_CONST_OBJ_TYPE(pb_type_LightArray,
+    MP_QSTR_LightArray,
+    MP_TYPE_FLAG_NONE,
+    locals_dict, &common_LightArray_locals_dict);
 
 // pybricks._common.LightArray.__init__
 mp_obj_t common_LightArray_obj_make_new(pb_device_t *pbdev, uint8_t light_mode, uint8_t number_of_lights) {
diff --git a/pybricks/common/pb_type_lightmatrix.c b/pybricks/common/pb_type_lightmatrix.c
index 5631caee0..73ac88810 100644
--- a/pybricks/common/pb_type_lightmatrix.c
+++ b/pybricks/common/pb_type_lightmatrix.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2020-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -316,11 +316,10 @@ STATIC const mp_rom_map_elem_t common_LightMatrix_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(common_LightMatrix_locals_dict, common_LightMatrix_locals_dict_table);
 
 // type(pybricks.builtins.LightMatrix)
-STATIC const mp_obj_type_t pb_type_LightMatrix = {
-    { &mp_type_type },
-    .name = MP_QSTR_LightMatrix,
-    .locals_dict = (mp_obj_dict_t *)&common_LightMatrix_locals_dict,
-};
+STATIC MP_DEFINE_CONST_OBJ_TYPE(pb_type_LightMatrix,
+    MP_QSTR_LightMatrix,
+    MP_TYPE_FLAG_NONE,
+    locals_dict, &common_LightMatrix_locals_dict);
 
 // pybricks._common.LightMatrix.__init__
 mp_obj_t pb_type_LightMatrix_obj_new(pbio_light_matrix_t *light_matrix) {
diff --git a/pybricks/common/pb_type_logger.c b/pybricks/common/pb_type_logger.c
index 9fab6cb1a..981d34f92 100644
--- a/pybricks/common/pb_type_logger.c
+++ b/pybricks/common/pb_type_logger.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -152,10 +152,10 @@ STATIC const mp_rom_map_elem_t tools_Logger_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(tools_Logger_locals_dict, tools_Logger_locals_dict_table);
 
 // type(pybricks.tools.Logger)
-STATIC const mp_obj_type_t tools_Logger_type = {
-    { &mp_type_type },
-    .locals_dict = (mp_obj_dict_t *)&tools_Logger_locals_dict,
-};
+STATIC MP_DEFINE_CONST_OBJ_TYPE(tools_Logger_type,
+    MP_QSTR_Logger,
+    MP_TYPE_FLAG_NONE,
+    locals_dict, &tools_Logger_locals_dict);
 
 mp_obj_t common_Logger_obj_make_new(pbio_log_t *log, uint8_t num_values) {
     tools_Logger_obj_t *logger = mp_obj_malloc(tools_Logger_obj_t, &tools_Logger_type);
diff --git a/pybricks/common/pb_type_motor.c b/pybricks/common/pb_type_motor.c
index 072f0b487..0cc689c68 100644
--- a/pybricks/common/pb_type_motor.c
+++ b/pybricks/common/pb_type_motor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2022 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -426,16 +426,15 @@ STATIC const mp_rom_map_elem_t common_Motor_locals_dict_table[] = {
 MP_DEFINE_CONST_DICT(common_Motor_locals_dict, common_Motor_locals_dict_table);
 
 // type(pybricks.builtins.Motor)
-const mp_obj_type_t pb_type_Motor = {
-    { &mp_type_type },
-    .name = MP_QSTR_Motor,
-    .print = common_DCMotor_print,
-    .make_new = common_Motor_make_new,
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_Motor,
+    MP_QSTR_Motor,
+    MP_TYPE_FLAG_NONE,
+    print, common_DCMotor_print,
+    make_new, common_Motor_make_new,
     #if PYBRICKS_PY_COMMON_CONTROL | PYBRICKS_PY_COMMON_LOGGER
-    .attr = pb_attribute_handler,
-    .protocol = common_Motor_attr_dict,
+    attr, pb_attribute_handler,
+    protocol, common_Motor_attr_dict,
     #endif
-    .locals_dict = (mp_obj_dict_t *)&common_Motor_locals_dict,
-};
+    locals_dict, &common_Motor_locals_dict);
 
 #endif // PYBRICKS_PY_COMMON_MOTORS
diff --git a/pybricks/common/pb_type_motor_model.c b/pybricks/common/pb_type_motor_model.c
index ec68d8e48..ed6bdc145 100644
--- a/pybricks/common/pb_type_motor_model.c
+++ b/pybricks/common/pb_type_motor_model.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2022 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -94,10 +94,9 @@ STATIC const mp_rom_map_elem_t pb_type_MotorModel_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(pb_type_MotorModel_locals_dict, pb_type_MotorModel_locals_dict_table);
 
 // type(pybricks.common.MotorModel)
-const mp_obj_type_t pb_type_MotorModel = {
-    { &mp_type_type },
-    .name = MP_QSTR_MotorModel,
-    .locals_dict = (mp_obj_dict_t *)&pb_type_MotorModel_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_MotorModel,
+    MP_QSTR_MotorModel,
+    MP_TYPE_FLAG_NONE,
+    locals_dict, &pb_type_MotorModel_locals_dict);
 
 #endif // PYBRICKS_PY_COMMON_MOTOR_MODEL
diff --git a/pybricks/common/pb_type_speaker.c b/pybricks/common/pb_type_speaker.c
index 7e570d64e..bd358c1b1 100644
--- a/pybricks/common/pb_type_speaker.c
+++ b/pybricks/common/pb_type_speaker.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 // Speaker class for playing sounds.
 
@@ -355,11 +355,10 @@ STATIC const mp_rom_map_elem_t pb_type_Speaker_locals_dict_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(pb_type_Speaker_locals_dict, pb_type_Speaker_locals_dict_table);
 
-const mp_obj_type_t pb_type_Speaker = {
-    { &mp_type_type },
-    .name = MP_QSTR_Speaker,
-    .make_new = pb_type_Speaker_make_new,
-    .locals_dict = (mp_obj_dict_t *)&pb_type_Speaker_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_Speaker,
+    MP_QSTR_Speaker,
+    MP_TYPE_FLAG_NONE,
+    make_new, pb_type_Speaker_make_new,
+    locals_dict, &pb_type_Speaker_locals_dict);
 
 #endif // PYBRICKS_PY_COMMON_SPEAKER
diff --git a/pybricks/ev3devices/pb_type_ev3devices_colorsensor.c b/pybricks/ev3devices/pb_type_ev3devices_colorsensor.c
index e0eaad01a..bb4d2f072 100644
--- a/pybricks/ev3devices/pb_type_ev3devices_colorsensor.c
+++ b/pybricks/ev3devices/pb_type_ev3devices_colorsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -107,11 +107,10 @@ STATIC const mp_rom_map_elem_t ev3devices_ColorSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(ev3devices_ColorSensor_locals_dict, ev3devices_ColorSensor_locals_dict_table);
 
 // type(pybricks.ev3devices.ColorSensor)
-const mp_obj_type_t pb_type_ev3devices_ColorSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_ColorSensor,
-    .make_new = ev3devices_ColorSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&ev3devices_ColorSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ev3devices_ColorSensor,
+    MP_QSTR_ColorSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, ev3devices_ColorSensor_make_new,
+    locals_dict, &ev3devices_ColorSensor_locals_dict);
 
 #endif // PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/ev3devices/pb_type_ev3devices_gyrosensor.c b/pybricks/ev3devices/pb_type_ev3devices_gyrosensor.c
index 95e71248a..5ddcee714 100644
--- a/pybricks/ev3devices/pb_type_ev3devices_gyrosensor.c
+++ b/pybricks/ev3devices/pb_type_ev3devices_gyrosensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -103,11 +103,10 @@ STATIC const mp_rom_map_elem_t ev3devices_GyroSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(ev3devices_GyroSensor_locals_dict, ev3devices_GyroSensor_locals_dict_table);
 
 // type(pybricks.ev3devices.GyroSensor)
-const mp_obj_type_t pb_type_ev3devices_GyroSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_GyroSensor,
-    .make_new = ev3devices_GyroSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&ev3devices_GyroSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ev3devices_GyroSensor,
+    MP_QSTR_GyroSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, ev3devices_GyroSensor_make_new,
+    locals_dict, &ev3devices_GyroSensor_locals_dict);
 
 #endif // PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/ev3devices/pb_type_ev3devices_infraredsensor.c b/pybricks/ev3devices/pb_type_ev3devices_infraredsensor.c
index ae05c46e1..530aba1fe 100644
--- a/pybricks/ev3devices/pb_type_ev3devices_infraredsensor.c
+++ b/pybricks/ev3devices/pb_type_ev3devices_infraredsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -187,11 +187,10 @@ STATIC const mp_rom_map_elem_t ev3devices_InfraredSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(ev3devices_InfraredSensor_locals_dict, ev3devices_InfraredSensor_locals_dict_table);
 
 // type(pybricks.ev3devices.InfraredSensor)
-const mp_obj_type_t pb_type_ev3devices_InfraredSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_InfraredSensor,
-    .make_new = ev3devices_InfraredSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&ev3devices_InfraredSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ev3devices_InfraredSensor,
+    MP_QSTR_InfraredSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, ev3devices_InfraredSensor_make_new,
+    locals_dict, &ev3devices_InfraredSensor_locals_dict);
 
