Merge branch 'master' into motorslider

libs/chassis/_locales/chassis-jsdoc-strings.json

@@ -1,12 +1,9 @@
 {
   "chassis.Chassis": "A differential drive robot",
   "chassis.Chassis.drive": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
-  "chassis.Chassis.driveFor": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
-  "chassis.Chassis.driveFor|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
-  "chassis.Chassis.driveFor|param|speed": "speed of the center point between motors, eg: 10",
-  "chassis.Chassis.driveFor|param|value": "the amount of movement, eg: 2",
   "chassis.Chassis.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
   "chassis.Chassis.drive|param|speed": "speed of the center point between motors, eg: 10",
+  "chassis.Chassis.drive|param|value": "the amount of movement, eg: 2",
   "chassis.Chassis.setMotors": "Sets the motors used by the chassis, default is B+C",
   "chassis.Chassis.setProperty": "Sets a property of the robot",
   "chassis.Chassis.setProperty|param|property": "the property to set",

libs/chassis/_locales/chassis-strings.json

@@ -1,7 +1,6 @@
 {
   "ChassisProperty.BaseLength|block": "base length (cm)",
   "ChassisProperty.WheelRadius|block": "wheel radius (cm)",
-  "chassis.Chassis.driveFor|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
   "chassis.Chassis.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s",
   "chassis.Chassis.setMotors|block": "set %chassis|motors to %motors",
   "chassis.Chassis.setProperty|block": "set %chassis|%property|to %value",

libs/chassis/chassis.ts

@@ -24,19 +24,6 @@ namespace chassis {
             this.baseLength = 12;
         }
 
-        /**
-         * Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)
-         * using a unicycle model.
-         * @param speed speed of the center point between motors, eg: 10
-         * @param rotationSpeed rotation of the robot around the center point, eg: 30
-         */
-        //% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
-        //% inlineInputMode=inline
-        //% weight=99 blockGap=8
-        drive(speed: number, rotationSpeed: number) {
-            this.driveFor(speed, rotationSpeed, 0, MoveUnit.Degrees);
-        }
-
         /**
          * Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)
          * using a unicycle model.
@@ -45,10 +32,10 @@ namespace chassis {
          * @param value the amount of movement, eg: 2
          * @param unit 
          */
-        //% blockId=motorDriveFor block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
+        //% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
         //% inlineInputMode=inline
         //% weight=95 blockGap=8
-        driveFor(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
+        drive(speed: number, rotationSpeed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
             // speed is expressed in %
             const R = this.wheelRadius; // cm
             const L = this.baseLength; // cm
@@ -65,7 +52,7 @@ namespace chassis {
             const sr = vr / maxw * 100; // % 
             const sl = vl / maxw * 100; // %
 
-            this.motors.tankFor(sr, sl, value, unit)
+            this.motors.tank(sr, sl, value, unit)
         }
 
         /**

libs/color-sensor/_locales/color-sensor-strings.json

@@ -19,7 +19,7 @@
   "sensors.ColorSensor.onLightChanged|block": "on %sensor|%mode|%condition",
   "sensors.ColorSensor.pauseForColor|block": "pause %sensor|for color %color",
   "sensors.ColorSensor.pauseForLight|block": "pause %sensor|for %mode|%condition",
-  "sensors.ColorSensor.setThreshold|block": "set %condition|to %value",
+  "sensors.ColorSensor.setThreshold|block": "set %sensor|%condition|to %value",
   "sensors.color1|block": "color 1",
   "sensors.color2|block": "color 2",
   "sensors.color3|block": "color 3",

libs/color-sensor/color.ts

@@ -227,8 +227,9 @@ namespace sensors {
          * @param condition the dark or bright light condition
          * @param value the value threshold
          */
-        //% blockId=colorSetThreshold block="set %condition|to %value"
+        //% blockId=colorSetThreshold block="set %sensor|%condition|to %value"
         //% group="Threshold" blockGap=8 weight=90
+        //% value.min=0 value.max=100
         setThreshold(condition: LightCondition, value: number) {
             if (condition == LightCondition.Dark)
                 this.thresholdDetector.setLowThreshold(value)

libs/core/output.ts

@@ -216,10 +216,17 @@ namespace motors {
         setSpeed(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
             this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
+            // stop if speed is 0
             if (!speed) {
                 this.stop();
                 return;
             }
+            // special: 0 is infinity
+            if (value == 0) {
+                this._setSpeed(speed);
+                return;
+            }
+            // timed motor moves
             let useSteps: boolean;
             let stepsOrTime: number;
             switch (unit) {
@@ -242,6 +249,8 @@ namespace motors {
             }
 
             this._move(useSteps, stepsOrTime, speed);
+            // wait till motor is done with this work
+            this.pauseUntilReady();
         }
 
         /**

libs/infrared-sensor/_locales/infrared-sensor-strings.json

@@ -5,7 +5,7 @@
   "sensors.InfraredSensor.pauseUntil|block": "pause until %sensor| %event",
   "sensors.InfraredSensor.proximity|block": "%sensor|proximity",
   "sensors.InfraredSensor.remoteCommand|block": "%sensor|remote command",
-  "sensors.InfraredSensor.setThreshold|block": "set %condition|to %value",
+  "sensors.InfraredSensor.setThreshold|block": "set %sensor|%condition|to %value",
   "sensors.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
   "sensors.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
   "sensors.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",

libs/infrared-sensor/ir.ts

@@ -257,8 +257,9 @@ namespace sensors {
          * @param condition the dark or bright light condition
          * @param value the value threshold
          */
-        //% blockId=irSetThreshold block="set %condition|to %value"
+        //% blockId=irSetThreshold block="set %sensor|%condition|to %value"
         //% group="Threshold" blockGap=8
+        //% value.min=0 value.max=100
         setThreshold(condition: InfraredSensorEvent, value: number) {
             if (condition == InfraredSensorEvent.ObjectNear)
                 this.proximityThreshold.setLowThreshold(value)

libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json

@@ -5,7 +5,7 @@
   "sensors.UltraSonicSensor.distance|block": "%sensor|distance",
   "sensors.UltraSonicSensor.onEvent|block": "on %sensor|%event",
   "sensors.UltraSonicSensor.pauseUntil|block": "pause until %sensor| %event",
-  "sensors.UltraSonicSensor.setThreshold|block": "set %condition|to %value",
+  "sensors.UltraSonicSensor.setThreshold|block": "set %sensor|%condition|to %value",
   "sensors.ultrasonic1|block": "ultrasonic 1",
   "sensors.ultrasonic2|block": "ultrasonic 2",
   "sensors.ultrasonic3|block": "ultrasonic 3",

libs/ultrasonic-sensor/ultrasonic.ts

@@ -92,8 +92,9 @@ namespace sensors {
          * @param condition the dark or bright light condition
          * @param value the value threshold
          */
-        //% blockId=ultrasonicSetThreshold block="set %condition|to %value"
+        //% blockId=ultrasonicSetThreshold block="set %sensor|%condition|to %value"
         //% group="Threshold" blockGap=8
+        //% value.min=0 value.max=255
         setThreshold(condition: UltrasonicSensorEvent, value: number) {            
             switch(condition) {
                 case UltrasonicSensorEvent.ObjectNear: this.promixityThreshold.setLowThreshold(value); break;