1.4.18

bump pxt
1.4.17
2019-12-14 13:00:31 -08:00 · 2019-12-14 10:50:54 -08:00 · 2019-12-12 17:18:11 -08:00 · 2019-12-12 16:28:23 -08:00 · 2019-12-12 16:28:11 -08:00 · 2019-12-12 09:39:54 -08:00
70 changed files with 1522 additions and 1353 deletions
--- a/.github/workflows/compress-images-on-pull-request.yml
+++ b/.github/workflows/compress-images-on-pull-request.yml
@ -0,0 +1,12 @@
+name: Compress images
+on: pull_request
+jobs:
+  build:
+    name: calibreapp/image-actions
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@master
+      - name: calibreapp/image-actions
+        uses: calibreapp/image-actions@master
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
--- a/.gitignore
+++ b/.gitignore
@ -17,6 +17,7 @@ clients/**/bin/**
 clients/**/obj/**
 clients/electron/projects
 libs/**/_locales/**
+package-lock.json

 videos/**

--- a/cmds/cmds.ts
+++ b/cmds/cmds.ts
@ -1,14 +0,0 @@
-/// <reference path="../node_modules/pxt-core/built/pxtlib.d.ts" />
-
-import * as fs from 'fs';
-
-const deploy = require("./editor/deploy")
-
-export function deployCoreAsync(resp: pxtc.CompileResult) {
-    return deploy.deployCoreAsync(resp, process.env["PXT_SERIAL"] ? false : true)
-        .then(() => {
-            fs.writeFileSync("built/full-" + pxtc.BINARY_UF2, resp.outfiles[pxtc.BINARY_UF2], {
-                encoding: "base64"
-            })
-        })
-}
--- a/cmds/tsconfig.json
+++ b/cmds/tsconfig.json
@ -1,14 +0,0 @@
-{
-    "compilerOptions": {
-        "target": "es5",
-        "noImplicitAny": true,
-        "noImplicitReturns": true,
-        "declaration": true,
-        "outDir": "../built",
-        "module": "commonjs",
-        "rootDir": ".",
-        "newLine": "LF",
-        "sourceMap": false,
-        "types": ["node"]
-    }
-}
--- a/docs/fll.md
+++ b/docs/fll.md
@ -35,6 +35,13 @@ On the home page, scroll down to the **FLL / City Shaper** section for specific

 Yes.

+### Can I run the program again on the brick?
+
+![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 your program and click the center button to run it again.
+
 ### Does it work without internet?

 No, the editor is cached in your browser cache. However, you can also download the [offline app](/offline-app) in case you need to install it on a computer.
@ -98,6 +105,12 @@ The official answer is currently no. That being said, we have **Experimental sup

 https://youtu.be/VIq8-6Egtqs

+## Are there YouTube videos on MakeCode for EV3?
+
+The MakeCode has a [FLL / City Shaper YouTube Channel](https://www.youtube.com/watch?v=IqL0Pyeu5Ng&list=PLMMBk9hE-SeqkOObethhlZtBTEK6FYx3n) with useful videos.
+
+https://youtu.be/-AirqwC9DL4
+
 ### Why can't I delete my program (*.uf2) files from the Brick?

 There's a bug in the firmware which prevents you from deleting the programs (``*.uf2`` files) from your EV3 Brick. There isn't a firmware update to fix this yet.
--- a/docs/getting-started/try-tutorial.md
+++ b/docs/getting-started/try-tutorial.md
@ -73,6 +73,12 @@ 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.
--- a/docs/getting-started/try.md
+++ b/docs/getting-started/try.md
@ -54,6 +54,12 @@ 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

 Now you will learn to control the Large Motor.
--- a/docs/index-ref.json
+++ b/docs/index-ref.json
@ -1,3 +1,3 @@
 {
-    "appref": "v1.2.18"
+    "appref": "v1.2.26"
 }
--- a/docs/offline-app.html
+++ b/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/v1.1.20/win64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.26/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/v1.1.20/mac64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.26/mac64");
            tickEvent("offlineapp.download", { "target": "ev3", "platform": "mac64" });
        }
    </script>
--- a/docs/projects.md
+++ b/docs/projects.md
@ -1,9 +1,88 @@
 # Projects

