Make settings compile

docs/getting-started/try-tutorial.md

@@ -73,12 +73,6 @@ Verify that the program you just created shows eyes on the Brick Display, and th
 
 **Well done!**
 
-## Run it Again
-
-![EV3 Brick with Try in BrkProg_Save Folder in File Manager](/static/getting-started/try-in-file-manager.png)
-
-Use the Brick Buttons and navigate to the File Manager tab.  Open the **BrkProg_SAVE** folder, select **Try** and click the center button to run it again.
-
 ## Connect a Large Motor @unplugged
 
 Now you will learn to control the Large Motor.

docs/index-ref.json

@@ -1,3 +1,3 @@
 {
-    "appref": "v1.2.26"
+    "appref": "v1.2.22"
 }

docs/offline-app.html

@@ -388,12 +388,12 @@
         }
         function downloadWin64() {
             // TODO: Keep this link up-to-date with the desired release version
-            window.open("https://makecode.com/api/release/ev3/v1.2.26/win64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.22/win64");
             tickEvent("offlineapp.download", { "target": "ev3", "platform": "win64" });
         }
         function downloadMac64() {
             // TODO: Keep this link up-to-date with the desired release version
-            window.open("https://makecode.com/api/release/ev3/v1.2.26/mac64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.22/mac64");
             tickEvent("offlineapp.download", { "target": "ev3", "platform": "mac64" });
         }
     </script>

docs/reference/brick/exit-program.md

@@ -1,18 +0,0 @@
-# exit Program
-
-Stops the program and returns to the brick menu
-
-```sig
-brick.exitProgram();
-```
-
-## Example
-
-Do a sequence of motor commands and stop the program.
-
-```blocks
-motors.largeA.run(50)
-pause(500)
-motors.stopAll()
-brick.exitProgram();
-```

docs/stable-ref.json

@@ -1,3 +0,0 @@
-{
-    "appref": "v1.2"
-}

libs/color-sensor/color.ts

@@ -1,4 +1,5 @@
 const enum ColorSensorMode {
+    None = 0,
     //% block="reflected light intensity"
     ReflectedLightIntensity = 0,
     //% block="ambient light intensity"
@@ -58,6 +59,7 @@ namespace sensors {
 
         constructor(port: number) {
             super(port)
+            this._setMode(ColorSensorMode.None);
             this.thresholdDetector = new sensors.ThresholdDetector(this.id());
             this.calibrating = false;
         }
@@ -179,22 +181,6 @@ namespace sensors {
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
-        /**
-         * Checks the color is being detected
-         * @param color the color to detect
-         */
-        //% help=sensors/color-sensor/is-color-detected
-        //% block="is **color sensor** %this|detected|%color=colorEnumPicker"
-        //% blockId=colorisColorDetectedDetected
-        //% parts="colorsensor"
-        //% blockNamespace=sensors
-        //% this.fieldEditor="ports"
-        //% weight=99 blockGap=8
-        //% group="Color Sensor"
-        isColorDetected(color: number) {
-            return this.color() == color;
-        }
-
         /**
          * Get the current raw rgb values as an array from the color sensor.
          * @param sensor the color sensor to query the request

libs/color-sensor/docs/reference/sensors/color-sensor/is-color-detected.md

@@ -1,30 +0,0 @@
-# Is Color Detected
-
-Checks the color is detected
-
-```sig
-let b = sensors.color1.isColorDetected(ColorSensorColor.Blue)
-```
-
-The [color](/reference/sensors/color) you choose to look for is one of the colors that the sensor can detect. If you want to use colors for tracking, it's best to use a color that is the same or very close to the ones the sensor detects.
-
-## Parameters
-
-* **color**: the [color](/reference/sensors/color) to watch for.
-
-## Example
-
-Wait for the sensor to see ``blue``. Then, show an expression on the screen.
-
-```blocks
-brick.showString("Waiting for blue", 1)
-while(!sensors.color1.isColorDetected(ColorSensorColor.Blue)) {
-    pause(20)
-}
-brick.clearScreen()
-brick.showImage(images.expressionsSick)
-```
-
-## See also
-
-[on color detected](/reference/sensors/color-sensor/on-color-detected), [color](/reference/sensors/color)