 #endif // PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/ev3devices/pb_type_ev3devices_touchsensor.c b/pybricks/ev3devices/pb_type_ev3devices_touchsensor.c
index 47a50282a..fa11083cc 100644
--- a/pybricks/ev3devices/pb_type_ev3devices_touchsensor.c
+++ b/pybricks/ev3devices/pb_type_ev3devices_touchsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -50,11 +50,10 @@ STATIC const mp_rom_map_elem_t ev3devices_TouchSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(ev3devices_TouchSensor_locals_dict, ev3devices_TouchSensor_locals_dict_table);
 
 // type(pybricks.ev3devices.TouchSensor)
-const mp_obj_type_t pb_type_ev3devices_TouchSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_TouchSensor,
-    .make_new = ev3devices_TouchSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&ev3devices_TouchSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ev3devices_TouchSensor,
+    MP_QSTR_TouchSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, ev3devices_TouchSensor_make_new,
+    locals_dict, &ev3devices_TouchSensor_locals_dict);
 
 #endif // PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/ev3devices/pb_type_ev3devices_ultrasonicsensor.c b/pybricks/ev3devices/pb_type_ev3devices_ultrasonicsensor.c
index fc9996210..89a564a91 100644
--- a/pybricks/ev3devices/pb_type_ev3devices_ultrasonicsensor.c
+++ b/pybricks/ev3devices/pb_type_ev3devices_ultrasonicsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -68,11 +68,10 @@ STATIC const mp_rom_map_elem_t ev3devices_UltrasonicSensor_locals_dict_table[] =
 STATIC MP_DEFINE_CONST_DICT(ev3devices_UltrasonicSensor_locals_dict, ev3devices_UltrasonicSensor_locals_dict_table);
 
 // type(pybricks.ev3devices.UltrasonicSensor)
-const mp_obj_type_t pb_type_ev3devices_UltrasonicSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_UltrasonicSensor,
-    .make_new = ev3devices_UltrasonicSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&ev3devices_UltrasonicSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ev3devices_UltrasonicSensor,
+    MP_QSTR_UltrasonicSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, ev3devices_UltrasonicSensor_make_new,
+    locals_dict, &ev3devices_UltrasonicSensor_locals_dict);
 
 #endif // PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/hubs/pb_type_cityhub.c b/pybricks/hubs/pb_type_cityhub.c
index e635f0069..036fdb789 100644
--- a/pybricks/hubs/pb_type_cityhub.c
+++ b/pybricks/hubs/pb_type_cityhub.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -42,12 +42,11 @@ STATIC const pb_attr_dict_entry_t hubs_CityHub_attr_dict[] = {
     PB_ATTR_DICT_SENTINEL
 };
 
-const mp_obj_type_t pb_type_ThisHub = {
-    { &mp_type_type },
-    .name = MP_QSTR_CityHub,
-    .make_new = hubs_CityHub_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = hubs_CityHub_attr_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ThisHub,
+    MP_QSTR_CityHub,
+    MP_TYPE_FLAG_NONE,
+    make_new, hubs_CityHub_make_new,
+    attr, pb_attribute_handler,
+    protocol, hubs_CityHub_attr_dict);
 
 #endif // PYBRICKS_PY_HUBS && PYBRICKS_HUB_CITYHUB
diff --git a/pybricks/hubs/pb_type_essentialhub.c b/pybricks/hubs/pb_type_essentialhub.c
index 3b6888076..ddba61ad8 100644
--- a/pybricks/hubs/pb_type_essentialhub.c
+++ b/pybricks/hubs/pb_type_essentialhub.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -63,12 +63,11 @@ STATIC const pb_attr_dict_entry_t hubs_EssentialHub_attr_dict[] = {
     PB_ATTR_DICT_SENTINEL
 };
 
-const mp_obj_type_t pb_type_ThisHub = {
-    { &mp_type_type },
-    .name = PYBRICKS_HUB_CLASS_NAME,
-    .make_new = hubs_EssentialHub_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = hubs_EssentialHub_attr_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ThisHub,
+    PYBRICKS_HUB_CLASS_NAME,
+    MP_TYPE_FLAG_NONE,
+    make_new, hubs_EssentialHub_make_new,
+    attr, pb_attribute_handler,
+    protocol, hubs_EssentialHub_attr_dict);
 
 #endif // PYBRICKS_PY_HUBS && PYBRICKS_HUB_ESSENTIALHUB
diff --git a/pybricks/hubs/pb_type_ev3brick.c b/pybricks/hubs/pb_type_ev3brick.c
index e1330d4f6..62d9ff95c 100644
--- a/pybricks/hubs/pb_type_ev3brick.c
+++ b/pybricks/hubs/pb_type_ev3brick.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -41,8 +41,8 @@ STATIC mp_obj_t hubs_EV3Brick_make_new(const mp_obj_type_t *type, size_t n_args,
     self->buttons = pb_type_Keypad_obj_new(MP_ARRAY_SIZE(ev3brick_buttons), ev3brick_buttons, pbio_button_is_pressed);
     self->light = common_ColorLight_internal_obj_new(ev3dev_status_light);
     mp_obj_t screen_args[] = { MP_ROM_QSTR(MP_QSTR__screen_) };
-    self->screen = pb_type_ev3dev_Image.make_new(&pb_type_ev3dev_Image, 1, 0, screen_args);
-    self->speaker = pb_type_ev3dev_Speaker.make_new(&pb_type_ev3dev_Speaker, 0, 0, NULL);
+    self->screen = MP_OBJ_TYPE_GET_SLOT(&pb_type_ev3dev_Image, make_new)(&pb_type_ev3dev_Image, 1, 0, screen_args);
+    self->speaker = MP_OBJ_TYPE_GET_SLOT(&pb_type_ev3dev_Speaker, make_new)(&pb_type_ev3dev_Speaker, 0, 0, NULL);
     self->system = MP_OBJ_FROM_PTR(&pb_type_System);
 
     return MP_OBJ_FROM_PTR(self);
@@ -58,12 +58,11 @@ STATIC const pb_attr_dict_entry_t hubs_EV3Brick_attr_dict[] = {
     PB_ATTR_DICT_SENTINEL
 };
 
-const mp_obj_type_t pb_type_ThisHub = {
-    { &mp_type_type },
-    .name = PYBRICKS_HUB_CLASS_NAME,
-    .make_new = hubs_EV3Brick_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = hubs_EV3Brick_attr_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ThisHub,
+    PYBRICKS_HUB_CLASS_NAME,
+    MP_TYPE_FLAG_NONE,
+    make_new, hubs_EV3Brick_make_new,
+    attr, pb_attribute_handler,
+    protocol, hubs_EV3Brick_attr_dict);
 
 #endif // PYBRICKS_PY_HUBS && PYBRICKS_HUB_EV3BRICK
diff --git a/pybricks/hubs/pb_type_movehub.c b/pybricks/hubs/pb_type_movehub.c
index b984bc542..5d32fefd2 100644
--- a/pybricks/hubs/pb_type_movehub.c
+++ b/pybricks/hubs/pb_type_movehub.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -197,12 +197,11 @@ STATIC const mp_rom_map_elem_t hubs_MoveHub_IMU_locals_dict_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(hubs_MoveHub_IMU_locals_dict, hubs_MoveHub_IMU_locals_dict_table);
 
-STATIC const mp_obj_type_t hubs_MoveHub_IMU_type = {
-    { &mp_type_type },
-    .name = MP_QSTR_Motion,
-    .attr = pb_attribute_handler,
-    .locals_dict = (mp_obj_dict_t *)&hubs_MoveHub_IMU_locals_dict,
-};
+STATIC MP_DEFINE_CONST_OBJ_TYPE(hubs_MoveHub_IMU_type,
+    MP_QSTR_IMU,
+    MP_TYPE_FLAG_NONE,
+    attr, pb_attribute_handler,
+    locals_dict, &hubs_MoveHub_IMU_locals_dict);
 
 STATIC mp_obj_t hubs_MoveHub_IMU_make_new(void) {
     hubs_MoveHub_IMU_obj_t *self = mp_obj_malloc(hubs_MoveHub_IMU_obj_t, &hubs_MoveHub_IMU_type);
@@ -273,12 +272,11 @@ STATIC const pb_attr_dict_entry_t hubs_MoveHub_attr_dict[] = {
     PB_ATTR_DICT_SENTINEL
 };
 
-const mp_obj_type_t pb_type_ThisHub = {
-    { &mp_type_type },
-    .name = PYBRICKS_HUB_CLASS_NAME,
-    .make_new = hubs_MoveHub_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = hubs_MoveHub_attr_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ThisHub,
+    PYBRICKS_HUB_CLASS_NAME,
+    MP_TYPE_FLAG_NONE,
+    make_new, hubs_MoveHub_make_new,
+    attr, pb_attribute_handler,
+    protocol, hubs_MoveHub_attr_dict);
 
 #endif // PYBRICKS_PY_HUBS && PYBRICKS_HUB_MOVEHUB
diff --git a/pybricks/hubs/pb_type_nxtbrick.c b/pybricks/hubs/pb_type_nxtbrick.c
index 15fa2f346..6f2e658dc 100644
--- a/pybricks/hubs/pb_type_nxtbrick.c
+++ b/pybricks/hubs/pb_type_nxtbrick.c
@@ -47,12 +47,11 @@ STATIC const pb_attr_dict_entry_t hubs_NXTBrick_attr_dict[] = {
     PB_ATTR_DICT_SENTINEL
 };
 