-Here are some cool projects that you can build with your @boardname@!
+```codecard
+[
+    {
+        "name": "Getting Started",
+        "url": "/getting-started",
+        "imageUrl": "/static/lessons/firmware.png"
+    },
+    {
+        "name": "Brick Tutorials",
+        "url": "/tutorials/brick",
+        "imageUrl": "/static/tutorials/wake-up.png"
+    },
+    {
+        "name": "Motor Tutorials",
+        "url": "/tutorials/motors",
+        "imageUrl": "/static/tutorials/run-motors.png"
+    },
+    {
+        "name": "Touch Sensor Tutorials",
+        "url": "/tutorials/touch-sensor",
+        "imageUrl": "/static/tutorials/touch-to-run.png"
+    },
+    {
+        "name": "Color Sensor Tutorials",
+        "url": "/tutorials/color-sensor",
+        "imageUrl": "/static/tutorials/what-color.png"
+    },
+    {
+        "name": "Ultrasonic Sensor Tutorials",
+        "url": "/tutorials/ultrasonic-sensor",
+        "imageUrl": "/static/tutorials/object-near.png"
+    },
+    {
+        "name": "Gyro Tutorials",
+        "url": "/tutorials/gyro",
+        "imageUrl": "/static/tutorials/calibrate-gyro.png"
+    },
+    {
+        "name": "Infrared Sensor Tutorials",
+        "url": "/tutorials/infrared-sensor",
+        "imageUrl": "/static/tutorials/security-alert.png"
+    },
+    {
+        "name": "FLL / City Shaper",
+        "url": "/tutorials/city-shaper",
+        "imageUrl": "/static/tutorials/city-shaper/robot1.jpg"
+    },
+    {
+        "name": "Design Engineering",
+        "url": "/design-engineering",
+        "imageUrl": "/static/lessons/make-it-move-without-wheels.png"
+    },
+    {
+        "name": "Coding",
+        "url": "/coding",
+        "imageUrl": "/static/lessons/autonomous-parking.png"
+    },
+    {
+        "name": "Maker",
+        "url": "/maker",
+        "imageUrl": "/static/lessons/make-a-sound-machine.png"
+    },
+    {
+        "name": "Tutorial Videos",
+        "url": "/videos",
+        "imageUrl": "https://legoeducation.videomarketingplatform.co/27288170/35719444/5d009e5f93fbf479c2e5ed2bf87a7990/thumbnail.png"
+    }
+]
+```

-## Basic
+## See Also

-Basic projects to build with your EV3 Brick.
+[Getting Started](/getting-started),
+[Brick Tutorials](/tutorials/brick),
+[Motor Tutorials](/tutorials/motors),
+[Touch Sensor Tutorials](/tutorials/touch-sensor),
+[Color Sensor Tutorials](/tutorials/color-sensor),
+[Ultrasonic Sensor Tutorials](/tutorials/ultrasonic-sensor),
+[Gyro Tutorials](/tutorials/gyro),
+[Infrared Sensor Tutorials](/tutorials/infrared-sensor),
+[FLL / City Shaper](/tutorials/city-shaper),
+[Design Engineering](/design-engineering),
+[Coding](/coding),
+[Maker](/maker),
+[Tutorial Videos](/videos)