libs/core/battery.ts

@@ -26,7 +26,6 @@ namespace brick {
      */
     //% blockId=brickBatteryProperty block="battery %property"
     //% group="Battery"
-    //% blockGap=8
     //% help=brick/battery-property
     export function batteryInfo(property: BatteryProperty): number {
         const info = sensors.internal.getBatteryInfo();

libs/core/buttons.ts

@@ -85,7 +85,7 @@ namespace brick {
         //% blockId=buttonIsPressed
         //% parts="brick"
         //% blockNamespace=brick
-        //% weight=81
+        //% weight=81 blockGap=8
         //% group="Buttons"
         //% button.fieldEditor="brickbuttons"
         isPressed() {

libs/core/input.ts

@@ -121,9 +121,10 @@ namespace sensors.internal {
 
         powerMM = control.mmap("/dev/lms_power", 2, 0)
 
-        devPoller = new Poller(500,
+        devPoller = new Poller(250, () => { return hashDevices(); },
-            () => { return hashDevices(); },
+            (prev, curr) => {
-            (prev, curr) => { detectDevices(); });
+                detectDevices();
+            });
     }
 
     export function getActiveSensors(): Sensor[] {
@@ -276,25 +277,22 @@ void      cUiUpdatePower(void)
         const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let r = 0;
         for (let i = 0; i < conns.length; ++i) {
-            r = conns[i] + (r << 6) + (r << 16) - r;
+            r = (r << 8 | conns[i]);
         }
         return r;
     }
 
     let nonActivated = 0;
     function detectDevices() {
-        control.dmesg(`detect devices (hash ${hashDevices()})`)
+        //control.dmesg(`detect devices (${nonActivated} na)`)
         const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let numChanged = 0;
         const uartSensors: SensorInfo[] = [];
 
         for (const sensorInfo of sensorInfos) {
             const newConn = conns[sensorInfo.port]
-            if (newConn == sensorInfo.connType
+            if (newConn == sensorInfo.connType) {
-                && sensorInfo.sensor
+                // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
-                && sensorInfo.sensor.isActive()) {
-                if (newConn == DAL.CONN_INPUT_UART)
-                    uartSensors.push(sensorInfo);
                 continue;
             }
             numChanged++
@@ -325,8 +323,7 @@ void      cUiUpdatePower(void)
             for (const sensorInfo of uartSensors) {
                 let uinfo = readUartInfo(sensorInfo.port, 0)
                 sensorInfo.devType = uinfo[TypesOff.Type]
-                const mode = uinfo[TypesOff.Mode];
+                control.dmesg(`UART type ${sensorInfo.devType}`)
-                control.dmesg(`UART type ${sensorInfo.devType} mode ${mode}`)
             }
         }
 
@@ -430,11 +427,11 @@ void      cUiUpdatePower(void)
         constructor(port: number) {
             super(port)
             this.mode = 0
-            this.realmode = -1
+            this.realmode = 0
         }
 
         _activated() {
-            this.realmode = -1
+            this.realmode = 0
             this._setMode(this.mode)
         }
 
@@ -461,7 +458,7 @@ void      cUiUpdatePower(void)
 
         reset() {
             if (this.isActive()) uartReset(this._port);
-            this.realmode = -1;
+            this.realmode = 0;
         }
     }
 
@@ -539,6 +536,8 @@ void      cUiUpdatePower(void)
 
     function uartClearChange(port: number) {
         control.dmesg(`UART clear change`);
+        const UART_DATA_READY = 8
+        const UART_PORT_CHANGED = 1
         while (true) {
             let status = getUartStatus(port)
             if (port < 0) break
@@ -559,7 +558,7 @@ void      cUiUpdatePower(void)
     }
 
