diff --git a/libs/core/dal.d.ts b/libs/core/dal.d.ts
index 2251128a..703ef35d 100644
--- a/libs/core/dal.d.ts
+++ b/libs/core/dal.d.ts
@@ -1,11 +1,11 @@
 // Auto-generated. Do not edit.
 declare const enum DAL {
-    // built\yt\yotta_modules\microbit-dal\inc\bluetooth\ExternalEvents.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/ExternalEvents.h
     MICROBIT_ID_BLE = 1000,
     MICROBIT_ID_BLE_UART = 1200,
     MICROBIT_BLE_EVT_CONNECTED = 1,
     MICROBIT_BLE_EVT_DISCONNECTED = 2,
-    // built\yt\yotta_modules\microbit-dal\inc\bluetooth\MESEvents.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MESEvents.h
     MES_REMOTE_CONTROL_ID = 1001,
     MES_REMOTE_CONTROL_EVT_PLAY = 1,
     MES_REMOTE_CONTROL_EVT_PAUSE = 2,
@@ -70,8 +70,8 @@ declare const enum DAL {
     MES_DPAD_BUTTON_4_DOWN = 15,
     MES_DPAD_BUTTON_4_UP = 16,
     MES_BROADCAST_GENERAL_ID = 2000,
-    // built\yt\yotta_modules\microbit-dal\inc\bluetooth\MicroBitAccelerometerService.h
-    // built\yt\yotta_modules\microbit-dal\inc\bluetooth\MicroBitBLEManager.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MicroBitAccelerometerService.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MicroBitBLEManager.h
     MICROBIT_BLE_PAIR_REQUEST = 0x01,
     MICROBIT_BLE_PAIR_COMPLETE = 0x02,
     MICROBIT_BLE_PAIR_PASSCODE = 0x04,
@@ -80,26 +80,26 @@ declare const enum DAL {
     MICROBIT_BLE_POWER_LEVELS = 8,
     MICROBIT_BLE_MAXIMUM_BONDS = 4,
     MICROBIT_BLE_EDDYSTONE_URL_ADV_INTERVAL = 400,
-    // built/yt/yotta_modules/microbit-dal/inc//bluetooth/MicroBitButtonService.h
-    // built/yt/yotta_modules/microbit-dal/inc//bluetooth/MicroBitDFUService.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MicroBitButtonService.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MicroBitDFUService.h
     MICROBIT_DFU_OPCODE_START_DFU = 1,
     MICROBIT_DFU_HISTOGRAM_WIDTH = 5,
     MICROBIT_DFU_HISTOGRAM_HEIGHT = 5,
-    // built\yt\yotta_modules\microbit-dal\inc\bluetooth\MicroBitEventService.h
-    // built\yt\yotta_modules\microbit-dal\inc\bluetooth\MicroBitIOPinService.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MicroBitEventService.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MicroBitIOPinService.h
     MICROBIT_IO_PIN_SERVICE_PINCOUNT = 19,
     MICROBIT_IO_PIN_SERVICE_DATA_SIZE = 10,
     MICROBIT_PWM_PIN_SERVICE_DATA_SIZE = 2,
-    // built\yt\yotta_modules\microbit-dal\inc\bluetooth\MicroBitLEDService.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MicroBitLEDService.h
     MICROBIT_BLE_MAXIMUM_SCROLLTEXT = 20,
-    // built\yt\yotta_modules\microbit-dal\inc\bluetooth\MicroBitMagnetometerService.h
-    // built\yt\yotta_modules\microbit-dal\inc\bluetooth\MicroBitTemperatureService.h
-    // built\yt\yotta_modules\microbit-dal\inc\bluetooth\MicroBitUARTService.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MicroBitMagnetometerService.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MicroBitTemperatureService.h
+    // built/yt/yotta_modules/microbit-dal/inc/bluetooth/MicroBitUARTService.h
     MICROBIT_UART_S_DEFAULT_BUF_SIZE = 20,