-Coming soon.
--- a/docs/projects/SUMMARY.md
+++ b/docs/projects/SUMMARY.md
@ -0,0 +1,69 @@
+# Projects
+
+* [Getting Started](/getting-started)
+  * [Prepare](https://makecode.mindstorms.com/troubleshoot)
+  * [Try](/getting-started/try)
+  * [Use](/getting-started/use)
+  * [First LEGO League](/fll)
+* [Brick Tutorials](/tutorials/brick)
+  * [Wake Up!](/tutorials/wake-up)
+  * [Make an Animation](/tutorials/make-an-animation)
+  * [What Animal Am I?](/tutorials/what-animal-am-i)
+  * [Music Brick](/tutorials/music-brick)
+  * [Pause On Start](/tutorials/pause-on-start)
+* [Motor Tutorials](/tutorials/motors)
+  * [Run Motors](/tutorials/run-motors)
+  * [Spin Turn](/tutorials/spin-turn)
+  * [Pivot Turn](/tutorials/pivot-turn)
+  * [Smooth Turn](/tutorials/smooth-turn)
+  * [Tank ZigZag](/tutorials/tank-zigzag)
+  * [Coast Or Brake](/tutorials/coast-or-brake)
+  * [Turtle](/tutorials/turtle)
+* [Touch Sensor Tutorials](/tutorials/touch-sensor)
+  * [Touch to Run](/tutorials/touch-to-run)
+  * [Sensor Values](/tutorials/touch-sensor-values)
+  * [Stop At Object](/tutorials/stop-at-object)
+* [Color Sensor Tutorials](/tutorials/color-sensor)
+  * [What Color?](/tutorials/what-color)
+  * [Line Following](/tutorials/line-following)
+  * [Red Light, Green Light](/tutorials/redlight-greenlight)
+  * [Move To Color](/tutorials/move-to-color)
+  * [Reflected Light Measure](/tutorials/reflected-light-measure)
+  * [Reflected Light Calibration](/tutorials/reflected-light-calibration)
+* [Ultrasonic Sensor Tutorials](/tutorials/ultrasonic-sensor)
+  * [Object Near](/tutorials/object-near)
+  * [Wall Follower](/tutorials/wall-follower)
+* [Gyro Tutorials](/tutorials/gyro)
+  * [Calibrate](/tutorials/calibrate-gyro)
+  * [Turn](/tutorials/turn-with-gyro)
+  * [Move Straight](/tutorials/move-straight-with-gyro)
+  * [Drifter](/tutorials/drifter)
+* [Infrared Sensor Tutorials](/tutorials/infrared-sensor)
+  * [Security Alert](/tutorials/security-alert)
+* [FLL / City Shaper](/tutorials/city-shaper)
+  * [Crane Mission / Robot 1](/tutorials/city-shaper/robot-1)
+  * [Crane Mission / Robot 2](/tutorials/city-shaper/robot-2)
+  * [Crane Mission / Video 1](https://youtu.be/IqL0Pyeu5Ng)
+  * [Bluetooth download (beta)](https://youtu.be/VIq8-6Egtqs)
+  * [Turn with Gyro](https://youtu.be/I7ncuXAfBwk)
+  * [Moving with Gyro](https://youtu.be/ufiOPvW37xc)
+  * [Line following with 1 color sensor](https://youtu.be/_LeduyKQVjg)
+  * [Proportional line following with 1 color sensor](https://youtu.be/-AirqwC9DL4)
+  * [Proportional line following with 2 color sensors](https://youtu.be/QWOflBuu9Oo)
+* [Design Engineering](/design-engineering)
+  * [Make It Move Without Wheels](/design-engineering/make-it-move)
+  * [Make It Smarter and Faster](/design-engineering/make-it-smarter)
+  * [Make a System that Communicates](/design-engineering/make-it-communicate)
+* [Coding](/coding)
+  * [Autonomous Parking](/coding/autonomous-parking)
+  * [Object Detection](/coding/object-detection)
+  * [Line Detection](/coding/line-detection)
+* [Maker](/maker)
+  * [Make A Sound Machine](/maker/sound-machine)
+  * [Make A Security Gadget](/maker/security-gadget)
+* [Tutorial Videos](/videos)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5d009e5f93fbf479c2e5ed2bf87a7990&source=embed&photo%5fid=35719444)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=2008a566f1fb034d58d5ebe19ba8621f&source=embed&photo%5fid=35719467)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=629730c938e452f0fd7653fbc4708166&source=embed&photo%5fid=35719470)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=3513a83b87fe536b2dc512237465fd1b&source=embed&photo%5fid=35719471)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5c594c2373367f7870196f519f3bfc7a&source=embed&photo%5fid=35719472)
--- a/docs/reference/brick/exit-program.md
+++ b/docs/reference/brick/exit-program.md
@ -0,0 +1,18 @@
+# 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();
+```
--- a/docs/stable-ref.json
+++ b/docs/stable-ref.json
@ -0,0 +1,3 @@
+{
+    "appref": "v1.2"
+}
--- a/docs/static/getting-started/try-in-file-manager.png
+++ b/docs/static/getting-started/try-in-file-manager.png
--- a/docs/static/testfilelogo.svg
+++ b/docs/static/testfilelogo.svg
@ -0,0 +1,6 @@
+<svg xmlns="http://www.w3.org/2000/svg" id="svg4487" fill-rule="evenodd" stroke-linejoin="round" stroke-miterlimit="1.4" clip-rule="evenodd" version="1.1" width="32" height="32" viewBox="0 0 32 32">
+  <path id="path4485" fill="#696969" d="M16.1 2.7a13.8 13.8 0 00-4.4 27c.7 0 1-.4 1-.7v-2.4c-3.9.9-4.7-1.8-4.7-1.8-.6-1.6-1.5-2-1.5-2-1.3-1 0-.9 0-.9 1.4.1 2.2 1.4 2.2 1.4 1.2 2.1 3.2 1.5 4 1.2a3 3 0 01.9-1.9c-3.1-.3-6.3-1.5-6.3-6.8 0-1.5.5-2.7 1.4-3.7a5 5 0 01.1-3.7s1.2-.3 3.8 1.4a13.2 13.2 0 013.5-.4c1.2 0 2.4.1 3.5.4 2.6-1.7 3.8-1.4 3.8-1.4a5 5 0 01.1 3.7c.9 1 1.4 2.2 1.4 3.7 0 5.3-3.2 6.5-6.3 6.8.5.5 1 1.3 1 2.6V29c0 .4.2.8.9.6a13.8 13.8 0 00-4.4-27"/>
+  <g id="text4497" fill="#000" fill-opacity="1" stroke="none" stroke-width=".7" aria-label="v" font-family="consolas" font-size="26.6" font-stretch="normal" font-style="normal" font-variant="normal" font-weight="400" letter-spacing="0" style="line-height:1.25;-inkscape-font-specification:consolas" transform="rotate(14.1)" word-spacing="0">
+    <path id="path4499" stroke-width=".7" d="M21.4-1.7l2.9 8 3-8.3.8-1.5q.4-.4 1-.4.8 0 1.2.5.5.4.5 1v.6l-.3.5-.2.7-3.4 8.4-.4 1-.5 1-.7.5q-.4.2-1 .2-.8 0-1.2-.3-.5-.3-.7-.8l-.7-1.6-3.4-8.3q0-.4-.2-.7l-.2-.6-.1-.6.2-.7.6-.6q.4-.2.9-.2.9 0 1.2.5l.7 1.7z" font-family="Arial Rounded MT Bold" font-stretch="normal" font-style="normal" font-variant="normal" font-weight="400" style="-inkscape-font-specification:'Arial Rounded MT Bold, '"/>
+  </g>
+</svg>
--- a/docs/troubleshoot.md
+++ b/docs/troubleshoot.md
@ -1,16 +1,18 @@
-# Troubleshooting download problems
+# Troubleshooting
+
+## Download issues