     function setUartModes() {
-        control.dmesg(`UART set modes 0x${devcon.toHex()}`)
+        control.dmesg(`UART set modes`)
         uartMM.ioctl(IO.UART_SET_CONN, devcon)
         const ports: number[] = [];
         for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@@ -571,26 +570,22 @@ void      cUiUpdatePower(void)
         while (ports.length) {
             const port = ports.pop();
             const status = waitNonZeroUartStatus(port)
-            control.dmesg(`UART status ${status} at ${port}`);
+            control.dmesg(`UART set mode ${status} at ${port}`);
-            if (!(status & UART_DATA_READY))
-                setUartMode(port, devcon[DevConOff.Mode + port]);
         }
     }
 
     function updateUartMode(port: number, mode: number) {
-        control.dmesg(`UART update mode to ${mode} at ${port}`)
+        control.dmesg(`UART set mode to ${mode} at ${port}`)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
     }
 
-    const UART_PORT_CHANGED = 1
-    const UART_DATA_READY = 8
     function setUartMode(port: number, mode: number) {
+        const UART_PORT_CHANGED = 1
         while (true) {
             if (port < 0) return
             updateUartMode(port, mode);
-            control.dmesg(`UART set mode 0x${devcon.toHex()}`)
             uartMM.ioctl(IO.UART_SET_CONN, devcon)
             let status = waitNonZeroUartStatus(port)
             if (status & UART_PORT_CHANGED) {
@@ -598,7 +593,6 @@ void      cUiUpdatePower(void)
                 uartClearChange(port)
             } else {
                 control.dmesg(`UART status ${status}`);
-                if (status & UART_DATA_READY)
                 break;
             }
             pause(10)

libs/core/output.cpp

@@ -1,6 +1,9 @@
 #include "pxt.h"
 #include "ev3const.h"
 
+#include <sys/stat.h>
+#include <sys/types.h>
+
 namespace output {
 
 /**
@@ -17,6 +20,7 @@ Buffer createBuffer(int size) {
 namespace pxt {
 
 void target_init() {
+    mkdir(SETTINGSDIR, 0777);
 }
 
 }

libs/core/output.ts

@@ -159,7 +159,6 @@ namespace motors {
         private _accelerationTime: number;
         private _decelerationSteps: number;
         private _decelerationTime: number;
-        private _inverted: boolean;
 
         protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
 
@@ -177,7 +176,6 @@ namespace motors {
             this._accelerationTime = 0;
             this._decelerationSteps = 0;
             this._decelerationTime = 0;
-            this._inverted = false;
         }
 
         /**
@@ -227,11 +225,9 @@ namespace motors {
         //% help=motors/motor/set-inverted
         setInverted(inverted: boolean) {
             this.init();
-            this._inverted = inverted;
+            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
-        }
+            b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
-
+            writePWM(b)
-        protected invertedFactor(): number {
-            return this._inverted ? -1 : 1;
         }
 
         /** 
@@ -298,9 +294,8 @@ namespace motors {
         }
 
         private normalizeSchedule(speed: number, step1: number, step2: number, step3: number, unit: MoveUnit): MoveSchedule {
-            // motor polarity is not supported at the firmware level for sync motor operations
             const r: MoveSchedule = {
-                speed: Math.clamp(-100, 100, speed | 0) * this.invertedFactor(),
+                speed: Math.clamp(-100, 100, speed >> 0),
                 useSteps: true,
                 steps: [step1 || 0, step2 || 0, step3 || 0]
             }
@@ -567,7 +562,6 @@ namespace motors {
 
         private __init() {
             this.setOutputType(this._large);
-            this.setInverted(false);
         }
 
         /**
@@ -747,7 +741,7 @@ namespace motors {
         //% help=motors/synced/steer
         steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
             this.init();
-            speed = Math.clamp(-100, 100, speed >> 0) * this.invertedFactor();
+            speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
                 this.stop();
                 return;

libs/core/platform.cpp

@@ -120,7 +120,7 @@ void stopLMS() {
         if (!pid)
             continue;
         char namebuf[100];
-        snprintf(namebuf, 100, "/proc/%d/cmdline", pid);
+        snprintf(namebuf, 1000, "/proc/%d/cmdline", pid);
         FILE *f = fopen(namebuf, "r");
         if (f) {
             fread(namebuf, 1, 99, f);
@@ -195,42 +195,5 @@ void target_startup() {
 