-const mp_obj_type_t pb_type_ThisHub = {
-    { &mp_type_type },
-    .name = PYBRICKS_HUB_CLASS_NAME,
-    .make_new = hubs_NXTBrick_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = hubs_NXTBrick_attr_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ThisHub,
+    PYBRICKS_HUB_CLASS_NAME,
+    MP_TYPE_FLAG_NONE,
+    make_new, hubs_NXTBrick_make_new,
+    attr, pb_attribute_handler,
+    protocol, hubs_NXTBrick_attr_dict);
 
 #endif // PYBRICKS_PY_HUBS && PYBRICKS_HUB_NXTBRICK
diff --git a/pybricks/hubs/pb_type_primehub.c b/pybricks/hubs/pb_type_primehub.c
index cf823fa93..bd325bbe5 100644
--- a/pybricks/hubs/pb_type_primehub.c
+++ b/pybricks/hubs/pb_type_primehub.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -72,12 +72,11 @@ STATIC const pb_attr_dict_entry_t hubs_PrimeHub_attr_dict[] = {
     PB_ATTR_DICT_SENTINEL
 };
 
-const mp_obj_type_t pb_type_ThisHub = {
-    { &mp_type_type },
-    .name = PYBRICKS_HUB_CLASS_NAME,
-    .make_new = hubs_PrimeHub_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = hubs_PrimeHub_attr_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ThisHub,
+    PYBRICKS_HUB_CLASS_NAME,
+    MP_TYPE_FLAG_NONE,
+    make_new, hubs_PrimeHub_make_new,
+    attr, pb_attribute_handler,
+    protocol, hubs_PrimeHub_attr_dict);
 
 #endif // PYBRICKS_PY_HUBS && PYBRICKS_HUB_PRIMEHUB
diff --git a/pybricks/hubs/pb_type_technichub.c b/pybricks/hubs/pb_type_technichub.c
index 3fb073044..09af37ac0 100644
--- a/pybricks/hubs/pb_type_technichub.c
+++ b/pybricks/hubs/pb_type_technichub.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -51,12 +51,11 @@ STATIC const pb_attr_dict_entry_t hubs_TechnicHub_attr_dict[] = {
     PB_ATTR_DICT_SENTINEL
 };
 
-const mp_obj_type_t pb_type_ThisHub = {
-    { &mp_type_type },
-    .name = PYBRICKS_HUB_CLASS_NAME,
-    .make_new = hubs_TechnicHub_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = hubs_TechnicHub_attr_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ThisHub,
+    PYBRICKS_HUB_CLASS_NAME,
+    MP_TYPE_FLAG_NONE,
+    make_new, hubs_TechnicHub_make_new,
+    attr, pb_attribute_handler,
+    protocol, hubs_TechnicHub_attr_dict);
 
 #endif // PYBRICKS_PY_HUBS && PYBRICKS_HUB_TECHNICHUB
diff --git a/pybricks/hubs/pb_type_virtualhub.c b/pybricks/hubs/pb_type_virtualhub.c
index 135a83ebb..c4bcb87b9 100644
--- a/pybricks/hubs/pb_type_virtualhub.c
+++ b/pybricks/hubs/pb_type_virtualhub.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2022 The Pybricks Authors
+// Copyright (c) 2022-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -48,12 +48,11 @@ STATIC const pb_attr_dict_entry_t hubs_VirtualHub_attr_dict[] = {
     PB_ATTR_DICT_SENTINEL
 };
 
-const mp_obj_type_t pb_type_ThisHub = {
-    { &mp_type_type },
-    .name = PYBRICKS_HUB_CLASS_NAME,
-    .make_new = hubs_VirtualHub_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = hubs_VirtualHub_attr_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_ThisHub,
+    PYBRICKS_HUB_CLASS_NAME,
+    MP_TYPE_FLAG_NONE,
+    make_new, hubs_VirtualHub_make_new,
+    attr, pb_attribute_handler,
+    protocol, hubs_VirtualHub_attr_dict);
 
 #endif // PYBRICKS_PY_HUBS && PYBRICKS_HUB_VIRTUALHUB
diff --git a/pybricks/iodevices/pb_type_iodevices_analogsensor.c b/pybricks/iodevices/pb_type_iodevices_analogsensor.c
index e57d2b452..11e12dbaa 100644
--- a/pybricks/iodevices/pb_type_iodevices_analogsensor.c
+++ b/pybricks/iodevices/pb_type_iodevices_analogsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -96,11 +96,10 @@ STATIC const mp_rom_map_elem_t iodevices_AnalogSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(iodevices_AnalogSensor_locals_dict, iodevices_AnalogSensor_locals_dict_table);
 
 // type(pybricks.iodevices.AnalogSensor)
-const mp_obj_type_t pb_type_iodevices_AnalogSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_AnalogSensor,
-    .make_new = iodevices_AnalogSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&iodevices_AnalogSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_iodevices_AnalogSensor,
+    MP_QSTR_AnalogSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, iodevices_AnalogSensor_make_new,
+    locals_dict, &iodevices_AnalogSensor_locals_dict);
 
 #endif // PYBRICKS_PY_IODEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/iodevices/pb_type_iodevices_ev3devsensor.c b/pybricks/iodevices/pb_type_iodevices_ev3devsensor.c
index 0bf9d1f45..bc90dbdeb 100644
--- a/pybricks/iodevices/pb_type_iodevices_ev3devsensor.c
+++ b/pybricks/iodevices/pb_type_iodevices_ev3devsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -85,12 +85,12 @@ STATIC const mp_rom_map_elem_t iodevices_Ev3devSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(iodevices_Ev3devSensor_locals_dict, iodevices_Ev3devSensor_locals_dict_table);
 
 // type(pybricks.iodevices.Ev3devSensor)
-const mp_obj_type_t pb_type_iodevices_Ev3devSensor = {
-    { &mp_type_type },
-    .make_new = iodevices_Ev3devSensor_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = iodevices_Ev3devSensor_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&iodevices_Ev3devSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_iodevices_Ev3devSensor,
+    MP_QSTR_Ev3devSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, iodevices_Ev3devSensor_make_new,
+    attr, pb_attribute_handler,
+    protocol, iodevices_Ev3devSensor_attr_dict,
+    locals_dict, &iodevices_Ev3devSensor_locals_dict);
 
 #endif // PYBRICKS_PY_IODEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/iodevices/pb_type_iodevices_i2cdevice.c b/pybricks/iodevices/pb_type_iodevices_i2cdevice.c
index c099deaf8..5adb8abe1 100644
--- a/pybricks/iodevices/pb_type_iodevices_i2cdevice.c
+++ b/pybricks/iodevices/pb_type_iodevices_i2cdevice.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -160,11 +160,10 @@ STATIC const mp_rom_map_elem_t iodevices_I2CDevice_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(iodevices_I2CDevice_locals_dict, iodevices_I2CDevice_locals_dict_table);
 
 // type(pybricks.iodevices.I2CDevice)
-const mp_obj_type_t pb_type_iodevices_I2CDevice = {
-    { &mp_type_type },
-    .name = MP_QSTR_I2CDevice,
-    .make_new = iodevices_I2CDevice_make_new,
-    .locals_dict = (mp_obj_dict_t *)&iodevices_I2CDevice_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_iodevices_I2CDevice,
+    MP_QSTR_I2CDevice,
+    MP_TYPE_FLAG_NONE,
+    make_new, iodevices_I2CDevice_make_new,
+    locals_dict, &iodevices_I2CDevice_locals_dict);
 
 #endif // PYBRICKS_PY_IODEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/iodevices/pb_type_iodevices_lumpdevice.c b/pybricks/iodevices/pb_type_iodevices_lumpdevice.c
index 89b406c8c..9e73059d1 100644
--- a/pybricks/iodevices/pb_type_iodevices_lumpdevice.c
+++ b/pybricks/iodevices/pb_type_iodevices_lumpdevice.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -105,12 +105,12 @@ STATIC const mp_rom_map_elem_t iodevices_LUMPDevice_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(iodevices_LUMPDevice_locals_dict, iodevices_LUMPDevice_locals_dict_table);
 
 // type(pybricks.iodevices.LUMPDevice)
-const mp_obj_type_t pb_type_iodevices_LUMPDevice = {
-    { &mp_type_type },
-    .make_new = iodevices_LUMPDevice_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = iodevices_LUMPDevice_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&iodevices_LUMPDevice_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_iodevices_LUMPDevice,
+    MP_QSTR_LUMPDevice,
+    MP_TYPE_FLAG_NONE,
+    make_new, iodevices_LUMPDevice_make_new,
+    attr, pb_attribute_handler,
+    protocol, iodevices_LUMPDevice_attr_dict,
+    locals_dict, &iodevices_LUMPDevice_locals_dict);
 