 If you're having trouble getting your code onto the EV3 Brick, try these steps to see if you can fix the problem.

-## Check your **@drivename@** firmware
+### Check your **@drivename@** firmware

 MakeCode needs a firmware version of **1.10E** or higher installed on your brick. 

-### ~hint
+#### ~hint

 Firmware is the software that runs all the basic operations on your EV3 Brick. Your programs and the firmware work together to make the EV3 Brick do all things you want it to. Your EV3 Brick comes with firmware pre-installed, but it may need to be updated to work properly with MakeCode.

-### ~
+#### ~

 To check the the firmware version on your EV3 Brick:

@ -25,15 +27,15 @@ To check the the firmware version on your EV3 Brick:

 If you can't find the **Brick Info** or you see that the version is less than **1.10E**, **you need to upgrade your firmware**.

-## Upgrade your **@drivename@**
+### Upgrade your **@drivename@**

 If your a firmware version level is less than **1.10E**, you need to install an upgraded version. You can upgrade the firmware with the **EV3 Lab** or **EV3 Programming** software. Also, you can do a manual upgrade by downloading the firmware install file. See the [Firmware Update](https://education.lego.com/en-us/support/mindstorms-ev3/firmware-update) support page to learn about the upgrade process.

-### ~ hint
+#### ~ hint

 **Recommended:** Upgrade with the **[EV3 Device Manager](https://ev3manager.education.lego.com/)**

-### ~
+#### ~

 ## Can I see the **@drivename@** drive on my computer?

@ -45,14 +47,24 @@ On Windows, it looks like this in Explorer:

 If you don't see the **@drivename@** drive, make sure your brick is powered on and check that your USB connection is good.

-## The display on the EV3 Brick is blank
+### The display on the EV3 Brick is blank

 Make sure your EV3 Brick is charged and powered on. If your it doesn't turn on, find the charger and plug it into wall power, then connect it to your EV3 Brick. Does it turn on and start up?

-## I still can't see my @drivename@ drive
+### I still can't see my @drivename@ drive

 Make sure that one end of your USB cable is firmly inserted into a USB port on the computer and the other end is connected to the EV3 Brick. If you still can't see the **@drivename@** drive, try a different port on the computer. If that doesn't work then maybe your cable is faulty or you need to reset the EV3 Brick.

+## Why can't I delete my program (*.uf2) files from the Brick? #deletefiles
+
+There's a bug in the firmware which prevents you from deleting the programs (``*.uf2`` files) from your EV3 Brick. There isn't a firmware update to fix this yet.
+
+We have prepared a special program that lets you delete UF2 files from the brick.
+Download [these PDF instructions](/file-manager.pdf) and drop the PDF on the brick drive.
+This will present you with an menu for deleting files.
+
+For other common questions, try the FAQ page https://makecode.mindstorms.com/faq.
+
 ## How do I reset my EV3 Brick?