     MICROBIT_UART_S_EVT_DELIM_MATCH = 1,
     MICROBIT_UART_S_EVT_HEAD_MATCH = 2,
     MICROBIT_UART_S_EVT_RX_FULL = 3,
-    // built\yt\yotta_modules\microbit-dal\inc\core\ErrorNo.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/ErrorNo.h
     MICROBIT_OK = 0,
     MICROBIT_INVALID_PARAMETER = -1001,
     MICROBIT_NOT_SUPPORTED = -1002,
@@ -114,10 +114,10 @@ declare const enum DAL {
     MICROBIT_OOM = 20,
     MICROBIT_HEAP_ERROR = 30,
     MICROBIT_NULL_DEREFERENCE = 40,
-    // built\yt\yotta_modules\microbit-dal\inc\core\EventModel.h
-    // built\yt\yotta_modules\microbit-dal\inc\core\MemberFunctionCallback.h
-    // built\yt\yotta_modules\microbit-dal\inc\core\MicroBitCompat.h
-    // built\yt\yotta_modules\microbit-dal\inc\core\MicroBitComponent.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/EventModel.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/MemberFunctionCallback.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/MicroBitCompat.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/MicroBitComponent.h
     MICROBIT_ID_BUTTON_A = 1,
     MICROBIT_ID_BUTTON_B = 2,
     MICROBIT_ID_BUTTON_RESET = 3,
@@ -160,25 +160,25 @@ declare const enum DAL {
     MICROBIT_ID_NOTIFY_ONE = 1022,
     MICROBIT_ID_NOTIFY = 1023,
     MICROBIT_COMPONENT_RUNNING = 0x01,
-    // built\yt\yotta_modules\microbit-dal\inc\core\MicroBitDevice.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/MicroBitDevice.h
     MICROBIT_NAME_LENGTH = 5,
     MICROBIT_NAME_CODE_LETTERS = 5,
     MICROBIT_PANIC_ERROR_CHARS = 4,
-    // built\yt\yotta_modules\microbit-dal\inc\core\MicroBitFiber.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/MicroBitFiber.h
     MICROBIT_SCHEDULER_RUNNING = 0x01,
     MICROBIT_FIBER_FLAG_FOB = 0x01,
     MICROBIT_FIBER_FLAG_PARENT = 0x02,
     MICROBIT_FIBER_FLAG_CHILD = 0x04,
     MICROBIT_FIBER_FLAG_DO_NOT_PAGE = 0x08,
-    // built\yt\yotta_modules\microbit-dal\inc\core\MicroBitFont.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/MicroBitFont.h
     MICROBIT_FONT_WIDTH = 5,
     MICROBIT_FONT_HEIGHT = 5,
     MICROBIT_FONT_ASCII_START = 32,
     MICROBIT_FONT_ASCII_END = 126,
-    // built\yt\yotta_modules\microbit-dal\inc\core\MicroBitHeapAllocator.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/MicroBitHeapAllocator.h
     MICROBIT_MAXIMUM_HEAPS = 2,
     MICROBIT_HEAP_BLOCK_FREE = 0x80000000,
-    // built\yt\yotta_modules\microbit-dal\inc\core\MicroBitListener.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/MicroBitListener.h
     MESSAGE_BUS_LISTENER_PARAMETERISED = 0x0001,
     MESSAGE_BUS_LISTENER_METHOD = 0x0002,
     MESSAGE_BUS_LISTENER_BUSY = 0x0004,
@@ -188,16 +188,31 @@ declare const enum DAL {
     MESSAGE_BUS_LISTENER_NONBLOCKING = 0x0040,
     MESSAGE_BUS_LISTENER_URGENT = 0x0080,
     MESSAGE_BUS_LISTENER_DELETING = 0x8000,
-    // built\yt\yotta_modules\microbit-dal\inc\core\MicroBitSystemTimer.h
-    // built\yt\yotta_modules\microbit-dal\inc\core\NotifyEvents.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/MicroBitSystemTimer.h
