From a4164470d8edc8d8b5470d47ee2f7a6a596cc3e8 Mon Sep 17 00:00:00 2001
From: Peli de Halleux <pelikhan@users.noreply.github.com>
Date: Wed, 10 Jan 2018 22:29:35 -0800
Subject: [PATCH] updated api to align with labview

---
 libs/core/_locales/core-strings.json             |  1 +
 libs/core/output.ts                              |  6 ++++--
 .../_locales/gyro-sensor-jsdoc-strings.json      |  4 ++--
 .../_locales/gyro-sensor-strings.json            |  4 ++--
 libs/gyro-sensor/gyro.ts                         | 16 +++++++++-------
 5 files changed, 18 insertions(+), 13 deletions(-)

diff --git a/libs/core/_locales/core-strings.json b/libs/core/_locales/core-strings.json
index a0861b81..71e3ba76 100644
--- a/libs/core/_locales/core-strings.json
+++ b/libs/core/_locales/core-strings.json
@@ -55,6 +55,7 @@
   "motors.Motor.speed|block": "%motor|speed",
   "motors.Motor.tacho|block": "%motor|tacho",
   "motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",
+  "motors.MotorBase.reset|block": "%motors|reset",
   "motors.MotorBase.setBrake|block": "set %motor|brake %brake",
   "motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
   "motors.MotorBase.setSpeed|block": "set %motor|speed to %speed=motorSpeedPicker|%",
diff --git a/libs/core/output.ts b/libs/core/output.ts
index ab55eacb..dc903dad 100644
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@@ -111,7 +111,7 @@ namespace motors {
      * Stops all motors
      */
     //% blockId=motorStopAll block="stop all motors"
-    //% weight=5
+    //% weight=1
     //% group="Move"
     export function stopAllMotors() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
@@ -198,7 +198,9 @@ namespace motors {
         /**
          * Resets the motor(s).
          */
-        //%
+        //% weight=5
+        //% group="Move"
+        //% blockId=motorReset block="%motors|reset"
         reset() {
             this.init();
             reset(this._port);
diff --git a/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json b/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
index c8d334f5..f123fd23 100644
--- a/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
+++ b/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
@@ -1,5 +1,5 @@
 {
   "sensors.GyroSensor.angle": "Get the current angle from the gyroscope.",
-  "sensors.GyroSensor.calibrate": "Forces a calibration of the gyro. Must be called when the sensor is completely still.",
-  "sensors.GyroSensor.rotationRate": "Get the current rotation rate from the gyroscope."
+  "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
+  "sensors.GyroSensor.reset": "Forces a calibration of the gyro. Must be called when the sensor is completely still."
 }
\ No newline at end of file
diff --git a/libs/gyro-sensor/_locales/gyro-sensor-strings.json b/libs/gyro-sensor/_locales/gyro-sensor-strings.json
index 127b6e61..cfd0d42f 100644
--- a/libs/gyro-sensor/_locales/gyro-sensor-strings.json
+++ b/libs/gyro-sensor/_locales/gyro-sensor-strings.json
@@ -1,7 +1,7 @@
 {
   "sensors.GyroSensor.angle|block": "%sensor|angle",
-  "sensors.GyroSensor.calibrate|block": "%sensor|calibrate",
-  "sensors.GyroSensor.rotationRate|block": "%sensor|rotation rate",
+  "sensors.GyroSensor.rate|block": "%sensor|rate",
+  "sensors.GyroSensor.reset|block": "%sensor|reset",
   "sensors.gyro1|block": "gyro 1",
   "sensors.gyro2|block": "gyro 2",
   "sensors.gyro3|block": "gyro 3",
diff --git a/libs/gyro-sensor/gyro.ts b/libs/gyro-sensor/gyro.ts
index 889f643d..11e46e26 100644
--- a/libs/gyro-sensor/gyro.ts
+++ b/libs/gyro-sensor/gyro.ts
@@ -45,15 +45,15 @@ namespace sensors {
          * Get the current rotation rate from the gyroscope.
          * @param sensor the gyroscope to query the request
          */
-        //% help=input/gyro/rotation-rate
-        //% block="%sensor|rotation rate"
+        //% help=input/gyro/rate
+        //% block="%sensor|rate"
         //% blockId=gyroGetRate
         //% parts="gyroscope"
         //% blockNamespace=sensors
         //% sensor.fieldEditor="ports"
         //% weight=65 blockGap=8        
         //% group="Gyro Sensor"
-        rotationRate(): number {
+        rate(): number {
             if (this.calibrating)
                 pauseUntil(() => !this.calibrating, 2000);
 
@@ -65,14 +65,14 @@ namespace sensors {
          * Forces a calibration of the gyro. Must be called when the sensor is completely still.
          */
         //% help=input/gyro/calibrate
-        //% block="%sensor|calibrate"
-        //% blockId=gyroCalibrate   
+        //% block="%sensor|reset"
+        //% blockId=gyroReset  
         //% parts="gyroscope"
         //% blockNamespace=sensors
         //% sensor.fieldEditor="ports"
         //% weight=50 blockGap=8        
         //% group="Gyro Sensor"
-        calibrate(): void {
+        reset(): void {
             if (this.calibrating) return; // already in calibration mode
 
             this.calibrating = true;
@@ -90,7 +90,9 @@ namespace sensors {
                 this.setMode(GyroSensorMode.Angle);
             else
                 this.setMode(GyroSensorMode.Rate);
-            this.calibrating = false;
+            // give it more time to settle
+            loops.pause(500);
+            this.calibrating = false;            
         }
     }