 If you think your USB connection is good and you still can't see your **@drivename@** drive, try giving the EV3 Brick a reset. You can follow these steps to reset:
--- a/docs/tutorials/city-shaper.md
+++ b/docs/tutorials/city-shaper.md
@ -36,6 +36,14 @@
    "name": "Line following with 1 color sensor",
    "description": "Simple line following using the color sensor.",
    "youTubeId": "_LeduyKQVjg"
+}, {
+    "name": "Proportional line following with 1 color sensor",
+    "description": "Proportional line following using the color sensor.",
+    "youTubeId": "-AirqwC9DL4"
+}, {
+    "name": "Proportional line following with 2 color sensors",
+    "description": "Proportional line following using two color sensor.",
+    "youTubeId": "QWOflBuu9Oo"
 }]
 ```

--- a/editor/deploy.ts
+++ b/editor/deploy.ts
@ -3,20 +3,15 @@

 import UF2 = pxtc.UF2;
 import { Ev3Wrapper } from "./wrap";
+import { bluetoothTryAgainAsync } from "./dialogs";

 export let ev3: Ev3Wrapper;
-let confirmAsync: (options: any) => Promise<number>;
-
-export function setConfirmAsync(cf: (options: any) => Promise<number>) {
-    confirmAsync = cf;
-}

 export function debug() {
    return initHidAsync()
        .then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
 }

-
 // Web Serial API https://wicg.github.io/serial/
 // chromium bug https://bugs.chromium.org/p/chromium/issues/detail?id=884928
 // Under experimental features in Chrome Desktop 77+
@ -167,7 +162,7 @@ export function initAsync(): Promise<void> {
        useHID = false
    } else {
        const nodehid = /nodehid/i.test(window.location.href);
-        if (pxt.Cloud.isLocalHost() && pxt.Cloud.localToken && nodehid)
+        if (pxt.BrowserUtils.isLocalHost() && pxt.Cloud.localToken && nodehid)
            useHID = true;
    }

@ -283,22 +278,9 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
            return w.reconnectAsync(false)
                .catch(e => {
                    // user easily forgets to stop robot
-                    if (confirmAsync)
-                        return confirmAsync({
-                            header: lf("Bluetooth download failed..."),
-                            htmlBody:
-                                `<ul>
-<li>${lf("Make sure to stop your program or exit portview on the EV3.")}</li>
-<li>${lf("Check your battery level.")}</li>
-<li>${lf("Close EV3 LabView or other MakeCode editor tabs.")}
-</ul>`,
-                            hasCloseIcon: true,
-                            hideCancel: true,
-                            hideAgree: false,
-                            agreeLbl: lf("Try again"),
-                        }).then(() => w.disconnectAsync())
-                            .then(() => Promise.delay(1000))
-                            .then(() => w.reconnectAsync());
+                    bluetoothTryAgainAsync().then(() => w.disconnectAsync())
+                        .then(() => Promise.delay(1000))
+                        .then(() => w.reconnectAsync());

                    // nothing we can do
                    return Promise.reject(e);
--- a/editor/dialogs.tsx
+++ b/editor/dialogs.tsx
@ -0,0 +1,145 @@
+import * as React from "react";
+import { canUseWebSerial, enableWebSerialAsync } from "./deploy";
+import { projectView } from "./extension";
+
+let confirmAsync: (options: any) => Promise<number>;
+
+export function bluetoothTryAgainAsync(): Promise<void> {
+    return confirmAsync({
+        header: lf("Bluetooth download failed..."),
+        jsx: <ul>
+            <li>{lf("Make sure to stop your program or exit portview on the EV3.")}</li>
+            <li>{lf("Check your battery level.")}</li>
+            <li>{lf("Close EV3 LabView or other MakeCode editor tabs.")}</li>
+        </ul>,
+        hasCloseIcon: false,
+        hideCancel: true,
+        hideAgree: false,
+        agreeLbl: lf("Try again")
+    }).then(r => {});
+}
+
+function enableWebSerialAndCompileAsync() {
+    return enableWebSerialAsync()
+        .then(() => Promise.delay(500))
+        .then(() => projectView.compile());
+}
+
+let bluetoothDialogShown = false;
+function explainWebSerialPairingAsync(): Promise<void> {
+    if (!confirmAsync || bluetoothDialogShown) return Promise.resolve();
+
+    bluetoothDialogShown = true;
+    return confirmAsync({
+        header: lf("Bluetooth pairing"),
+        hasCloseIcon: false,
+        hideCancel: true,
+        buttons: [{
+            label: lf("Help"),
+            icon: "question circle",
+            className: "lightgrey",
+            url: "/bluetooth"
+        }],
+        jsx: <p>
+            {lf("You will be prompted to select a serial port.")}
+            {pxt.BrowserUtils.isWindows()
+                ? lf("Look for 'Standard Serial over Bluetooth link'.")
+                : lf("Loop for 'cu.EV3-SerialPort'.")}
+            {lf("If you have paired multiple EV3, you might have to try out multiple ports until you find the correct one.")}
+        </p>
+    }).then(() => { })
+}
+
+export function showUploadDialogAsync(fn: string, url: string, _confirmAsync: (options: any) => Promise<number>): Promise<void> {
+    confirmAsync = _confirmAsync;
+    // https://msdn.microsoft.com/en-us/library/cc848897.aspx
+    // "For security reasons, data URIs are restricted to downloaded resources. 
+    // Data URIs cannot be used for navigation, for scripting, or to populate frame or iframe elements"
+    const downloadAgain = !pxt.BrowserUtils.isIE() && !pxt.BrowserUtils.isEdge();
+    const docUrl = pxt.appTarget.appTheme.usbDocs;
+
+    const jsx =
+        <div className="ui grid stackable">
+            <div className="column five wide" style={{ backgroundColor: "#E2E2E2" }}>
+                <div className="ui header">{lf("First time here?")}</div>