+    // built/yt/yotta_modules/microbit-dal/inc/core/NotifyEvents.h
     MICROBIT_DISPLAY_EVT_FREE = 1,
     MICROBIT_SERIAL_EVT_TX_EMPTY = 2,
     MICROBIT_UART_S_EVT_TX_EMPTY = 3,
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/CalliopeRGB.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/CalliopeSoundMotor.h
+    CALLIOPE_SM_DEFAULT_DUTY_M = 50,
+    CALLIOPE_SM_DEFAULT_DUTY_S = 100,
+    CALLIOPE_SM_DEFAULT_FREQUENCY_S = 4000,
+    CALLIOPE_SM_DEFAULT_SILENT_MODE = 1,
+    CALLIOPE_SM_PRESCALER_M = 2,
+    CALLIOPE_SM_PRESCALER_S = 0,
+    CALLIOPE_SM_PRESCALER_S_LF = 4,
+    CALLIOPE_SM_PERIOD_M = 100,
+    CALLIOPE_MIN_FREQUENCY_HZ_S_NP = 245,
+    CALLIOPE_MIN_FREQUENCY_HZ_S = 20,
+    CALLIOPE_MAX_FREQUENCY_HZ_S = 20000,
+    CALLIOPE_BOARD_FREQUENCY = 16000000,
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/DynamicPwm.h
     NO_PWMS = 3,
     MICROBIT_DEFAULT_PWM_PERIOD = 20000,
     PWM_PERSISTENCE_TRANSIENT = 1,
     PWM_PERSISTENCE_PERSISTENT = 2,
-    // built/yt/yotta_modules/microbit-dal/inc//drivers/MicroBitAccelerometer-bmx.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitAccelerometer-bmx.h
     BMX055_ACC_WHOAMI = 0x00,
     BMX055_ACC_D_X_LSB = 0x02,
     BMX055_ACC_D_X_MSB = 0x03,
@@ -416,13 +431,14 @@ declare const enum DAL {
     MICROBIT_ACCELEROMETER_FREEFALL_TOLERANCE = 400,
     MICROBIT_ACCELEROMETER_SHAKE_TOLERANCE = 400,
     MICROBIT_ACCELEROMETER_2G_TOLERANCE = 2048,
-    MICROBIT_ACCELEROMETER_3G_TOLERANCE = 3072,
     MICROBIT_ACCELEROMETER_6G_TOLERANCE = 6144,
     MICROBIT_ACCELEROMETER_8G_TOLERANCE = 8192,
     MICROBIT_ACCELEROMETER_GESTURE_DAMPING = 5,
     MICROBIT_ACCELEROMETER_SHAKE_DAMPING = 10,
     MICROBIT_ACCELEROMETER_SHAKE_RTX = 30,
     MICROBIT_ACCELEROMETER_SHAKE_COUNT_THRESHOLD = 4,
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitAccelerometer.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitButton.h
     MICROBIT_BUTTON_EVT_DOWN = 1,
     MICROBIT_BUTTON_EVT_UP = 2,
     MICROBIT_BUTTON_EVT_CLICK = 3,
@@ -442,7 +458,7 @@ declare const enum DAL {
     MICROBIT_BUTTON_DOUBLE_CLICK_THRESH = 50,
     MICROBIT_BUTTON_SIMPLE_EVENTS = 0,
     MICROBIT_BUTTON_ALL_EVENTS = 1,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitCompass.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitCompass.h
     MAG3110_DEFAULT_ADDR = 0x1D,
     MAG_DR_STATUS = 0x00,
     MAG_OUT_X_MSB = 0x01,
@@ -473,8 +489,8 @@ declare const enum DAL {
     MICROBIT_COMPASS_STATUS_CALIBRATING = 4,
     MICROBIT_COMPASS_STATUS_ADDED_TO_IDLE = 8,
     MAG3110_WHOAMI_VAL = 0xC4,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitCompassCalibrator.h
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitDisplay.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitCompassCalibrator.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitDisplay.h
     MICROBIT_DISPLAY_EVT_ANIMATION_COMPLETE = 1,
     MICROBIT_DISPLAY_EVT_LIGHT_SENSE = 2,
     MICROBIT_DISPLAY_DEFAULT_AUTOCLEAR = 1,
@@ -496,45 +512,21 @@ declare const enum DAL {
     MICROBIT_DISPLAY_ROTATION_90 = 1,
     MICROBIT_DISPLAY_ROTATION_180 = 2,
