More gyro lessons (#933)

* updated pauseuntil

* updated youtube link

* updated docs

docs/tutorials/city-shaper.md

@@ -27,7 +27,7 @@
 }, {
     "name": "Turn with Gyro",
     "description": "Use the gyro for precise turns.",
-    "youTubeId": "pTRAs1we51Y"
+    "youTubeId": "I7ncuXAfBwk"
 }, {
     "name": "Moving with Gyro",
     "description": "Use the gyro for correct the robot trajectory.",

docs/tutorials/gyro.md

@@ -9,6 +9,12 @@
   "cardType": "tutorial",
   "url":"/tutorials/calibrate-gyro",
   "imageUrl":"/static/tutorials/calibrate-gyro.png"
+}, {
+  "name": "Turn",
+  "description": "Use the gyro to turn precisely",
+  "cardType": "tutorial",
+  "url":"/tutorials/turn-with-gyro",
+  "imageUrl":"/static/tutorials/turn-with-gyro.png"
 }, {
   "name": "Move Straight",
   "description": "Use the gyro to correct the trajectory of the robot",

docs/tutorials/turn-with-gyro.md

@@ -0,0 +1,43 @@
+# Turn With Gyro
+
+## Introduction @fullscreen
+
+Use the gyro to measure how much the robot is turning, regardless if your wheels are slipping.
+
+## Step 1 Calibrate
+
+Add the ``||sensors:calibrate gyro||`` block to make sure your gyro is ready to use.
+
+```blocks
+sensors.gyro2.calibrate()
+```
+
+## Step 2 Turn
+
+Use motor blocks to make the robot turn. Don't go too fast!
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 20)
+```
+
+## Step 3 Pause for turn
+
+Use the ``||sensors:pause until rotated||`` block to wait until the desired amount of rotation has occured.
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 20)
+sensors.gyro2.pauseUntilRotated(90)
+```
+
+## Step 4 Stop
+
+Stop the motors!
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 20)
+sensors.gyro2.pauseUntilRotated(90)
+motors.stopAll()
+```

libs/gyro-sensor/gyro.ts

@@ -229,14 +229,15 @@ namespace sensors {
         /**
          * Pauses the program until the gyro detected
          * that the angle changed by the desired amount of degrees.
-         * @param degrees the degrees to turn 
+         * @param degrees the degrees to turn
          */
         //% help=sensors/gyro/pause-until-rotated
-        //% block="pause **gyro** %this|until rotated %degrees|degrees"
+        //% block="pause until **gyro** %this|rotated %degrees=rotationPicker|degrees"
         //% blockId=gyroPauseUntilRotated
         //% parts="gyroscope"
         //% blockNamespace=sensors
         //% this.fieldEditor="ports"
+        //% degrees.defl=90
         //% weight=63
         //% group="Gyro Sensor"
         pauseUntilRotated(degrees: number, timeOut?: number): void {
@@ -281,4 +282,17 @@ namespace sensors {
 
     //% fixedInstance whenUsed block="4" jres=icons.port4
     export const gyro4: GyroSensor = new GyroSensor(4)
+
+    /**
+      * Get the rotation angle field editor
+      * @param degrees angle in degrees, eg: 90
+      */
+    //% blockId=rotationPicker block="%degrees"
+    //% blockHidden=true shim=TD_ID
+    //% colorSecondary="#FFFFFF"
+    //% degrees.fieldEditor="numberdropdown" degrees.fieldOptions.decompileLiterals=true
+    //% degrees.fieldOptions.data='[["30", 30], ["45", 45], ["60", 60], ["90", 90], ["180", 180], ["-30", -30], ["-45", -45], ["-60", -60], ["-90", -90], ["-180", -180]]'
+    export function __rotationPicker(degrees: number): number {
+        return degrees;
+    }
 }

targetconfig.json

@@ -18,7 +18,7 @@
         "Touch Sensor Tutorials": "tutorials/touch-sensor",
         "Color Sensor Tutorials": "tutorials/color-sensor",
         "Ultrasonic Sensor Tutorials": "tutorials/ultrasonic-sensor",
-        "Gyro Sensor Tutorials": "tutorials/gyro",
+        "Gyro Tutorials": "tutorials/gyro",
         "Infrared Sensor Tutorials": "tutorials/infrared-sensor",
         "FLL / City Shaper": "tutorials/city-shaper",
         "Design Engineering": "design-engineering",