+                <strong style={{ fontSize: "small" }}>{lf("You must have version 1.10E or above of the firmware")}</strong>
+                <div style={{ justifyContent: "center", display: "flex", padding: "1rem" }}>
+                    <img className="ui image" src="/static/download/firmware.png" style={{ height: "100px" }} />
+                </div>
+                <a href="/troubleshoot" target="_blank">{lf("Check your firmware version here and update if needed")}</a>
+            </div>
+            <div className="column eleven wide">
+                <div className="ui grid">
+                    <div className="row">
+                        <div className="column">
+                            <div className="ui two column grid padded">
+                                <div className="column">
+                                    <div className="ui">
+                                        <div className="image">
+                                            <img className="ui medium rounded image" src="/static/download/connect.svg" style={{ height: "109px", width: "261px", marginBottom: "1rem" }} />
+                                        </div>
+                                        <div className="content">
+                                            <div className="description">
+                                                <span className="ui yellow circular label">1</span>
+                                                <strong>{lf("Connect the EV3 to your computer with a USB cable")}</strong>
+                                                <br />
+                                                <span style={{ fontSize: "small" }}>{lf("Use the miniUSB port on the top of the EV3 Brick")}</span>
+                                            </div>
+                                        </div>
+                                    </div>
+                                </div>
+                                <div className="column">
+                                    <div className="ui">
+                                        <div className="image">
+                                            <img className="ui medium rounded image" src="/static/download/transfer.svg" style={{ height: "109px", width: "261px", marginBottom: "1rem" }} />
+                                        </div>
+                                        <div className="content">
+                                            <div className="description">
+                                                <span className="ui yellow circular label">2</span>
+                                                <strong>{lf("Move the .uf2 file to the EV3 Brick")}</strong>
+                                                <br />
+                                                <span style={{ fontSize: "small" }}>{lf("Locate the downloaded .uf2 file and drag it to the EV3 USB drive")}</span>
+                                            </div>
+                                        </div>
+                                    </div>
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+        </div>;
+
+    return confirmAsync({
+        header: lf("Download to your EV3"),
+        jsx,
+        hasCloseIcon: true,
+        hideCancel: true,
+        hideAgree: false,
+        agreeLbl: lf("I got it"),
+        className: 'downloaddialog',
+        buttons: [canUseWebSerial() ? {
+            label: lf("Bluetooth"),
+            icon: "bluetooth",
+            className: "bluetooth focused",
+            onclick: () => {
+                pxt.tickEvent("bluetooth.enable");
+                explainWebSerialPairingAsync()
+                    .then(() => enableWebSerialAndCompileAsync())
+                    .done();
+            }
+        } : undefined, downloadAgain ? {
+            label: fn,
+            icon: "download",
+            className: "lightgrey focused",
+            url,
+            fileName: fn
+        } : undefined, docUrl ? {
+            label: lf("Help"),
+            icon: "help",
+            className: "lightgrey",
+            url: docUrl
+        } : undefined]
+        //timeout: 20000
+    }).then(() => { });
+}
--- a/editor/extension.ts
+++ b/editor/extension.ts
@ -1,144 +1,26 @@
+/// <reference path="../node_modules/pxt-core/localtypings/pxtarget.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxtblocks.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxtcompiler.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxtlib.d.ts" />
 /// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
 /// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>

-import { deployCoreAsync, initAsync, canUseWebSerial, enableWebSerialAsync, setConfirmAsync } from "./deploy";
+import { deployCoreAsync, initAsync } from "./deploy";
+import { showUploadDialogAsync } from "./dialogs";
+
+export let projectView: pxt.editor.IProjectView;

-let bluetoothDialogShown = false;
 pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
-    const projectView = opts.projectView;
    pxt.debug('loading pxt-ev3 target extensions...')
-
-    function enableWebSerialAndCompileAsync() {
-        return enableWebSerialAsync()
-        .then(() => Promise.delay(500))
-        .then(() => projectView.compile());
-    }
+    projectView = opts.projectView;

    const res: pxt.editor.ExtensionResult = {
-        deployCoreAsync,
-        showUploadInstructionsAsync: (fn: string, url: string, confirmAsync: (options: any) => Promise<number>) => {
-            setConfirmAsync(confirmAsync);
-            // https://msdn.microsoft.com/en-us/library/cc848897.aspx
-            // "For security reasons, data URIs are restricted to downloaded resources. 