     MICROBIT_DISPLAY_ROTATION_270 = 3,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitFile.h
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitFileSystem.h
-    MBFS_FILENAME_LENGTH = 16,
-    MB_READ = 0x01,
-    MB_WRITE = 0x02,
-    MB_CREAT = 0x04,
-    MB_APPEND = 0x08,
-    MB_SEEK_SET = 0x01,
-    MB_SEEK_END = 0x02,
-    MB_SEEK_CUR = 0x04,
-    MBFS_STATUS_INITIALISED = 0x01,
-    MBFS_UNUSED = 0xFFFF,
-    MBFS_EOF = 0xEFFF,
-    MBFS_DELETED = 0x0000,
-    MBFS_DIRECTORY_ENTRY_FREE = 0x8000,
-    MBFS_DIRECTORY_ENTRY_VALID = 0x4000,
-    MBFS_DIRECTORY_ENTRY_DIRECTORY = 0x2000,
-    MBFS_DIRECTORY_ENTRY_NEW = 0xffff,
-    MBFS_DIRECTORY_ENTRY_DELETED = 0x0000,
-    MBFS_BLOCK_TYPE_FILE = 1,
-    MBFS_BLOCK_TYPE_DIRECTORY = 2,
-    MBFS_BLOCK_TYPE_FILETABLE = 3,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitFlash.h
-    PAGE_SIZE = 1024,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitI2C.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitI2C.h
     MICROBIT_I2C_MAX_RETRIES = 9,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitIO.h
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitLightSensor.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitIO.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitLightSensor.h
     MICROBIT_LIGHT_SENSOR_CHAN_NUM = 3,
     MICROBIT_LIGHT_SENSOR_AN_SET_TIME = 4000,
     MICROBIT_LIGHT_SENSOR_TICK_PERIOD = 5,
     MICROBIT_LIGHT_SENSOR_MAX_VALUE = 338,
     MICROBIT_LIGHT_SENSOR_MIN_VALUE = 75,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitMatrixMaps.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitMatrixMaps.h
     NO_CONN = 0,
     MICROBIT_DISPLAY_WIDTH = 5,
     MICROBIT_DISPLAY_HEIGHT = 5,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitMessageBus.h
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitMultiButton.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitMessageBus.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitMultiButton.h
     MICROBIT_MULTI_BUTTON_STATE_1 = 0x01,
     MICROBIT_MULTI_BUTTON_STATE_2 = 0x02,
     MICROBIT_MULTI_BUTTON_HOLD_TRIGGERED_1 = 0x04,
@@ -542,7 +534,7 @@ declare const enum DAL {
     MICROBIT_MULTI_BUTTON_SUPRESSED_1 = 0X10,
     MICROBIT_MULTI_BUTTON_SUPRESSED_2 = 0x20,
     MICROBIT_MULTI_BUTTON_ATTACHED = 0x40,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitPin.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitPin.h
     IO_STATUS_DIGITAL_IN = 0x01,
     IO_STATUS_DIGITAL_OUT = 0x02,
     IO_STATUS_ANALOG_IN = 0x04,
@@ -566,6 +558,7 @@ declare const enum DAL {
     PIN_CAPABILITY_DIGITAL = 0x01,
     PIN_CAPABILITY_ANALOG = 0x02,
     PIN_CAPABILITY_TOUCH = 0x04,
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitRadio.h
     MICROBIT_RADIO_STATUS_INITIALISED = 0x0001,
     MICROBIT_RADIO_BASE_ADDRESS = 0x75626974,
     MICROBIT_RADIO_DEFAULT_GROUP = 0,
@@ -577,9 +570,9 @@ declare const enum DAL {
     MICROBIT_RADIO_PROTOCOL_DATAGRAM = 1,
     MICROBIT_RADIO_PROTOCOL_EVENTBUS = 2,
     MICROBIT_RADIO_EVT_DATAGRAM = 1,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitRadioDatagram.h
