diff --git a/libs/color-sensor/color.ts b/libs/color-sensor/color.ts
index 0638c5c3..e5351839 100644
--- a/libs/color-sensor/color.ts
+++ b/libs/color-sensor/color.ts
@@ -106,9 +106,9 @@ namespace sensors {
         //% weight=100 blockGap=8
         //% group="Color Sensor"
         onColorDetected(color: ColorSensorColor, handler: () => void) {
+            this.setMode(ColorSensorMode.Color)
             const v = this._colorEventValue(<number>color);
             control.onEvent(this._id, v, handler);
-            this.setMode(ColorSensorMode.Color)
             if (this.color() == color)
                 control.raiseEvent(this._id, v);
         }
diff --git a/libs/core/_locales/core-jsdoc-strings.json b/libs/core/_locales/core-jsdoc-strings.json
index b2bdb5dc..e496c9f0 100644
--- a/libs/core/_locales/core-jsdoc-strings.json
+++ b/libs/core/_locales/core-jsdoc-strings.json
@@ -18,8 +18,8 @@
   "brick.Button.isPressed": "Check if button is currently pressed or not.",
   "brick.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
   "brick.Button.onEvent|param|body": "code to run when the event is raised",
-  "brick.Button.waitUntil": "Waits until the event is raised",
-  "brick.Button.waitUntil|param|ev": "the event to wait for",
+  "brick.Button.pauseUntil": "Waits until the event is raised",
+  "brick.Button.pauseUntil|param|ev": "the event to wait for",
   "brick.Button.wasPressed": "See if the button was pressed again since the last time you checked.",
   "brick._imagePicker": "An image",
   "brick._imagePicker|param|image": "the image",
diff --git a/libs/core/_locales/core-strings.json b/libs/core/_locales/core-strings.json
index f3e8cf34..747bea17 100644
--- a/libs/core/_locales/core-strings.json
+++ b/libs/core/_locales/core-strings.json
@@ -20,7 +20,7 @@
   "Output.D|block": "D",
   "brick.Button.isPressed|block": "`icons.brickButtons` %button|is pressed",
   "brick.Button.onEvent|block": "on `icons.brickButtons` %button|%event",
-  "brick.Button.waitUntil|block": "wait until `icons.brickButtons` %button|%event",
+  "brick.Button.pauseUntil|block": "pause until `icons.brickButtons` %button|%event",
   "brick.Button.wasPressed|block": "`icons.brickButtons` %button|was pressed",
   "brick._imagePicker|block": "%image",
   "brick.buttonDown|block": "down",
diff --git a/libs/core/buttons.ts b/libs/core/buttons.ts
index de1e4cfa..72af6276 100644
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@@ -132,13 +132,13 @@ namespace brick {
          * Waits until the event is raised
          * @param ev the event to wait for
          */
-        //% help=input/button/wait-until
-        //% blockId=buttonWaitUntil block="wait until `icons.brickButtons` %button|%event"
+        //% help=input/button/pause-until
+        //% blockId=buttonWaitUntil block="pause until `icons.brickButtons` %button|%event"
         //% parts="brick"
         //% blockNamespace=brick
         //% weight=98 blockGap=8
         //% group="Buttons"
-        waitUntil(ev: ButtonEvent) {
+        pauseUntil(ev: ButtonEvent) {
             control.waitForEvent(this._id, ev);
         }
     }
diff --git a/libs/core/images.ts b/libs/core/images.ts
index c3b68f0c..5e4d482b 100644
--- a/libs/core/images.ts
+++ b/libs/core/images.ts
@@ -1,260 +1,260 @@
 namespace images {
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsBigSmile = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsHeartLarge = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsHeartSmall = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsMouth1open = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsMouth1shut = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsMouth2open = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsMouth2shut = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsSad = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsSick = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsSmile = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsSwearing = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsTalking = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsWink = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsZzz = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesAngry = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesAwake = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesBlackEye = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesBottomLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesBottomRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesCrazy1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesCrazy2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesDisappointed = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesDizzy = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesDown = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesEvil = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesHurt = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesKnockedOut = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesLove = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesMiddleLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesMiddleRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesNeutral = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesNuclear = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesPinchLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesPinchMiddle = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesPinchRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesSleeping = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesTear = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesTiredLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesTiredMiddle = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesTiredRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesToxic = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesUp = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesWinking = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationAccept = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationBackward = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationDecline = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationForward = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationNoGo = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationQuestionMark = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationStop1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationStop2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationThumbsDown = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationThumbsUp = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationWarning = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoColorSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoEv3icon = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoEv3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoGyroSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoIrBeacon = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoIrSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoLego = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoLargeMotor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoMindstorms = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoMediumMotor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoSoundSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoTempSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoTouchSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoUsSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsBomb = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsBoom = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsFire = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsFlowers = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsForest = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsLightOff = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsLightOn = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsLightning = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsNight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsPirate = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsSnow = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsTarget = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressBar0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressBar1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressBar2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressBar3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressBar4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDial0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDial1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDial2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDial3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDial4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDots0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDots1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDots2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDots3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressHourglass0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressHourglass1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressHourglass2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressTimer0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressTimer1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressTimer2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressTimer3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressTimer4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressWaterLevel0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressWaterLevel1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressWaterLevel2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressWaterLevel3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemAccept1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemAccept2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemAlert = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemBox = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemBusy0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemBusy1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemDecline1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemDecline2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemDotEmpty = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemDotFull = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemEv3small = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemPlay = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider5 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider6 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider7 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider8 = screen.unpackPNG(hex``);