 void initKeys() {}
 
-static const char *progPath = "/mnt/ramdisk/prjs/BrkProg_SAVE";
-
-// These are disabled except when building File_manager.pdf
-// %
-void deletePrjFile(String filename) {
-    const char *d = filename->getUTF8Data();
-    if (strlen(d) > 500 || strchr(d, '/'))
-        return;
-    char buf[1024];
-    snprintf(buf, sizeof(buf), "%s/%s", progPath, d);
-    unlink(buf);
-}
-
-// %
-RefCollection *listPrjFiles() {
-    auto res = Array_::mk();
-    registerGCObj(res);
-
-    auto dp = opendir(progPath);
-
-    for (;;) {
-        dirent *ep = dp ? readdir(dp) : NULL;
-        if (!ep)
-            break;
-        if (ep->d_name[0] == '.')
-            continue;
-        auto str = mkString(ep->d_name, -1);
-        registerGCObj(str);
-        res->head.push((TValue)str);
-        unregisterGCObj(str);
-    }
-    if (dp)
-        closedir(dp);
-    unregisterGCObj(res);
-
-    return res;
-}
 
 }

libs/core/platform.h

@@ -1,3 +1,5 @@
 #define PXT_GC_THREAD_LIST 1
 
 #define PXT_IN_ISR() false
+
+#define SETTINGSDIR "/mnt/ramdisk/settings"

libs/ev3/brick.ts

@@ -1,13 +0,0 @@
-namespace brick {
-    /**
-     * Exits the program to the main menu. (in the simulator restarts it)
-     */
-    //% blockId=loopstop block="exit program"
-    //% help=reference/brick/exit-program
-    //% weight=10
-    //% blockGap=8
-    //% group="Buttons"
-    export function exitProgram() {
-        control.reset();
-    }
-}

libs/ev3/ns.ts

@@ -1,6 +1,6 @@
 
 //% color="#68C3E2" weight=100 icon="\uf106"
-//% groups='["Buttons", "Screen", "Power"]'
+//% groups='["Buttons", "Screen", "Battery"]'
 //% labelLineWidth=60
 namespace brick {
 }

libs/ev3/pxt.json

@@ -4,7 +4,6 @@
     "files": [
         "README.md",
         "ns.ts",
-        "brick.ts",
         "startup.ts",
         "images.jres",
         "images.ts",
@@ -24,7 +23,8 @@
         "touch-sensor": "file:../touch-sensor",
         "ultrasonic-sensor": "file:../ultrasonic-sensor",
         "gyro-sensor": "file:../gyro-sensor",
-        "infrared-sensor": "file:../infrared-sensor"
+        "infrared-sensor": "file:../infrared-sensor",
+        "settings": "file:../settings"
     },
     "palette": [
        "#ffffff",

libs/ev3/startup.ts

@@ -2,5 +2,9 @@
 console.addListener(function(priority: ConsolePriority, msg: string) {
     control.dmesg(msg.substr(0, msg.length - 1))
 })
-// boot sequence
+// pulse green, play startup sound, turn off light
-brick.showBoot();
+brick.setStatusLight(StatusLight.GreenPulse);
+// We pause for 100ms to give time to read sensor values, so they work in on_start block
+pause(400)
+// and we're ready
+brick.setStatusLight(StatusLight.Off);

libs/screen/targetoverrides.ts

@@ -140,18 +140,8 @@ namespace brick {
     function renderPorts() {
         const col = 44;
         const lineHeight8 = image.font8.charHeight + 2;
-        const h = screen.height;
-
         clearScreen();
 