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitRadioEvent.h
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitSerial.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitRadioDatagram.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitRadioEvent.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitSerial.h
     MICROBIT_SERIAL_DEFAULT_BAUD_RATE = 115200,
     MICROBIT_SERIAL_DEFAULT_BUFFER_SIZE = 20,
     MICROBIT_SERIAL_EVT_DELIM_MATCH = 1,
@@ -592,31 +585,31 @@ declare const enum DAL {
     ASYNC = 0,
     SYNC_SPINWAIT = 1,
     SYNC_SLEEP = 2,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitStorage.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitStorage.h
     MICROBIT_STORAGE_MAGIC = 0xCAFE,
     MICROBIT_STORAGE_BLOCK_SIZE = 48,
     MICROBIT_STORAGE_KEY_SIZE = 16,
     MICROBIT_STORAGE_STORE_PAGE_OFFSET = 17,
     MICROBIT_STORAGE_SCRATCH_PAGE_OFFSET = 19,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\MicroBitThermometer.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/MicroBitThermometer.h
     MICROBIT_THERMOMETER_PERIOD = 1000,
     MICROBIT_THERMOMETER_EVT_UPDATE = 1,
     MICROBIT_THERMOMETER_ADDED_TO_IDLE = 2,
-    // built\yt\yotta_modules\microbit-dal\inc\drivers\TimedInterruptIn.h
-    // built\yt\yotta_modules\microbit-dal\inc\platform\yotta_cfg_mappings.h
-    // built\yt\yotta_modules\microbit-dal\inc\types\ManagedString.h
-    // built\yt\yotta_modules\microbit-dal\inc\types\ManagedType.h
-    // built\yt\yotta_modules\microbit-dal\inc\types\Matrix4.h
-    // built\yt\yotta_modules\microbit-dal\inc\types\MicroBitCoordinateSystem.h
+    // built/yt/yotta_modules/microbit-dal/inc/drivers/TimedInterruptIn.h
+    // built/yt/yotta_modules/microbit-dal/inc/platform/yotta_cfg_mappings.h
+    // built/yt/yotta_modules/microbit-dal/inc/types/ManagedString.h
+    // built/yt/yotta_modules/microbit-dal/inc/types/ManagedType.h
+    // built/yt/yotta_modules/microbit-dal/inc/types/Matrix4.h
+    // built/yt/yotta_modules/microbit-dal/inc/types/MicroBitCoordinateSystem.h
     RAW = 0,
     SIMPLE_CARTESIAN = 1,
     NORTH_EAST_DOWN = 2,
-    // built\yt\yotta_modules\microbit-dal\inc\types\MicroBitEvent.h
+    // built/yt/yotta_modules/microbit-dal/inc/types/MicroBitEvent.h
     MICROBIT_ID_ANY = 0,
     MICROBIT_EVT_ANY = 0,
     CREATE_ONLY = 0,
     CREATE_AND_FIRE = 1,
-    // built\yt\yotta_modules\microbit-dal\inc\types\MicroBitImage.h
-    // built\yt\yotta_modules\microbit-dal\inc\types\PacketBuffer.h
-    // built\yt\yotta_modules\microbit-dal\inc\types\RefCounted.h
+    // built/yt/yotta_modules/microbit-dal/inc/types/MicroBitImage.h
+    // built/yt/yotta_modules/microbit-dal/inc/types/PacketBuffer.h
+    // built/yt/yotta_modules/microbit-dal/inc/types/RefCounted.h
 }
diff --git a/libs/core/motors.cpp b/libs/core/motors.cpp
index 864e0eef..a70936bd 100644
--- a/libs/core/motors.cpp
+++ b/libs/core/motors.cpp
@@ -22,45 +22,45 @@ enum Motor {
 //% color=#008272 weight=30
 namespace motors {
     /**
-    * Turns on the motor at a certain percent of power.