 #endif // PYBRICKS_PY_IODEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/iodevices/pb_type_iodevices_lwp3device.c b/pybricks/iodevices/pb_type_iodevices_lwp3device.c
index 7fbc9b3c4..9a88f64e7 100644
--- a/pybricks/iodevices/pb_type_iodevices_lwp3device.c
+++ b/pybricks/iodevices/pb_type_iodevices_lwp3device.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2021 The Pybricks Authors
+// Copyright (c) 2021-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -219,11 +219,10 @@ STATIC const mp_rom_map_elem_t pb_type_iodevices_LWP3Device_locals_dict_table[]
 };
 STATIC MP_DEFINE_CONST_DICT(pb_type_iodevices_LWP3Device_locals_dict, pb_type_iodevices_LWP3Device_locals_dict_table);
 
-const mp_obj_type_t pb_type_iodevices_LWP3Device = {
-    { &mp_type_type },
-    .name = MP_QSTR_LWP3Device,
-    .make_new = pb_type_iodevices_LWP3Device_make_new,
-    .locals_dict = (mp_obj_dict_t *)&pb_type_iodevices_LWP3Device_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_iodevices_LWP3Device,
+    MP_QSTR_LWP3Device,
+    MP_TYPE_FLAG_NONE,
+    make_new, pb_type_iodevices_LWP3Device_make_new,
+    locals_dict, &pb_type_iodevices_LWP3Device_locals_dict);
 
 #endif // PYBRICKS_PY_IODEVICES && PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/iodevices/pb_type_iodevices_pupdevice.c b/pybricks/iodevices/pb_type_iodevices_pupdevice.c
index 62363258f..1105dd11e 100644
--- a/pybricks/iodevices/pb_type_iodevices_pupdevice.c
+++ b/pybricks/iodevices/pb_type_iodevices_pupdevice.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -109,10 +109,10 @@ STATIC const mp_rom_map_elem_t iodevices_PUPDevice_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(iodevices_PUPDevice_locals_dict, iodevices_PUPDevice_locals_dict_table);
 
 // type(pybricks.iodevices.PUPDevice)
-const mp_obj_type_t pb_type_iodevices_PUPDevice = {
-    { &mp_type_type },
-    .make_new = iodevices_PUPDevice_make_new,
-    .locals_dict = (mp_obj_dict_t *)&iodevices_PUPDevice_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_iodevices_PUPDevice,
+    MP_QSTR_PUPDevice,
+    MP_TYPE_FLAG_NONE,
+    make_new, iodevices_PUPDevice_make_new,
+    locals_dict, &iodevices_PUPDevice_locals_dict);
 
 #endif // PYBRICKS_PY_IODEVICES && PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/iodevices/pb_type_iodevices_uartdevice.c b/pybricks/iodevices/pb_type_iodevices_uartdevice.c
index 3c99fe4bc..68e997999 100644
--- a/pybricks/iodevices/pb_type_iodevices_uartdevice.c
+++ b/pybricks/iodevices/pb_type_iodevices_uartdevice.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -180,11 +180,10 @@ STATIC const mp_rom_map_elem_t iodevices_UARTDevice_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(iodevices_UARTDevice_locals_dict, iodevices_UARTDevice_locals_dict_table);
 
 // type(pybricks.iodevices.UARTDevice)
-const mp_obj_type_t pb_type_iodevices_UARTDevice = {
-    { &mp_type_type },
-    .name = MP_QSTR_UARTDevice,
-    .make_new = iodevices_UARTDevice_make_new,
-    .locals_dict = (mp_obj_dict_t *)&iodevices_UARTDevice_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_iodevices_UARTDevice,
+    MP_QSTR_UARTDevice,
+    MP_TYPE_FLAG_NONE,
+    make_new, iodevices_UARTDevice_make_new,
+    locals_dict, &iodevices_UARTDevice_locals_dict);
 
 #endif // PYBRICKS_PY_IODEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_colorsensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_colorsensor.c
index 302668ef6..e41c9c58c 100644
--- a/pybricks/nxtdevices/pb_type_nxtdevices_colorsensor.c
+++ b/pybricks/nxtdevices/pb_type_nxtdevices_colorsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -157,13 +157,12 @@ STATIC const mp_rom_map_elem_t nxtdevices_ColorSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(nxtdevices_ColorSensor_locals_dict, nxtdevices_ColorSensor_locals_dict_table);
 
 // type(pybricks.nxtdevices.ColorSensor)
-const mp_obj_type_t pb_type_nxtdevices_ColorSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_ColorSensor,
-    .make_new = nxtdevices_ColorSensor_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = nxtdevices_ColorSensor_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&nxtdevices_ColorSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_nxtdevices_ColorSensor,
+    MP_QSTR_ColorSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, nxtdevices_ColorSensor_make_new,
+    attr, pb_attribute_handler,
+    protocol, nxtdevices_ColorSensor_attr_dict,
+    locals_dict, &nxtdevices_ColorSensor_locals_dict);
 
 #endif // PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_energymeter.c b/pybricks/nxtdevices/pb_type_nxtdevices_energymeter.c
index e64ab696f..604d79739 100644
--- a/pybricks/nxtdevices/pb_type_nxtdevices_energymeter.c
+++ b/pybricks/nxtdevices/pb_type_nxtdevices_energymeter.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -80,12 +80,11 @@ STATIC const mp_rom_map_elem_t nxtdevices_EnergyMeter_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(nxtdevices_EnergyMeter_locals_dict, nxtdevices_EnergyMeter_locals_dict_table);
 
 // type(pybricks.nxtdevices.EnergyMeter)
-const mp_obj_type_t pb_type_nxtdevices_EnergyMeter = {
-    { &mp_type_type },
-    .name = MP_QSTR_EnergyMeter,
-    .make_new = nxtdevices_EnergyMeter_make_new,
-    .locals_dict = (mp_obj_dict_t *)&nxtdevices_EnergyMeter_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_nxtdevices_EnergyMeter,
+    MP_QSTR_EnergyMeter,
+    MP_TYPE_FLAG_NONE,
+    make_new, nxtdevices_EnergyMeter_make_new,
+    locals_dict, &nxtdevices_EnergyMeter_locals_dict);
 
 
 #endif // PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_lightsensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_lightsensor.c
index 8a26c32c0..8e1df2ba2 100644
--- a/pybricks/nxtdevices/pb_type_nxtdevices_lightsensor.c
+++ b/pybricks/nxtdevices/pb_type_nxtdevices_lightsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -77,11 +77,10 @@ STATIC const mp_rom_map_elem_t nxtdevices_LightSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(nxtdevices_LightSensor_locals_dict, nxtdevices_LightSensor_locals_dict_table);
 
 // type(pybricks.ev3devices.LightSensor)
-const mp_obj_type_t pb_type_nxtdevices_LightSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_LightSensor,
-    .make_new = nxtdevices_LightSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&nxtdevices_LightSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_nxtdevices_LightSensor,
+    MP_QSTR_LightSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, nxtdevices_LightSensor_make_new,
+    locals_dict, &nxtdevices_LightSensor_locals_dict);
 
 #endif // PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_soundsensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_soundsensor.c
index f9fd1f119..9e3d88a10 100644
--- a/pybricks/nxtdevices/pb_type_nxtdevices_soundsensor.c
+++ b/pybricks/nxtdevices/pb_type_nxtdevices_soundsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -61,11 +61,10 @@ STATIC const mp_rom_map_elem_t nxtdevices_SoundSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(nxtdevices_SoundSensor_locals_dict, nxtdevices_SoundSensor_locals_dict_table);
 
 // type(pybricks.ev3devices.SoundSensor)
-const mp_obj_type_t pb_type_nxtdevices_SoundSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_SoundSensor,
-    .make_new = nxtdevices_SoundSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&nxtdevices_SoundSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_nxtdevices_SoundSensor,
+    MP_QSTR_SoundSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, nxtdevices_SoundSensor_make_new,
+    locals_dict, &nxtdevices_SoundSensor_locals_dict);
 
 #endif // PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_temperaturesensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_temperaturesensor.c
index f08d1428b..2a7106ff5 100644
--- a/pybricks/nxtdevices/pb_type_nxtdevices_temperaturesensor.c
+++ b/pybricks/nxtdevices/pb_type_nxtdevices_temperaturesensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -49,11 +49,10 @@ STATIC const mp_rom_map_elem_t nxtdevices_TemperatureSensor_locals_dict_table[]
 STATIC MP_DEFINE_CONST_DICT(nxtdevices_TemperatureSensor_locals_dict, nxtdevices_TemperatureSensor_locals_dict_table);
 
 // type(pybricks.nxtdevices.TemperatureSensor)
-const mp_obj_type_t pb_type_nxtdevices_TemperatureSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_TemperatureSensor,
-    .make_new = nxtdevices_TemperatureSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&nxtdevices_TemperatureSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_nxtdevices_TemperatureSensor,
+    MP_QSTR_TemperatureSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, nxtdevices_TemperatureSensor_make_new,
+    locals_dict, &nxtdevices_TemperatureSensor_locals_dict);
 
 #endif // PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_touchsensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_touchsensor.c
index ba04be73e..cabaf0aca 100644
--- a/pybricks/nxtdevices/pb_type_nxtdevices_touchsensor.c
+++ b/pybricks/nxtdevices/pb_type_nxtdevices_touchsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -49,11 +49,10 @@ STATIC const mp_rom_map_elem_t nxtdevices_TouchSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(nxtdevices_TouchSensor_locals_dict, nxtdevices_TouchSensor_locals_dict_table);
 