 }
diff --git a/libs/core/output.ts b/libs/core/output.ts
index 0ffdb8e2..3301fa88 100644
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@@ -36,6 +36,7 @@ namespace motors {
         pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
         if (!pwmMM) control.fail("no PWM file")
         motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
+        if (!motorMM) control.fail("no motor file")
 
         resetMotors()
 
@@ -285,6 +286,7 @@ namespace motors {
 
     // only a single output at a time
     function getMotorData(out: Output): MotorData {
+        init()
         let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
         return {
             actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
diff --git a/libs/infrared-sensor/_locales/infrared-sensor-jsdoc-strings.json b/libs/infrared-sensor/_locales/infrared-sensor-jsdoc-strings.json
index 85472c80..2e81f649 100644
--- a/libs/infrared-sensor/_locales/infrared-sensor-jsdoc-strings.json
+++ b/libs/infrared-sensor/_locales/infrared-sensor-jsdoc-strings.json
@@ -1,9 +1,9 @@
 {
   "sensors.InfraredSensor.onEvent": "Registers code to run when an object is getting near.",
   "sensors.InfraredSensor.onEvent|param|handler": "the code to run when detected",
+  "sensors.InfraredSensor.pauseUntil": "Waits for the event to occur",
   "sensors.InfraredSensor.proximity": "Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)",
   "sensors.InfraredSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.",
-  "sensors.InfraredSensor.waitUntil": "Waits for the event to occur",
   "sensors.RemoteInfraredBeaconButton.isPressed": "Check if a remote button is currently pressed or not.",
   "sensors.RemoteInfraredBeaconButton.onEvent": "Do something when a button or sensor is clicked, up or down",
   "sensors.RemoteInfraredBeaconButton.onEvent|param|body": "code to run when the event is raised",
diff --git a/libs/infrared-sensor/_locales/infrared-sensor-strings.json b/libs/infrared-sensor/_locales/infrared-sensor-strings.json
index e194d8dc..18b8a62f 100644
--- a/libs/infrared-sensor/_locales/infrared-sensor-strings.json
+++ b/libs/infrared-sensor/_locales/infrared-sensor-strings.json
@@ -2,9 +2,9 @@
   "InfraredSensorEvent.ObjectDetected|block": "object detected",
   "InfraredSensorEvent.ObjectNear|block": "object near",
   "sensors.InfraredSensor.onEvent|block": "on `icons.infraredSensor` %sensor|%event",
+  "sensors.InfraredSensor.pauseUntil|block": "pause until `icons.infraredSensor` %sensor| %event",
   "sensors.InfraredSensor.proximity|block": "`icons.infraredSensor` %sensor|proximity",
   "sensors.InfraredSensor.remoteCommand|block": "`icons.infraredSensor` %sensor|remote command",
-  "sensors.InfraredSensor.waitUntil|block": "wait until `icons.infraredSensor` %sensor| %event",
   "sensors.RemoteInfraredBeaconButton.isPressed|block": "`icons.infraredSensor` %button|is pressed",
   "sensors.RemoteInfraredBeaconButton.onEvent|block": "on `icons.infraredSensor` %button|%event",
   "sensors.RemoteInfraredBeaconButton.wasPressed|block": "`icons.infraredSensor` %button|was pressed",
diff --git a/libs/infrared-sensor/ir.ts b/libs/infrared-sensor/ir.ts
index a125e9fc..cf2fa8fe 100644
--- a/libs/infrared-sensor/ir.ts
+++ b/libs/infrared-sensor/ir.ts
@@ -205,7 +205,7 @@ namespace sensors {
          * Waits for the event to occur
          */
         //% help=input/ultrasonic/wait
-        //% block="wait until `icons.infraredSensor` %sensor| %event"
+        //% block="pause until `icons.infraredSensor` %sensor| %event"
         //% blockId=infraredwait
         //% parts="infraredsensor"
         //% sensor.fieldEditor="imagedropdown"
@@ -213,7 +213,7 @@ namespace sensors {
         //% blockNamespace=sensors
         //% weight=99 blockGap=8
         //% group="Infrared Sensor"
-        waitUntil(event: InfraredSensorEvent) {
+        pauseUntil(event: InfraredSensorEvent) {
             control.waitForEvent(this._id, event);
         }
 
diff --git a/libs/touch-sensor/_locales/touch-sensor-jsdoc-strings.json b/libs/touch-sensor/_locales/touch-sensor-jsdoc-strings.json
index 71f6c8bf..17eeba45 100644
--- a/libs/touch-sensor/_locales/touch-sensor-jsdoc-strings.json
+++ b/libs/touch-sensor/_locales/touch-sensor-jsdoc-strings.json
@@ -3,6 +3,6 @@
   "sensors.TouchSensor.isPressed": "Check if touch sensor is touched.",
   "sensors.TouchSensor.onEvent": "Do something when a touch sensor is touched...",
   "sensors.TouchSensor.onEvent|param|body": "code to run when the event is raised",
-  "sensors.TouchSensor.waitUntil": "Wait until the touch sensor is touched",
+  "sensors.TouchSensor.pauseUntil": "Wait until the touch sensor is touched",
   "sensors.TouchSensor.wasPressed": "Check if touch sensor is touched since it was last checked."