-        for (let i = 0; i < 4; ++i) {
-            const x = i * col + 2;
-            screen.print("ABCD"[i], x, 1 * lineHeight8, 1, image.font8)
-            screen.print((i + 1).toString(), x, h - lineHeight8, 1, image.font8)
-        }
-        screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
-        screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
-
         function scale(x: number) {
             if (Math.abs(x) >= 5000) {
                 const k = Math.floor(x / 1000);
@@ -165,38 +155,27 @@ namespace brick {
         const datas = motors.getAllMotorData();
         for (let i = 0; i < datas.length; ++i) {
             const data = datas[i];
-            const x = i * col + 2;
             if (!data.actualSpeed && !data.count) continue;
-            screen.print(`${scale(data.actualSpeed)}%`, x, 3 * lineHeight8, 1, image.font8)
+            const x = i * col;
-            screen.print(`${scale(data.count)}>`, x, 4 * lineHeight8, 1, image.font8)
+            screen.print("ABCD"[i], x + 2, 1 * lineHeight8, 1, image.font8)
+            screen.print(`${scale(data.actualSpeed)}%`, x + 2, 3 * lineHeight8, 1, image.font8)
+            screen.print(`${scale(data.count)}>`, x + 2, 4 * lineHeight8, 1, image.font8)
         }
+        screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
 
         // sensors
         const sis = sensors.internal.getActiveSensors();
+        const h = screen.height;
+        screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
         for (let i = 0; i < sis.length; ++i) {
             const si = sis[i];
-            const x = (si.port() - 1) * col + 2;
+            const x = (si.port() - 1) * col;
             const inf = si._info();
-            if (inf)
+            screen.print(si.port() + "", x, h - 4 * lineHeight8, 1, image.font8)
             screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
         }
     }
 
-    export function showBoot() {
-        // pulse green, play startup sound, turn off light
-        brick.setStatusLight(StatusLight.GreenPulse);
-        // We pause for 100ms to give time to read sensor values, so they work in on_start block
-        pause(400)
-        // and we're ready
-        brick.setStatusLight(StatusLight.Off);
-        // always show port by default if no UI is set
-        control.runInParallel(function () {
-            // show ports if nothing is has been shown
-            if (screenMode != ScreenMode.None) return;
-            showPorts();
-        })
-    }
-
     /**
      * An image
      * @param image the image

libs/settings/pxt.json

@@ -0,0 +1,4 @@
+{
+    "name": "settings",
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/settings---files"
+}

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.4.8",
+  "version": "1.4.2",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [
@@ -45,8 +45,8 @@
     "@types/web-bluetooth": "0.0.4"
   },
   "dependencies": {
-    "pxt-common-packages": "6.16.18",
+    "pxt-common-packages": "6.16.7",
-    "pxt-core": "5.28.8"
+    "pxt-core": "5.25.6"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -18,7 +18,8 @@
         "libs/screen",
         "libs/ev3",
         "libs/storage",
-        "libs/broadcast"
+        "libs/broadcast",
+        "libs/settings"
     ],
     "simulator": {
         "autoRun": true,
@@ -75,6 +76,7 @@
             "category": "loops"
         },
         "bannedCategories": [
+            "image"
         ]
     },
     "compileService": {

