Support for smooth acceleration/deceleration in run (#900)

* removed logging

* removing more logging

* always use step for single/multiple motors

* refactored schedule

* account for accel ramp up and down

* added default acc/decel

* rounding speed/angle

* remove hack

* use acceleration time in run too

* handle missing case

* adding notes on motors

* adding sample

* fixed ramp simulation

* clear defaults

* some docs, more later

* adding basic examples

* remove debug msg

* clean json

* added move schedule

* docs

* basic docs

docs/reference/motors/motor/run.md

@@ -6,9 +6,9 @@ Set the rotation speed of the motor as a percentage of maximum speed.
 motors.largeA.run(50)
 ```
 
-The speed setting is a pecentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
+The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
 
-If you use just the **speed** number, the motor runs continously and won't stop unless you tell it to. You can also give a value for a certain amount of distance you want the motor to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
+If you use just the **speed** number, the motor runs continuously and won't stop unless you tell it to. You can also give a value for a certain amount of distance you want the motor to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
 
 If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**.
 
@@ -30,8 +30,8 @@ Here is how you use each different movement unit to run the motor for a fixed ro
 // Run motor for 700 Milliseconds. 
 motors.largeA.run(25, 700, MoveUnit.MilliSeconds);
 
-// Run motor for 700 Milliseconds again but no units specified. 
-motors.largeA.run(25, 700);
+// Run motors B and C for 700 Milliseconds again but no units specified. 
+motors.largeBC.run(25, 700);
 
 // Run the motor for 45 seconds
 motors.largeA.run(50, 45, MoveUnit.Seconds);
@@ -61,6 +61,14 @@ motors.largeB.run(-25)
 
 ## ~
 
+## Multiple motors
+
+When using **run** with multiple motors, there is no guarantee that their speed will stay in sync. Use [tank](/reference/motors/tank) or [steer](/reference/motors/steer) for synchronized motor operations.
+
+```blocks
+motors.largeBC.run(50)
+```
+
 ## Examples
 
 ### Drive the motor for 20 seconds

docs/reference/motors/motor/schedule.md

@@ -0,0 +1,22 @@
+# Schedule
+
+Schedules an acceleration, constant and deceleration phase at a given speed.
+
+```sig
+motors.largeA.schedule(50, 100, 500, 100)
+```
+
+The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
+
+
+## Parameters
+
+* **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motor in the reverse direction.
+* **acceleration**: the [number](/types/number) of movement units to rotate for while accelerating.
+* **value**: the [number](/types/number) of movement units to rotate for.
+* **deceleration**: the [number](/types/number) of movement units to rotate for while decelerating.
+* **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.
+
+## See also
+
+[tank](/reference/motors/synced/tank), [steer](/reference/motors/synced/steer), [stop](/reference/motors/motor/stop)

docs/reference/motors/motor/set-run-acceleration-ramp.md

@@ -0,0 +1,20 @@
+# Set Run Acceleration Ramp
+
+```sig
+motors.largeD.setRunAccelerationRamp(1, MoveUnit.Seconds)
+```
+
+## Examples
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeB.run(50, 6, MoveUnit.Rotations)
+})
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeC.run(50, 6, MoveUnit.Seconds)
+})
+motors.largeB.setRunAccelerationRamp(360, MoveUnit.Degrees)
+motors.largeB.setRunDecelerationRamp(360, MoveUnit.Degrees)
+motors.largeC.setRunAccelerationRamp(2, MoveUnit.Seconds)
+motors.largeC.setRunDecelerationRamp(2, MoveUnit.Seconds)
+```

docs/reference/motors/motor/set-run-deceleration-ramp.md

@@ -0,0 +1,20 @@
+# Set Run Deceleration Ramp
+
+```sig
+motors.largeD.setRunDecelerationRamp(1, MoveUnit.Seconds)
+```
+
+## Examples
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeB.run(50, 6, MoveUnit.Rotations)
+})
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeC.run(50, 6, MoveUnit.Seconds)
+})
+motors.largeB.setRunAccelerationRamp(360, MoveUnit.Degrees)
+motors.largeB.setRunDecelerationRamp(360, MoveUnit.Degrees)
+motors.largeC.setRunAccelerationRamp(2, MoveUnit.Seconds)
+motors.largeC.setRunDecelerationRamp(2, MoveUnit.Seconds)
+```

docs/tutorials/touch-sensor.md

@@ -15,7 +15,7 @@
   "cardType": "tutorial",
   "url":"/tutorials/touch-sensor-values",
   "imageUrl":"/static/tutorials/touch-sensor-values.png"
-},
+}, {
   "name": "Pause Until Pressed",
   "description": "Waits for the sensor to be pressed before continuing the program",
   "cardType": "tutorial",