 }
\ No newline at end of file
diff --git a/libs/touch-sensor/_locales/touch-sensor-strings.json b/libs/touch-sensor/_locales/touch-sensor-strings.json
index fbda688f..2f2eb6d2 100644
--- a/libs/touch-sensor/_locales/touch-sensor-strings.json
+++ b/libs/touch-sensor/_locales/touch-sensor-strings.json
@@ -4,7 +4,7 @@
   "TouchSensorEvent.Released|block": "released",
   "sensors.TouchSensor.isPressed|block": "`icons.touchSensor` %sensor|is pressed",
   "sensors.TouchSensor.onEvent|block": "on `icons.touchSensor` %sensor|%event",
-  "sensors.TouchSensor.waitUntil|block": "wait until `icons.touchSensor` %sensor|%event",
+  "sensors.TouchSensor.pauseUntil|block": "pause until `icons.touchSensor` %sensor|%event",
   "sensors.TouchSensor.wasPressed|block": "`icons.touchSensor` %sensor|was pressed",
   "sensors.touchSensor1|block": "1",
   "sensors.touchSensor2|block": "2",
diff --git a/libs/touch-sensor/touch.ts b/libs/touch-sensor/touch.ts
index 8484b83e..967188af 100644
--- a/libs/touch-sensor/touch.ts
+++ b/libs/touch-sensor/touch.ts
@@ -58,16 +58,16 @@ namespace sensors {
          * @param sensor the touch sensor that needs to be clicked or used
          * @param event the kind of button gesture that needs to be detected
          */
-        //% help=input/touch-sensor/wait-until
-        //% blockId=touchWaitUntil block="wait until `icons.touchSensor` %sensor|%event"
+        //% help=input/touch-sensor/pause-until
+        //% blockId=touchWaitUntil block="pause until `icons.touchSensor` %sensor|%event"
         //% parts="touch"
         //% sensor.fieldEditor="imagedropdown"
         //% sensor.fieldOptions.columns=4
         //% blockNamespace=sensors
         //% weight=98 blockGap=8
         //% group="Touch Sensor"
-        waitUntil(ev: TouchSensorEvent) {
-            this.button.waitUntil(<ButtonEvent><number>ev);
+        pauseUntil(ev: TouchSensorEvent) {
+            this.button.pauseUntil(<ButtonEvent><number>ev);
         }
 
         /**
diff --git a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json
index 9aa4671b..3f21b280 100644
--- a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json
+++ b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json
@@ -2,5 +2,5 @@
   "sensors.UltraSonicSensor.distance": "Gets the distance from the sonar in centimeters",
   "sensors.UltraSonicSensor.onEvent": "Registers code to run when the given color is close",
   "sensors.UltraSonicSensor.onEvent|param|handler": "the code to run when detected",
-  "sensors.UltraSonicSensor.waitUntil": "Waits for the event to occur"
+  "sensors.UltraSonicSensor.pauseUntil": "Waits for the event to occur"
 }
\ No newline at end of file
diff --git a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
index 5ec2abf0..9087a895 100644
--- a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
+++ b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
@@ -4,7 +4,7 @@
   "UltrasonicSensorEvent.ObjectNear|block": "object near",
   "sensors.UltraSonicSensor.distance|block": "`icons.ultrasonicSensor` %sensor|distance",
   "sensors.UltraSonicSensor.onEvent|block": "on `icons.ultrasonicSensor` %sensor|%event",
-  "sensors.UltraSonicSensor.waitUntil|block": "wait until `icons.ultrasonicSensor` %sensor| %event",
+  "sensors.UltraSonicSensor.pauseUntil|block": "pause until `icons.ultrasonicSensor` %sensor| %event",
   "sensors.ultrasonic1|block": "1",
   "sensors.ultrasonic2|block": "2",
   "sensors.ultrasonic3|block": "3",
diff --git a/libs/ultrasonic-sensor/ultrasonic.ts b/libs/ultrasonic-sensor/ultrasonic.ts
index f61f856f..869a49e8 100644
--- a/libs/ultrasonic-sensor/ultrasonic.ts
+++ b/libs/ultrasonic-sensor/ultrasonic.ts
@@ -58,7 +58,7 @@ namespace sensors {
          * Waits for the event to occur
          */
         //% help=input/ultrasonic/wait
-        //% block="wait until `icons.ultrasonicSensor` %sensor| %event"
+        //% block="pause until `icons.ultrasonicSensor` %sensor| %event"
         //% blockId=ultrasonicWait
         //% parts="ultrasonicsensor"
         //% sensor.fieldEditor="imagedropdown"
@@ -66,7 +66,7 @@ namespace sensors {
         //% blockNamespace=sensors
         //% weight=99 blockGap=8
         //% group="Ultrasonic Sensor"        
-        waitUntil(event: UltrasonicSensorEvent) {
+        pauseUntil(event: UltrasonicSensorEvent) {
             control.waitForEvent(this._id, event);
         }