-            // Data URIs cannot be used for navigation, for scripting, or to populate frame or iframe elements"
-            const downloadAgain = !pxt.BrowserUtils.isIE() && !pxt.BrowserUtils.isEdge();
-            const docUrl = pxt.appTarget.appTheme.usbDocs;
-
-            const htmlBody = `
-            <div class="ui grid stackable">
-                <div class="column five wide" style="background-color: #E2E2E2;">
-                    <div class="ui header">${lf("First time here?")}</div>
-                    <strong style="font-size:small">${lf("You must have version 1.10E or above of the firmware")}</strong>
-                    <div style="justify-content: center;display: flex;padding: 1rem;">
-                        <img class="ui image" src="/static/download/firmware.png" style="height:100px;" />
-                    </div>
-                    <a href="/troubleshoot" target="_blank">${lf("Check your firmware version here and update if needed")}</a>
-                </div>
-                <div class="column eleven wide">
-                    <div class="ui grid">
-                        <div class="row">
-                            <div class="column">
-                                <div class="ui two column grid padded">
-                                    <div class="column">
-                                        <div class="ui">
-                                            <div class="image">
-                                                <img class="ui medium rounded image" src="/static/download/connect.svg" style="height:109px;width:261px;margin-bottom:1rem;" />
-                                            </div>
-                                            <div class="content">
-                                                <div class="description">
-                                                    <span class="ui yellow circular label">1</span>
-                                                    <strong>${lf("Connect the EV3 to your computer with a USB cable")}</strong>
-                                                    <br />
-                                                    <span style="font-size:small">${lf("Use the miniUSB port on the top of the EV3 Brick")}</span>
-                                                </div>
-                                            </div>
-                                        </div>
-                                    </div>
-                                    <div class="column">
-                                        <div class="ui">
-                                            <div class="image">
-                                                <img class="ui medium rounded image" src="/static/download/transfer.svg" style="height:109px;width:261px;margin-bottom:1rem;" />
-                                            </div>
-                                            <div class="content">
-                                                <div class="description">
-                                                    <span class="ui yellow circular label">2</span>
-                                                    <strong>${lf("Move the .uf2 file to the EV3 Brick")}</strong>
-                                                    <br />
-                                                    <span style="font-size:small">${lf("Locate the downloaded .uf2 file and drag it to the EV3 USB drive")}</span>
-                                                </div>
-                                            </div>
-                                        </div>
-                                    </div>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </div>
-            </div>`;
-
-            return confirmAsync({
-                header: lf("Download to your EV3"),
-                htmlBody,
-                hasCloseIcon: true,
-                hideCancel: true,
-                hideAgree: false,
-                agreeLbl: lf("I got it"),
-                className: 'downloaddialog',
-                buttons: [canUseWebSerial() ? {
-                    label: lf("Bluetooth"),
-                    icon: "bluetooth",
-                    className: "bluetooth focused",
-                    onclick: () => {
-                        pxt.tickEvent("bluetooth.enable");
-                        if (bluetoothDialogShown) {
-                            enableWebSerialAndCompileAsync().done();
-                        } else {
-                            bluetoothDialogShown = true;
-                            confirmAsync({
-                                header: lf("Bluetooth pairing"),
-                                hasCloseIcon: true,
-                                hideCancel: true,
-                                buttons: [{
-                                    label: lf("Help"),
-                                    icon: "question circle",
-                                    className: "lightgrey",
-                                    url: "/bluetooth"
-                                }],
-                                htmlBody: `<p>
-${lf("You will be prompted to select a serial port.")}
-${pxt.BrowserUtils.isWindows() 
-    ? lf("Look for 'Standard Serial over Bluetooth link'.") 
-    : lf("Loop for 'cu.EV3-SerialPort'.")}
-${lf("If you have paired multiple EV3, you might have to try out multiple ports until you find the correct one.")}
-</p>
-`
-                            }).then(() => enableWebSerialAndCompileAsync())
-                        }
-                    }
-                } : undefined, downloadAgain ? {
-                    label: fn,
-                    icon: "download",
-                    className: "lightgrey focused",
-                    url,
-                    fileName: fn
-                } : undefined, docUrl ? {