 // type(pybricks.ev3devices.TouchSensor)
-const mp_obj_type_t pb_type_nxtdevices_TouchSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_TouchSensor,
-    .make_new = nxtdevices_TouchSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&nxtdevices_TouchSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_nxtdevices_TouchSensor,
+    MP_QSTR_TouchSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, nxtdevices_TouchSensor_make_new,
+    locals_dict, &nxtdevices_TouchSensor_locals_dict);
 
 #endif // PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_ultrasonicsensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_ultrasonicsensor.c
index d498581f9..7b0a16225 100644
--- a/pybricks/nxtdevices/pb_type_nxtdevices_ultrasonicsensor.c
+++ b/pybricks/nxtdevices/pb_type_nxtdevices_ultrasonicsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -49,11 +49,10 @@ STATIC const mp_rom_map_elem_t nxtdevices_UltrasonicSensor_locals_dict_table[] =
 STATIC MP_DEFINE_CONST_DICT(nxtdevices_UltrasonicSensor_locals_dict, nxtdevices_UltrasonicSensor_locals_dict_table);
 
 // type(pybricks.nxtdevices.UltrasonicSensor)
-const mp_obj_type_t pb_type_nxtdevices_UltrasonicSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_UltrasonicSensor,
-    .make_new = nxtdevices_UltrasonicSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&nxtdevices_UltrasonicSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_nxtdevices_UltrasonicSensor,
+    MP_QSTR_UltrasonicSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, nxtdevices_UltrasonicSensor_make_new,
+    locals_dict, &nxtdevices_UltrasonicSensor_locals_dict);
 
 #endif // PYBRICKS_PY_NXTDEVICES && PYBRICKS_PY_EV3DEVICES
diff --git a/pybricks/parameters/pb_type_axis.c b/pybricks/parameters/pb_type_axis.c
index bbda6a5d2..cabf689c9 100644
--- a/pybricks/parameters/pb_type_axis.c
+++ b/pybricks/parameters/pb_type_axis.c
@@ -49,10 +49,9 @@ STATIC const mp_rom_map_elem_t pb_type_Axis_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(pb_type_Axis_locals_dict, pb_type_Axis_table);
 
-const mp_obj_type_t pb_enum_type_Axis = {
-    { &mp_type_type },
-    .name = MP_QSTR_Axis,
-    .locals_dict = (mp_obj_dict_t *)&(pb_type_Axis_locals_dict),
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_enum_type_Axis,
+    MP_QSTR_Axis,
+    MP_TYPE_FLAG_NONE,
+    locals_dict, &(pb_type_Axis_locals_dict));
 
 #endif // PYBRICKS_PY_PARAMETERS && MICROPY_PY_BUILTINS_FLOAT
diff --git a/pybricks/parameters/pb_type_button.c b/pybricks/parameters/pb_type_button.c
index 4f5a60617..09625dec0 100644
--- a/pybricks/parameters/pb_type_button.c
+++ b/pybricks/parameters/pb_type_button.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -126,13 +126,12 @@ STATIC const mp_rom_map_elem_t pb_enum_Button_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(pb_enum_type_Button_locals_dict, pb_enum_Button_table);
 
-const mp_obj_type_t pb_enum_type_Button = {
-    { &mp_type_type },
-    .name = MP_QSTR_Button,
-    .print = pb_type_enum_print,
-    .unary_op = mp_generic_unary_op,
-    .locals_dict = (mp_obj_dict_t *)&(pb_enum_type_Button_locals_dict),
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_enum_type_Button,
+    MP_QSTR_Button,
+    MP_TYPE_FLAG_NONE,
+    print, pb_type_enum_print,
+    unary_op, mp_generic_unary_op,
+    locals_dict, &(pb_enum_type_Button_locals_dict));
 
 #endif // PYBRICKS_PY_PARAMETERS_BUTTON
 
diff --git a/pybricks/parameters/pb_type_color.c b/pybricks/parameters/pb_type_color.c
index ba70ae167..3bf9dd2e5 100644
--- a/pybricks/parameters/pb_type_color.c
+++ b/pybricks/parameters/pb_type_color.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -145,7 +145,7 @@ void pb_type_Color_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kin
 
     // If we're the class itself, use dict printer
     if (MP_OBJ_TO_PTR(self_in) == &pb_type_Color_obj) {
-        mp_type_dict.print(print, MP_OBJ_FROM_PTR(MP_STATE_VM(pb_type_Color_dict)), kind);
+        MP_OBJ_TYPE_GET_SLOT(&mp_type_dict, print)(print, MP_OBJ_FROM_PTR(MP_STATE_VM(pb_type_Color_dict)), kind);
         return;
     }
 
@@ -177,7 +177,7 @@ STATIC mp_obj_t pb_type_Color_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t
     }
 
     // Treat it like a dictionary
-    return mp_type_dict.subscr(MP_OBJ_FROM_PTR(MP_STATE_VM(pb_type_Color_dict)), index, value);
+    return MP_OBJ_TYPE_GET_SLOT(&mp_type_dict, subscr)(MP_OBJ_FROM_PTR(MP_STATE_VM(pb_type_Color_dict)), index, value);
 }
 
 STATIC mp_obj_t pb_type_Color_getiter(mp_obj_t self_in, mp_obj_iter_buf_t *iter_buf) {
@@ -188,7 +188,7 @@ STATIC mp_obj_t pb_type_Color_getiter(mp_obj_t self_in, mp_obj_iter_buf_t *iter_
     }
 
     // Treat it like a dictionary
-    return mp_type_dict.getiter(MP_OBJ_FROM_PTR(MP_STATE_VM(pb_type_Color_dict)), iter_buf);
+    return ((mp_getiter_fun_t)MP_OBJ_TYPE_GET_SLOT(&mp_type_dict, iter))(MP_OBJ_FROM_PTR(MP_STATE_VM(pb_type_Color_dict)), iter_buf);
 }
 
 STATIC void pb_type_Color_attr(mp_obj_t self_in, qstr attr, mp_obj_t *dest) {
@@ -308,17 +308,16 @@ STATIC mp_obj_t pb_type_Color_call(mp_obj_t self_in, size_t n_args, size_t n_kw,
     return pb_type_Color_make_new_helper(pb_obj_get_int(h_in), pb_obj_get_int(s_in), pb_obj_get_int(v_in));
 }
 
-const mp_obj_type_t pb_type_Color = {
-    { &mp_type_type },
-    .name = MP_QSTR_Color,
-    .call = pb_type_Color_call,
-    .attr = pb_type_Color_attr,
-    .print = pb_type_Color_print,
-    .unary_op = mp_generic_unary_op,
-    .binary_op = pb_type_Color_binary_op,
-    .subscr = pb_type_Color_subscr,
-    .getiter = pb_type_Color_getiter,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_Color,
+    MP_QSTR_Color,
+    MP_TYPE_FLAG_ITER_IS_GETITER,
+    call, pb_type_Color_call,
+    attr, pb_type_Color_attr,
+    print, pb_type_Color_print,
+    unary_op, mp_generic_unary_op,
+    binary_op, pb_type_Color_binary_op,
+    subscr, pb_type_Color_subscr,
+    iter, pb_type_Color_getiter);
 
 // We expose an instance instead of the type. This lets us provide class
 // attributes via the attribute handler for more flexibility.
@@ -326,4 +325,6 @@ const mp_obj_base_t pb_type_Color_obj = {
     &pb_type_Color
 };
 
+MP_REGISTER_ROOT_POINTER(mp_obj_dict_t * pb_type_Color_dict);
+
 #endif // PYBRICKS_PY_PARAMETERS
diff --git a/pybricks/parameters/pb_type_direction.c b/pybricks/parameters/pb_type_direction.c
index 46cf0dfd6..261704cd2 100644
--- a/pybricks/parameters/pb_type_direction.c
+++ b/pybricks/parameters/pb_type_direction.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -29,12 +29,11 @@ STATIC const mp_rom_map_elem_t pb_enum_Direction_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(pb_enum_type_Direction_locals_dict, pb_enum_Direction_table);
 
-const mp_obj_type_t pb_enum_type_Direction = {
-    { &mp_type_type },
-    .name = MP_QSTR_Direction,
-    .print = pb_type_enum_print,
-    .unary_op = mp_generic_unary_op,
-    .locals_dict = (mp_obj_dict_t *)&(pb_enum_type_Direction_locals_dict),
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_enum_type_Direction,
+    MP_QSTR_Direction,
+    MP_TYPE_FLAG_NONE,
+    print, pb_type_enum_print,
+    unary_op, mp_generic_unary_op,
+    locals_dict, &(pb_enum_type_Direction_locals_dict));
 
 #endif // PYBRICKS_PY_PARAMETERS
diff --git a/pybricks/parameters/pb_type_icon.c b/pybricks/parameters/pb_type_icon.c
index 169cf4c45..43cf36803 100644
--- a/pybricks/parameters/pb_type_icon.c
+++ b/pybricks/parameters/pb_type_icon.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2021-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -260,12 +260,11 @@ STATIC mp_obj_t pb_type_Icon_call(mp_obj_t self_in, size_t n_args, size_t n_kw,
     return pb_type_Matrix_make_bitmap(5, 5, 100, mp_obj_get_int(args[0]));
 }
 