scripts/file_manager.ts

@@ -1,97 +0,0 @@
-//% shim=pxt::listPrjFiles
-function getPrjs() {
-    let programs = [
-        "pxt",
-        "my amazing robot",
-    ]
-    for (let i = 1; i < 6; ++i)
-        programs.push("Untitled-" + i)
-    return programs
-}
-
-//% shim=pxt::deletePrjFile
-function delPrj(fn: string) {
-    return
-}
-
-const programs = getPrjs()
-    .filter(s => s.substr(s.length - 4, 4) == ".rbf")
-    .map(s => s.substr(0, s.length - 4))
-    .filter(s => s != "File_manager")
-
-programs.push("")
-programs.push("Cancel")
-programs.push("Delete 0 files")
-
-let todel: boolean[] = []
-let scrollTop = 0
-let cursor = 0
-let confirm = false
-function showMenu() {
-    if (cursor < scrollTop + 2)
-        scrollTop = cursor - 2
-    else if (cursor > scrollTop + 11)
-        scrollTop = cursor - 11
-    if (scrollTop < 0)
-        scrollTop = 0
-    let num = 0
-    for (let i = 0; i < todel.length; ++i)
-        if (todel[i]) num++
-    programs[programs.length - 1] =
-        confirm ? "Enter to confirm" : "Delete " + num + " file(s)"
-
-    brick.clearScreen()
-
-    const h = brick.lineHeight()
-    for (let i = 0; i < 13; ++i) {
-        const y = i * h
-        const idx = scrollTop + i
-        const fg = idx == cursor ? 0 : 1
-        const bg = idx == cursor ? 1 : 0
-        // screen.fillRect(0, y, screen.width, h, bg);
-        let text = (idx == cursor ? ">" : " ")
-            + (todel[idx] ? "*" : " ")
-            + " "
-            + (programs[scrollTop + i] || "")
-        screen.print(text, 0, y, fg, brick.font);
-    }
-}
-function move(d: number) {
-    confirm = false
-    const nc = cursor + d
-    if (0 <= nc && nc < programs.length)
-        cursor = nc
-    showMenu()
-}
-brick.buttonDown.onEvent(ButtonEvent.Pressed, () => move(1))
-brick.buttonUp.onEvent(ButtonEvent.Pressed, () => move(-1))
-brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
-    if (cursor < programs.length - 3) {
-        todel[cursor] = !todel[cursor]
-        move(1)
-    } else if (cursor == programs.length - 3) {
-        // nothing
-    } else if (cursor == programs.length - 2) {
-        control.reset()
-    } else if (cursor == programs.length - 1) {
-        if (todel.every(x => !x))
-            return
-        if (confirm) {
-            brick.clearScreen()
-            brick.showString("deleting...", 6)
-            for (let i = 0; i < todel.length; ++i) {
-                if (todel[i]) {
-                    delPrj(programs[i] + ".elf")
-                    delPrj(programs[i] + ".rbf")
-                }
-            }
-            pause(1000)
-            control.reset()
-        } else {
-            confirm = true
-            showMenu()
-        }
-    }
-})
-showMenu()
-

sim/state/color.ts

@@ -3,6 +3,7 @@
 namespace pxsim {
 
     export enum ColorSensorMode {
+        None = -1,
         Reflected = 0,
         Ambient = 1,
         Colors = 2,

sim/state/gyro.ts

@@ -1,5 +1,6 @@
 namespace pxsim {
     export const enum GyroSensorMode {
+        None = -1,
         Angle = 0,
         Rate = 1,
     }

sim/state/infrared.ts

@@ -44,6 +44,7 @@ namespace pxsim {
     }
 
     export enum InfraredSensorMode {
+        None = -1,
         Proximity = 0,
         Seek = 1,
         RemoteControl = 2

sim/state/motornode.ts

@@ -9,6 +9,7 @@ namespace pxsim {
         private angle: number = 0;
         private tacho: number = 0;
         private speed: number = 0;
+        private polarity: number = 1; // -1, 1 or -1
 
         private started: boolean;
         private speedCmd: DAL;
@@ -30,7 +31,7 @@ namespace pxsim {
         }
 
         getSpeed() {
-            return Math.round(this.speed);
+            return Math.round(this.speed * (!this._synchedMotor && this.polarity == 0 ? -1 : 1));
         }
 
         getAngle() {
@@ -81,6 +82,16 @@ namespace pxsim {
             return this.id == NodeType.LargeMotor;
         }
 
+        setPolarity(polarity: number) {
+            // Either 1 or 255 (reverse)
+            /*
+                -1 : Motor will run backward  
+                0 : Motor will run opposite direction  
+                1 : Motor will run forward             
+            */
+            this.polarity = polarity;
+        }
+
         reset() {
             // not sure what reset does...
         }

sim/state/output.ts

@@ -119,7 +119,11 @@ namespace pxsim {
                             return 2;
                         }
                         case DAL.opOutputPolarity: {
-                            console.error("opOutputPolarity not supported");
+                            // reverse
+                            const port = buf.data[1];
+                            const polarity = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.setPolarity(polarity));
                             return 2;
                         }
                         case DAL.opOutputSetType: {

targetconfig.json

@@ -27,6 +27,6 @@
         "Tutorial Videos": "videos"
     },
     "electronManifest": {
-        "latest": "v1.2.26"
+        "latest": "v1.2.22"
     }
 }