+    * Turns on the motor at a certain percent of power. Switches to single motor mode!
     * @param power %percent of power sent to the motor. Negative power goes backward. eg: 50
     */
     //% blockId=motor_on block="motor on at %percent"
     //% parts=dcmotor weight=90 blockGap=8
     void motorPower(int power) {
-        uBit.soundmotor.Motor_On(power);
+        uBit.soundmotor.motorOn(power);
     }
 
     /**
-    * Send break, coast or sleep commands to the motor
+    * Send break, coast or sleep commands to the motor. Has no effect in dual-motor mode.
     */
     //% blockId=motor_command block="motor %command"
     //% parts=dcmotor weight=85
     void motorCommand(MotorCommand command) {
         switch(command) {
-            case MotorCommand::Coast: uBit.soundmotor.Motor_Coast();break;
-            case MotorCommand::Break: uBit.soundmotor.Motor_Break();break;
-            case MotorCommand::Sleep: uBit.soundmotor.Motor_Sleep();break;
+            case MotorCommand::Coast: uBit.soundmotor.motorCoast();break;
+            case MotorCommand::Break: uBit.soundmotor.motorBreak();break;
+            case MotorCommand::Sleep: uBit.soundmotor.motorSleep();break;
         }
     }
 
     /**
-    * Controls two motors attached to the board.
+    * Controls two motors attached to the board. Switches to dual-motor mode!
     */
     //% blockId=block_dual_motor block="motor %motor|at %percent"
     //% weight=80
     void dualMotorPower(Motor motor, int duty_percent) {
         switch(motor) {
-            case Motor::A: if (duty_percent <= 0) uBit.soundmotor.MotorA_Off();
-            else uBit.soundmotor.MotorA_On(duty_percent); break;
-            case Motor::B: if (duty_percent <= 0) uBit.soundmotor.MotorB_Off();
-            else uBit.soundmotor.MotorB_On(duty_percent); break;
+            case Motor::A: if (duty_percent <= 0) uBit.soundmotor.motorAOff();
+            else uBit.soundmotor.motorAOn(duty_percent); break;
+            case Motor::B: if (duty_percent <= 0) uBit.soundmotor.motorBOff();
+            else uBit.soundmotor.motorBOn(duty_percent); break;
             case Motor::AB: if (duty_percent <= 0) {
-                uBit.soundmotor.MotorA_Off();
-                uBit.soundmotor.MotorB_Off();
+                uBit.soundmotor.motorAOff();
+                uBit.soundmotor.motorBOff();
             } else {
-                uBit.soundmotor.MotorA_On(duty_percent);
-                uBit.soundmotor.MotorB_On(duty_percent);
+                uBit.soundmotor.motorAOn(duty_percent);
+                uBit.soundmotor.motorBOn(duty_percent);
             }
             break;
         }
diff --git a/libs/core/shims.d.ts b/libs/core/shims.d.ts
index a8bc9790..3369024b 100644
--- a/libs/core/shims.d.ts
+++ b/libs/core/shims.d.ts
@@ -524,7 +524,7 @@ declare namespace led {
 declare namespace motors {
 
     /**
-     * Turns on the motor at a certain percent of power.
+     * Turns on the motor at a certain percent of power. Switches to single motor mode!
      * @param power %percent of power sent to the motor. Negative power goes backward. eg: 50
      */
     //% blockId=motor_on block="motor on at %percent"
@@ -532,14 +532,14 @@ declare namespace motors {
     function motorPower(power: number): void;
 
     /**
-     * Send break, coast or sleep commands to the motor
+     * Send break, coast or sleep commands to the motor. Has no effect in dual-motor mode.
      */
     //% blockId=motor_command block="motor %command"
     //% parts=dcmotor weight=85 shim=motors::motorCommand
     function motorCommand(command: MotorCommand): void;
 
     /**
-     * Controls two motors attached to the board.