-STATIC const mp_obj_type_t pb_type_Icon = {
-    { &mp_type_type },
-    .name = MP_QSTR_Icon,
-    .call = pb_type_Icon_call,
-    .attr = pb_type_Icon_attr,
-};
+STATIC MP_DEFINE_CONST_OBJ_TYPE(pb_type_Icon,
+    MP_QSTR_Icon,
+    MP_TYPE_FLAG_NONE,
+    call, pb_type_Icon_call,
+    attr, pb_type_Icon_attr);
 
 // We expose an instance instead of the type. This workaround allows
 // us to provide class attributes via the attribute handler, generating
diff --git a/pybricks/parameters/pb_type_port.c b/pybricks/parameters/pb_type_port.c
index 673615cc8..33680272d 100644
--- a/pybricks/parameters/pb_type_port.c
+++ b/pybricks/parameters/pb_type_port.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -127,12 +127,11 @@ STATIC const mp_rom_map_elem_t pb_enum_Port_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(pb_enum_type_Port_locals_dict, pb_enum_Port_table);
 
-const mp_obj_type_t pb_enum_type_Port = {
-    { &mp_type_type },
-    .name = MP_QSTR_Port,
-    .print = pb_type_enum_print,
-    .unary_op = mp_generic_unary_op,
-    .locals_dict = (mp_obj_dict_t *)&(pb_enum_type_Port_locals_dict),
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_enum_type_Port,
+    MP_QSTR_Port,
+    MP_TYPE_FLAG_NONE,
+    print, pb_type_enum_print,
+    unary_op, mp_generic_unary_op,
+    locals_dict, &(pb_enum_type_Port_locals_dict));
 
 #endif // PYBRICKS_PY_PARAMETERS
diff --git a/pybricks/parameters/pb_type_side.c b/pybricks/parameters/pb_type_side.c
index d9f591ca5..f1b5ea2df 100644
--- a/pybricks/parameters/pb_type_side.c
+++ b/pybricks/parameters/pb_type_side.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -57,12 +57,11 @@ STATIC const mp_rom_map_elem_t pb_enum_Side_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(pb_enum_type_Side_locals_dict, pb_enum_Side_table);
 
-const mp_obj_type_t pb_enum_type_Side = {
-    { &mp_type_type },
-    .name = MP_QSTR_Side,
-    .print = pb_type_enum_print,
-    .unary_op = mp_generic_unary_op,
-    .locals_dict = (mp_obj_dict_t *)&(pb_enum_type_Side_locals_dict),
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_enum_type_Side,
+    MP_QSTR_Side,
+    MP_TYPE_FLAG_NONE,
+    print, pb_type_enum_print,
+    unary_op, mp_generic_unary_op,
+    locals_dict, &(pb_enum_type_Side_locals_dict));
 
 #endif // PYBRICKS_PY_PARAMETERS
diff --git a/pybricks/parameters/pb_type_stop.c b/pybricks/parameters/pb_type_stop.c
index d2bbdfe4c..756b98262 100644
--- a/pybricks/parameters/pb_type_stop.c
+++ b/pybricks/parameters/pb_type_stop.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -57,11 +57,11 @@ STATIC const mp_rom_map_elem_t pb_enum_Stop_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(pb_enum_type_Stop_locals_dict, pb_enum_Stop_table);
 
-const mp_obj_type_t pb_enum_type_Stop = {
-    { &mp_type_type },
-    .name = MP_QSTR_Stop,
-    .print = pb_type_enum_print,
-    .unary_op = mp_generic_unary_op,
-    .locals_dict = (mp_obj_dict_t *)&(pb_enum_type_Stop_locals_dict),
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_enum_type_Stop,
+    MP_QSTR_Stop,
+    MP_TYPE_FLAG_NONE,
+    print, pb_type_enum_print,
+    unary_op, mp_generic_unary_op,
+    locals_dict, &(pb_enum_type_Stop_locals_dict));
+
 #endif // PYBRICKS_PY_PARAMETERS
diff --git a/pybricks/pupdevices/pb_type_pupdevices_colordistancesensor.c b/pybricks/pupdevices/pb_type_pupdevices_colordistancesensor.c
index a3e0b9596..5fdb28c40 100644
--- a/pybricks/pupdevices/pb_type_pupdevices_colordistancesensor.c
+++ b/pybricks/pupdevices/pb_type_pupdevices_colordistancesensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -165,13 +165,12 @@ STATIC const mp_rom_map_elem_t pupdevices_ColorDistanceSensor_locals_dict_table[
 STATIC MP_DEFINE_CONST_DICT(pupdevices_ColorDistanceSensor_locals_dict, pupdevices_ColorDistanceSensor_locals_dict_table);
 
 // type(pybricks.pupdevices.ColorDistanceSensor)
-const mp_obj_type_t pb_type_pupdevices_ColorDistanceSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_ColorDistanceSensor,
-    .make_new = pupdevices_ColorDistanceSensor_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = pupdevices_ColorDistanceSensor_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&pupdevices_ColorDistanceSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_ColorDistanceSensor,
+    MP_QSTR_ColorDistanceSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, pupdevices_ColorDistanceSensor_make_new,
+    attr, pb_attribute_handler,
+    protocol, pupdevices_ColorDistanceSensor_attr_dict,
+    locals_dict, &pupdevices_ColorDistanceSensor_locals_dict);
 
 #endif // PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/pupdevices/pb_type_pupdevices_colorlightmatrix.c b/pybricks/pupdevices/pb_type_pupdevices_colorlightmatrix.c
index 137e9444e..fe8b5c2a1 100644
--- a/pybricks/pupdevices/pb_type_pupdevices_colorlightmatrix.c
+++ b/pybricks/pupdevices/pb_type_pupdevices_colorlightmatrix.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -112,11 +112,10 @@ STATIC const mp_rom_map_elem_t pupdevices_ColorLightMatrix_locals_dict_table[] =
 STATIC MP_DEFINE_CONST_DICT(pupdevices_ColorLightMatrix_locals_dict, pupdevices_ColorLightMatrix_locals_dict_table);
 
 // type(pybricks.pupdevices.ColorLightMatrix)
-const mp_obj_type_t pb_type_pupdevices_ColorLightMatrix = {
-    { &mp_type_type },
-    .name = MP_QSTR_ColorLightMatrix,
-    .make_new = pupdevices_ColorLightMatrix_make_new,
-    .locals_dict = (mp_obj_dict_t *)&pupdevices_ColorLightMatrix_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_ColorLightMatrix,
+    MP_QSTR_ColorLightMatrix,
+    MP_TYPE_FLAG_NONE,
+    make_new, pupdevices_ColorLightMatrix_make_new,
+    locals_dict, &pupdevices_ColorLightMatrix_locals_dict);
 
 #endif // PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/pupdevices/pb_type_pupdevices_colorsensor.c b/pybricks/pupdevices/pb_type_pupdevices_colorsensor.c
index 62452b2a8..e874a4a9f 100644
--- a/pybricks/pupdevices/pb_type_pupdevices_colorsensor.c
+++ b/pybricks/pupdevices/pb_type_pupdevices_colorsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -167,13 +167,12 @@ STATIC const mp_rom_map_elem_t pupdevices_ColorSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(pupdevices_ColorSensor_locals_dict, pupdevices_ColorSensor_locals_dict_table);
 
 // type(pybricks.pupdevices.ColorSensor)
-const mp_obj_type_t pb_type_pupdevices_ColorSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_ColorSensor,
-    .make_new = pupdevices_ColorSensor_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = pupdevices_ColorSensor_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&pupdevices_ColorSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_ColorSensor,
+    MP_QSTR_ColorSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, pupdevices_ColorSensor_make_new,
+    attr, pb_attribute_handler,
+    protocol, pupdevices_ColorSensor_attr_dict,
+    locals_dict, &pupdevices_ColorSensor_locals_dict);
 
 #endif // PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/pupdevices/pb_type_pupdevices_forcesensor.c b/pybricks/pupdevices/pb_type_pupdevices_forcesensor.c
index f3d37d452..055e7836e 100644
--- a/pybricks/pupdevices/pb_type_pupdevices_forcesensor.c
+++ b/pybricks/pupdevices/pb_type_pupdevices_forcesensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -138,11 +138,10 @@ STATIC const mp_rom_map_elem_t pupdevices_ForceSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(pupdevices_ForceSensor_locals_dict, pupdevices_ForceSensor_locals_dict_table);
 
 // type(pybricks.pupdevices.ForceSensor)
-const mp_obj_type_t pb_type_pupdevices_ForceSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_ForceSensor,
-    .make_new = pupdevices_ForceSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&pupdevices_ForceSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_ForceSensor,
+    MP_QSTR_ForceSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, pupdevices_ForceSensor_make_new,
+    locals_dict, &pupdevices_ForceSensor_locals_dict);
 
 #endif // PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/pupdevices/pb_type_pupdevices_infraredsensor.c b/pybricks/pupdevices/pb_type_pupdevices_infraredsensor.c
index 192cc1445..976e67628 100644
--- a/pybricks/pupdevices/pb_type_pupdevices_infraredsensor.c
+++ b/pybricks/pupdevices/pb_type_pupdevices_infraredsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -80,11 +80,10 @@ STATIC const mp_rom_map_elem_t pupdevices_InfraredSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(pupdevices_InfraredSensor_locals_dict, pupdevices_InfraredSensor_locals_dict_table);
 
