diff --git a/libs/core/_locales/core-jsdoc-strings.json b/libs/core/_locales/core-jsdoc-strings.json
index e546c150..62cdca77 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",
@@ -54,7 +54,6 @@
   "motors.Motor.count": "Gets motor step count.",
   "motors.Motor.move": "Moves the motor by a number of degrees",
   "motors.Motor.move|param|angle": "the degrees to rotate, eg: 360",
-  "motors.Motor.move|param|power": "the power from ``100`` full forward to ``-100`` full backward, eg: 50",
   "motors.Motor.reset": "Resets the motor.",
   "motors.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
   "motors.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
diff --git a/libs/core/_locales/core-strings.json b/libs/core/_locales/core-strings.json
index 76ee79a4..86da3fea 100644
--- a/libs/core/_locales/core-strings.json
+++ b/libs/core/_locales/core-strings.json
@@ -19,7 +19,7 @@
   "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",
@@ -36,7 +36,7 @@
   "control.raiseEvent|block": "raise event|from %src|with value %value",
   "control|block": "control",
   "motors.Motor.count|block": "`icons.motorLarge` %motor|count",
-  "motors.Motor.move|block": "move `icons.motorLarge` %motor|by %angle|degrees at %power|%",
+  "motors.Motor.move|block": "move `icons.motorLarge` %motor|by %angle|degrees at %speed|%",
   "motors.Motor.setBrake|block": "set `icons.motorLarge` %motor|brake %brake",
   "motors.Motor.setReversed|block": "set `icons.motorLarge` %motor|reversed %reversed",
   "motors.Motor.setSpeed|block": "set speed `icons.motorLarge` %motor|to %speed|%",
diff --git a/libs/core/buttons.ts b/libs/core/buttons.ts
index de1e4cfa..de198322 100644
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@@ -133,12 +133,12 @@ namespace brick {
          * @param ev the event to wait for
          */
         //% help=input/button/wait-until
-        //% blockId=buttonWaitUntil block="wait until `icons.brickButtons` %button|%event"
+        //% 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/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..459b898b 100644
--- a/libs/touch-sensor/touch.ts
+++ b/libs/touch-sensor/touch.ts
@@ -59,15 +59,15 @@ namespace sensors {
          * @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"
+        //% 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);
         }