+     * Controls two motors attached to the board. Switches to dual-motor mode!
      */
     //% blockId=block_dual_motor block="motor %motor|at %percent"
     //% weight=80 shim=motors::dualMotorPower
@@ -554,8 +554,8 @@ declare namespace music {
      */
     //% help=music/play-tone weight=90
     //% blockId=device_play_note block="play|tone %note=device_note|for %duration=device_beat" icon="\uf025" blockGap=8
-    //% parts="speaker" async shim=music::playTone
-    function playTone(frequency: number, ms: number): void;
+    //% parts="speaker" shim=music::playTone
+    function playTone(freqency: number, ms: number): void;
 
     /**
      * Plays a tone through ``speaker``.
@@ -566,18 +566,6 @@ declare namespace music {
     //% parts="speaker" shim=music::ringTone
     function ringTone(frequency: number): void;
 }
-declare namespace music {
-
-    /**
-     * Plays a tone through ``speaker`` for the given duration.
-     * @param frequency pitch of the tone to play in Hertz (Hz)
-     * @param ms tone duration in milliseconds (ms)
-     */
-    //% help=music/play-tone weight=90
-    //% blockId=device_play_note block="play|tone %note=device_note|for %duration=device_beat" icon="\uf025" blockGap=8
-    //% parts="speaker" shim=music::playTone
-    function playTone(freqency: number, ms: number): void;
-}
 declare namespace pins {
 
     /**
diff --git a/libs/motor/motor.ts b/libs/motor/motor.ts
new file mode 100644
index 00000000..30dff443
--- /dev/null
+++ b/libs/motor/motor.ts
@@ -0,0 +1,36 @@
+basic.showString("A");
+motors.dualMotorPower(Motor.A, 100);
+basic.pause(2000);
+basic.showString("B");
+motors.dualMotorPower(Motor.B, 100);
+basic.pause(2000);
+basic.showString("X");
+motors.dualMotorPower(Motor.AB, 0);
+basic.pause(2000);
+basic.showString("A");
+for (var power = 0; power <= 100; power += 10) {
+    basic.showNumber(power/10);
+    motors.dualMotorPower(Motor.A, power);
+    basic.pause(1000);
+}
+motors.dualMotorPower(Motor.AB, 0);
+basic.pause(2000);
+basic.showString("B");
+for (power = 0; power <= 100; power += 10) {
+    basic.showNumber(power/10);
+    motors.dualMotorPower(Motor.B, power);
+    basic.pause(1000);
+}
+motors.dualMotorPower(Motor.AB, 0);
+basic.pause(2000);
+basic.showString("+");
+motors.dualMotorPower(Motor.AB, 100);
+basic.pause(2000);
+basic.showString("#");
+motors.dualMotorPower(Motor.AB, 0);
+for (power = 0; power <= 100; power += 10) {
+    basic.showNumber(power/10);
+    motors.dualMotorPower(Motor.AB, power);
+    basic.pause(1000);
+}
+motors.dualMotorPower(Motor.AB, 0);
diff --git a/libs/motor/pxt.json b/libs/motor/pxt.json
new file mode 100644
index 00000000..2d345911
--- /dev/null
+++ b/libs/motor/pxt.json
@@ -0,0 +1,11 @@
+{
+    "name": "calliope",
+    "description": "Motors Example",
+    "files": [
+        "motor.ts"
+    ],
+    "public": true,
+    "dependencies": {
+        "core": "file:../core"
+    }
+}
diff --git a/pxtarget.json b/pxtarget.json
index 33bfa1a5..c81778b0 100644
--- a/pxtarget.json
+++ b/pxtarget.json
@@ -169,7 +169,7 @@
         "yottaTarget": "bbc-microbit-classic-gcc",
         "yottaCorePackage": "pxt-calliope-core",
         "githubCorePackage": "microsoft/pxt-calliope-core",
-        "gittag": "v0.5.12",
+        "gittag": "v0.5.13",
         "serviceId": "calliope"
     },
     "serial": {