 // type(pybricks.pupdevices.InfraredSensor)
-const mp_obj_type_t pb_type_pupdevices_InfraredSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_InfraredSensor,
-    .make_new = pupdevices_InfraredSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&pupdevices_InfraredSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_InfraredSensor,
+    MP_QSTR_InfraredSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, pupdevices_InfraredSensor_make_new,
+    locals_dict, &pupdevices_InfraredSensor_locals_dict);
 
 #endif // PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/pupdevices/pb_type_pupdevices_light.c b/pybricks/pupdevices/pb_type_pupdevices_light.c
index 5412b16ef..f6d5a83f8 100644
--- a/pybricks/pupdevices/pb_type_pupdevices_light.c
+++ b/pybricks/pupdevices/pb_type_pupdevices_light.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -63,11 +63,10 @@ STATIC const mp_rom_map_elem_t pupdevices_Light_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(pupdevices_Light_locals_dict, pupdevices_Light_locals_dict_table);
 
 // type(pybricks.pupdevices.Light)
-const mp_obj_type_t pb_type_pupdevices_Light = {
-    { &mp_type_type },
-    .name = MP_QSTR_Light,
-    .make_new = pupdevices_Light_make_new,
-    .locals_dict = (mp_obj_dict_t *)&pupdevices_Light_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_Light,
+    MP_QSTR_Light,
+    MP_TYPE_FLAG_NONE,
+    make_new, pupdevices_Light_make_new,
+    locals_dict, &pupdevices_Light_locals_dict);
 
 #endif // PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/pupdevices/pb_type_pupdevices_pfmotor.c b/pybricks/pupdevices/pb_type_pupdevices_pfmotor.c
index d86cf8827..74fc12c68 100644
--- a/pybricks/pupdevices/pb_type_pupdevices_pfmotor.c
+++ b/pybricks/pupdevices/pb_type_pupdevices_pfmotor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -155,11 +155,10 @@ STATIC const mp_rom_map_elem_t pupdevices_PFMotor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(pupdevices_PFMotor_locals_dict, pupdevices_PFMotor_locals_dict_table);
 
 // type(pybricks.pupdevices.PFMotor)
-const mp_obj_type_t pb_type_pupdevices_PFMotor = {
-    { &mp_type_type },
-    .name = MP_QSTR_PFMotor,
-    .make_new = pupdevices_PFMotor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&pupdevices_PFMotor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_PFMotor,
+    MP_QSTR_PFMotor,
+    MP_TYPE_FLAG_NONE,
+    make_new, pupdevices_PFMotor_make_new,
+    locals_dict, &pupdevices_PFMotor_locals_dict);
 
 #endif // PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/pupdevices/pb_type_pupdevices_remote.c b/pybricks/pupdevices/pb_type_pupdevices_remote.c
index 4fcce0d63..985c902a5 100644
--- a/pybricks/pupdevices/pb_type_pupdevices_remote.c
+++ b/pybricks/pupdevices/pb_type_pupdevices_remote.c
@@ -333,13 +333,12 @@ STATIC const mp_rom_map_elem_t pb_type_pupdevices_Remote_locals_dict_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(pb_type_pupdevices_Remote_locals_dict, pb_type_pupdevices_Remote_locals_dict_table);
 
-const mp_obj_type_t pb_type_pupdevices_Remote = {
-    { &mp_type_type },
-    .name = MP_QSTR_Remote,
-    .make_new = pb_type_pupdevices_Remote_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = pb_type_pupdevices_Remote_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&pb_type_pupdevices_Remote_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_Remote,
+    MP_QSTR_Remote,
+    MP_TYPE_FLAG_NONE,
+    make_new, pb_type_pupdevices_Remote_make_new,
+    attr, pb_attribute_handler,
+    protocol, pb_type_pupdevices_Remote_attr_dict,
+    locals_dict, &pb_type_pupdevices_Remote_locals_dict);
 
 #endif // PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/pupdevices/pb_type_pupdevices_tiltsensor.c b/pybricks/pupdevices/pb_type_pupdevices_tiltsensor.c
index abc1d6551..9ab83f644 100644
--- a/pybricks/pupdevices/pb_type_pupdevices_tiltsensor.c
+++ b/pybricks/pupdevices/pb_type_pupdevices_tiltsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -53,11 +53,10 @@ STATIC const mp_rom_map_elem_t pupdevices_TiltSensor_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(pupdevices_TiltSensor_locals_dict, pupdevices_TiltSensor_locals_dict_table);
 
 // type(pybricks.pupdevices.TiltSensor)
-const mp_obj_type_t pb_type_pupdevices_TiltSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_TiltSensor,
-    .make_new = pupdevices_TiltSensor_make_new,
-    .locals_dict = (mp_obj_dict_t *)&pupdevices_TiltSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_TiltSensor,
+    MP_QSTR_TiltSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, pupdevices_TiltSensor_make_new,
+    locals_dict, &pupdevices_TiltSensor_locals_dict);
 
 #endif // PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/pupdevices/pb_type_pupdevices_ultrasonicsensor.c b/pybricks/pupdevices/pb_type_pupdevices_ultrasonicsensor.c
index b4d35caf4..f25ad000f 100644
--- a/pybricks/pupdevices/pb_type_pupdevices_ultrasonicsensor.c
+++ b/pybricks/pupdevices/pb_type_pupdevices_ultrasonicsensor.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2021 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -69,13 +69,12 @@ STATIC const mp_rom_map_elem_t pupdevices_UltrasonicSensor_locals_dict_table[] =
 STATIC MP_DEFINE_CONST_DICT(pupdevices_UltrasonicSensor_locals_dict, pupdevices_UltrasonicSensor_locals_dict_table);
 
 // type(pybricks.pupdevices.UltrasonicSensor)
-const mp_obj_type_t pb_type_pupdevices_UltrasonicSensor = {
-    { &mp_type_type },
-    .name = MP_QSTR_UltrasonicSensor,
-    .make_new = pupdevices_UltrasonicSensor_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = pupdevices_UltrasonicSensor_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&pupdevices_UltrasonicSensor_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_pupdevices_UltrasonicSensor,
+    MP_QSTR_UltrasonicSensor,
+    MP_TYPE_FLAG_NONE,
+    make_new, pupdevices_UltrasonicSensor_make_new,
+    attr, pb_attribute_handler,
+    protocol, pupdevices_UltrasonicSensor_attr_dict,
+    locals_dict, &pupdevices_UltrasonicSensor_locals_dict);
 
 #endif // PYBRICKS_PY_PUPDEVICES
diff --git a/pybricks/pybricks.c b/pybricks/pybricks.c
index 8952fa771..646019538 100644
--- a/pybricks/pybricks.c
+++ b/pybricks/pybricks.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2022 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include <string.h>
 
@@ -87,7 +87,7 @@ static void pb_package_import_all(void) {
     #if PYBRICKS_PY_HUBS
     // Initialize hub instance
     const mp_obj_t args;
-    mp_store_name(MP_QSTR_hub, pb_type_ThisHub.make_new(&pb_type_ThisHub, 0, 0, &args));
+    mp_store_name(MP_QSTR_hub, MP_OBJ_TYPE_GET_SLOT(&pb_type_ThisHub, make_new)(&pb_type_ThisHub, 0, 0, &args));
     #endif
 }
 
diff --git a/pybricks/robotics/pb_type_drivebase.c b/pybricks/robotics/pb_type_drivebase.c
index 8d16c5547..b20daac69 100644
--- a/pybricks/robotics/pb_type_drivebase.c
+++ b/pybricks/robotics/pb_type_drivebase.c
@@ -315,29 +315,27 @@ STATIC const mp_rom_map_elem_t pb_type_DriveBase_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(pb_type_DriveBase_locals_dict, pb_type_DriveBase_locals_dict_table);
 
 // type(pybricks.robotics.DriveBase)
-const mp_obj_type_t pb_type_drivebase = {
-    { &mp_type_type },
-    .name = MP_QSTR_DriveBase,
-    .make_new = pb_type_DriveBase_make_new,
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_drivebase,
+    MP_QSTR_DriveBase,
+    MP_TYPE_FLAG_NONE,
+    make_new, pb_type_DriveBase_make_new,
     #if PYBRICKS_PY_COMMON_CONTROL
-    .attr = pb_attribute_handler,
-    .protocol = pb_type_DriveBase_attr_dict,
+    attr, pb_attribute_handler,
+    protocol, pb_type_DriveBase_attr_dict,
     #endif
-    .locals_dict = (mp_obj_dict_t *)&pb_type_DriveBase_locals_dict,
-};
+    locals_dict, &pb_type_DriveBase_locals_dict);
 
 #if PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO
 // type(pybricks.robotics.GyroDriveBase)
-const mp_obj_type_t pb_type_gyrodrivebase = {
-    { &mp_type_type },
-    .name = MP_QSTR_GyroDriveBase,
-    .make_new = pb_type_DriveBase_make_new,
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_gyrodrivebase,
+    MP_QSTR_GyroDriveBase,
+    MP_TYPE_FLAG_NONE,
+    make_new, pb_type_DriveBase_make_new,
     #if PYBRICKS_PY_COMMON_CONTROL
-    .attr = pb_attribute_handler,
-    .protocol = pb_type_DriveBase_attr_dict,
+    attr, pb_attribute_handler,
+    protocol, pb_type_DriveBase_attr_dict,
     #endif
-    .locals_dict = (mp_obj_dict_t *)&pb_type_DriveBase_locals_dict,
-};
+    locals_dict, &pb_type_DriveBase_locals_dict);
 #endif // PYBRICKS_PY_ROBOTICS_DRIVEBASE_GYRO
 
 #endif // PYBRICKS_PY_ROBOTICS && PYBRICKS_PY_COMMON_MOTORS
diff --git a/pybricks/robotics/pb_type_spikebase.c b/pybricks/robotics/pb_type_spikebase.c
index b1797fbad..a61e6a949 100644
--- a/pybricks/robotics/pb_type_spikebase.c
+++ b/pybricks/robotics/pb_type_spikebase.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2021 The Pybricks Authors
+// Copyright (c) 2021-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -243,13 +243,12 @@ STATIC const mp_rom_map_elem_t robotics_SpikeBase_locals_dict_table[] = {
 STATIC MP_DEFINE_CONST_DICT(robotics_SpikeBase_locals_dict, robotics_SpikeBase_locals_dict_table);
 
 // type(pybricks.robotics.SpikeBase)
-const mp_obj_type_t pb_type_spikebase = {
-    { &mp_type_type },
-    .name = MP_QSTR_SpikeBase,
-    .make_new = robotics_SpikeBase_make_new,
-    .attr = pb_attribute_handler,
-    .protocol = robotics_SpikeBase_attr_dict,
-    .locals_dict = (mp_obj_dict_t *)&robotics_SpikeBase_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_spikebase,
+    MP_QSTR_SpikeBase,
+    MP_TYPE_FLAG_NONE,
+    make_new, robotics_SpikeBase_make_new,
+    attr, pb_attribute_handler,
+    protocol, robotics_SpikeBase_attr_dict,
+    locals_dict, &robotics_SpikeBase_locals_dict);
 
 #endif // PYBRICKS_PY_ROBOTICS && PYBRICKS_PY_ROBOTICS_DRIVEBASE_SPIKE
diff --git a/pybricks/tools/pb_type_matrix.c b/pybricks/tools/pb_type_matrix.c
index 53e9aa0e0..ab6be00e4 100644
--- a/pybricks/tools/pb_type_matrix.c
+++ b/pybricks/tools/pb_type_matrix.c
@@ -514,17 +514,16 @@ STATIC mp_obj_t pb_type_Matrix_getiter(mp_obj_t o_in, mp_obj_iter_buf_t *iter_bu
 }
 
 // type(pybricks.tools.Matrix)
-const mp_obj_type_t pb_type_Matrix = {
-    { &mp_type_type },
-    .name = MP_QSTR_Matrix,
-    .print = pb_type_Matrix_print,
-    .make_new = pb_type_Matrix_make_new,
-    .attr = pb_type_Matrix_attr,
-    .unary_op = pb_type_Matrix_unary_op,
-    .binary_op = pb_type_Matrix_binary_op,
-    .subscr = pb_type_Matrix_subscr,
-    .getiter = pb_type_Matrix_getiter,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_Matrix,
+    MP_QSTR_Matrix,
+    MP_TYPE_FLAG_ITER_IS_GETITER,
+    print, pb_type_Matrix_print,
+    make_new, pb_type_Matrix_make_new,
+    attr, pb_type_Matrix_attr,
+    unary_op, pb_type_Matrix_unary_op,
+    binary_op, pb_type_Matrix_binary_op,
+    subscr, pb_type_Matrix_subscr,
+    iter, pb_type_Matrix_getiter);
 
 // pybricks.tools._make_vector
 mp_obj_t pb_type_Matrix_make_vector(size_t m, float *data, bool normalize) {
diff --git a/pybricks/tools/pb_type_stopwatch.c b/pybricks/tools/pb_type_stopwatch.c
index 668bac7e6..c20d8bc29 100644
--- a/pybricks/tools/pb_type_stopwatch.c
+++ b/pybricks/tools/pb_type_stopwatch.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2018-2020 The Pybricks Authors
+// Copyright (c) 2018-2023 The Pybricks Authors
 
 #include "py/mpconfig.h"
 
@@ -75,11 +75,10 @@ STATIC const mp_rom_map_elem_t tools_StopWatch_locals_dict_table[] = {
 };
 STATIC MP_DEFINE_CONST_DICT(tools_StopWatch_locals_dict, tools_StopWatch_locals_dict_table);
 
-const mp_obj_type_t pb_type_StopWatch = {
-    { &mp_type_type },
-    .name = MP_QSTR_StopWatch,
-    .make_new = tools_StopWatch_make_new,
-    .locals_dict = (mp_obj_dict_t *)&tools_StopWatch_locals_dict,
-};
+MP_DEFINE_CONST_OBJ_TYPE(pb_type_StopWatch,
+    MP_QSTR_StopWatch,
+    MP_TYPE_FLAG_NONE,
+    make_new, tools_StopWatch_make_new,
+    locals_dict, &tools_StopWatch_locals_dict);
 
 #endif // PYBRICKS_PY_TOOLS
diff --git a/pybricks/util_mp/pb_obj_helper.c b/pybricks/util_mp/pb_obj_helper.c
index f927b82f4..a8c5c12f4 100644
--- a/pybricks/util_mp/pb_obj_helper.c
+++ b/pybricks/util_mp/pb_obj_helper.c
@@ -1,5 +1,5 @@
 // SPDX-License-Identifier: MIT
-// Copyright (c) 2019-2021 The Pybricks Authors
+// Copyright (c) 2019-2023 The Pybricks Authors
 
 #include <pbio/color.h>
 #include <pbio/error.h>
@@ -156,7 +156,7 @@ void pb_attribute_handler(mp_obj_t self_in, qstr attr, mp_obj_t *dest) {
     const mp_obj_type_t *type = mp_obj_get_type(self_in);
 
     // type may have been subclassed
-    while (type->attr != pb_attribute_handler) {
+    while (MP_OBJ_TYPE_GET_SLOT_OR_NULL(type, attr) != pb_attribute_handler) {
         type = type->base.type;
 
         if (type == &mp_type_type) {
@@ -168,7 +168,7 @@ void pb_attribute_handler(mp_obj_t self_in, qstr attr, mp_obj_t *dest) {
     }
 
     // Get number of attributes and reference to attributes array.
-    const pb_attr_dict_entry_t *attr_dict = type->protocol;
+    const pb_attr_dict_entry_t *attr_dict = MP_OBJ_TYPE_GET_SLOT(type, protocol);
     const pb_attr_dict_entry_t *entry = NULL;
 
     // Look up the attribute offset. attr_dict is zero-terminated.
diff --git a/test-ev3dev.sh b/test-ev3dev.sh
index 33110bfd2..a4ba79199 100755
--- a/test-ev3dev.sh
+++ b/test-ev3dev.sh
@@ -13,9 +13,9 @@ MP_TEST_DIR="$SCRIPT_DIR/micropython/tests"
 PB_TEST_DIR=$(readlink -f "$SCRIPT_DIR/tests")
 BUILD_DIR=$(readlink -f "$BRICK_DIR/build-test")
 
-rm -f "$BRICK_DIR/pybricks-micropython"
-make -s -j $(nproc --all) -C "$BRICK_DIR" pybricks-micropython build-test/libgrx-3.0-vdriver-test.so CROSS_COMPILE= DEBUG=1 COPT=-O0 BUILD=build-test
+make -s -j $(nproc --all) -C "$BRICK_DIR" build-test/pybricks-micropython build-test/libgrx-3.0-vdriver-test.so CROSS_COMPILE= DEBUG=1 COPT=-O0 BUILD=build-test
 
+export PYBRICKS_MICROPYTHON="$BUILD_DIR/pybricks-micropython"
 export MICROPY_MICROPYTHON="$PB_TEST_DIR/ev3dev/test-wrapper.sh"
 export GRX_PLUGIN_PATH="$BUILD_DIR"
 export GRX_DRIVER=test
diff --git a/tests/ev3dev/test-wrapper.sh b/tests/ev3dev/test-wrapper.sh
index df2c0f092..e2e4ee9c6 100755
--- a/tests/ev3dev/test-wrapper.sh
+++ b/tests/ev3dev/test-wrapper.sh
@@ -6,4 +6,4 @@ DIR=$(dirname "$(readlink -f $0)")
 
 export EV3DEV_MOCKS_UMOCKDEV_RUN_ARGS="-d $DIR/lego-ev3-large-motor-port-a.umockdev"
 
-exec ev3dev-mocks-run "$DIR/../../bricks/ev3dev/pybricks-micropython" "$@"
+exec ev3dev-mocks-run "$PYBRICKS_MICROPYTHON" "$@"
diff --git a/tests/virtualhub/motor/test_1.py b/tests/virtualhub/motor/test_1.py
index 9eb1ee1f9..376e7654b 100644
--- a/tests/virtualhub/motor/test_1.py
+++ b/tests/virtualhub/motor/test_1.py
@@ -2,8 +2,8 @@
 from pybricks.parameters import Port
 from pybricks.tools import wait, StopWatch
 
-from errno import ETIMEDOUT
-from os import getenv
+from uerrno import ETIMEDOUT
+from uos import getenv
 
 # environment variables allow running one-off tests
 TARGET_ANGLE = int(getenv("TARGET_ANGLE", 1000))