-                    label: lf("Help"),
-                    icon: "help",
-                    className: "lightgrey",
-                    url: docUrl
-                } : undefined]
-                //timeout: 20000
-            }).then(() => { });
-        }
+        deployAsync: deployCoreAsync,
+        showUploadInstructionsAsync: showUploadDialogAsync
    };
+
    initAsync().catch(e => {
        // probably no HID - we'll try this again upon deployment
    })
    return Promise.resolve<pxt.editor.ExtensionResult>(res);
 }
-
-// When require()d from node, bind the global pxt namespace
-// namespace pxt {
-//     export const dummyExport = 1;
-// }
-// eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")
--- a/editor/tsconfig.json
+++ b/editor/tsconfig.json
@ -1,14 +1,17 @@
 {
    "compilerOptions": {
        "target": "es5",
-        "noImplicitAny": false,
+        "noImplicitAny": true,
        "noImplicitReturns": true,
+        "noImplicitThis": true,
+        "declaration": true,
        "module": "commonjs",
+        "moduleResolution": "node",
+        "isolatedModules": false,
        "outDir": "../built/editor",
        "rootDir": ".",
        "newLine": "LF",
        "sourceMap": false,
-        "allowSyntheticDefaultImports": true,
-        "declaration": true
+        "jsx": "react"
    }
 }
--- a/fieldeditors/extension.ts
+++ b/fieldeditors/extension.ts
@ -3,9 +3,7 @@

 import { FieldPorts } from "./field_ports";
 import { FieldMotors } from "./field_motors";
-import { FieldSpeed } from "./field_speed";
 import { FieldBrickButtons } from "./field_brickbuttons";
-import { FieldTurnRatio } from "./field_turnratio";
 import { FieldColorEnum } from "./field_color";
 import { FieldMusic } from "./field_music";

@ -19,15 +17,9 @@ pxt.editor.initFieldExtensionsAsync = function (opts: pxt.editor.FieldExtensionO
        }, {
            selector: "motors",
            editor: FieldMotors
-        }, {
-            selector: "speed",
-            editor: FieldSpeed
        }, {
            selector: "brickbuttons",
            editor: FieldBrickButtons
-        }, {
-            selector: "turnratio",
-            editor: FieldTurnRatio
        }, {
            selector: "colorenum",
            editor: FieldColorEnum
--- a/fieldeditors/field_brickbuttons.ts
+++ b/fieldeditors/field_brickbuttons.ts
@ -121,17 +121,17 @@ export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.
        Blockly.DropDownDiv.setColour('#ffffff', '#dddddd');

        // Calculate positioning based on the field position.
-        var scale = this.sourceBlock_.workspace.scale;
-        var bBox = { width: this.size_.width, height: this.size_.height };
+        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
+        let bBox = { width: this.size_.width, height: this.size_.height };
        bBox.width *= scale;
        bBox.height *= scale;
-        var position = this.fieldGroup_.getBoundingClientRect();
-        var primaryX = position.left + bBox.width / 2;
-        var primaryY = position.top + bBox.height;
-        var secondaryX = primaryX;
-        var secondaryY = position.top;
+        let position = this.fieldGroup_.getBoundingClientRect();
+        let primaryX = position.left + bBox.width / 2;
+        let primaryY = position.top + bBox.height;
+        let secondaryX = primaryX;
+        let secondaryY = position.top;
        // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
            this.onHide_.bind(this));
    }
@ -152,9 +152,10 @@ export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.
     * Callback for when the drop-down is hidden.
     */
    private onHide_ = function () {
-        Blockly.DropDownDiv.content_.removeAttribute('role');
-        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
-        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
-        Blockly.DropDownDiv.getContentDiv().style.width = '';
+        const content = Blockly.DropDownDiv.getContentDiv();
+        content.removeAttribute('role');
+        content.removeAttribute('aria-haspopup');
+        content.removeAttribute('aria-activedescendant');
+        (content as HTMLElement).style.width = '';
    };
 }
--- a/fieldeditors/field_color.ts
+++ b/fieldeditors/field_color.ts
@ -44,7 +44,7 @@ export class FieldColorEnum extends pxtblockly.FieldColorNumber implements Block
     * @return {string} Current colour in '#rrggbb' format.
     */
    getValue(opt_asHex?: boolean) {
-        var colour = this.mapColour(this.colour_);
+        const colour = this.mapColour(this.value_);
        if (!opt_asHex && colour.indexOf('#') > -1) {
            return `0x${colour.replace(/^#/, '')}`;
        }
@ -56,13 +56,13 @@ export class FieldColorEnum extends pxtblockly.FieldColorNumber implements Block
     * @param {string} colour The new colour in '#rrggbb' format.
     */
    setValue(colorStr: string) {
-        var colour = this.mapEnum(colorStr);
+        let colour = this.mapEnum(colorStr);
        if (this.sourceBlock_ && Blockly.Events.isEnabled() &&
-            this.colour_ != colour) {
+            this.value_ != colour) {
            Blockly.Events.fire(new (Blockly as any).Events.BlockChange(
-                this.sourceBlock_, 'field', this.name, this.colour_, colour));
+                this.sourceBlock_, 'field', this.name, this.value_, colour));
        }
-        this.colour_ = colour;
+        this.value_ = colour;
        if (this.sourceBlock_) {
            this.sourceBlock_.setColour(colour, colour, colour);
        }
--- a/fieldeditors/field_motors.ts
+++ b/fieldeditors/field_motors.ts
@ -46,31 +46,31 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        (this as any).arrowX_ = 0;
        /** @type {Number} */
        this.arrowY_ = 11;
-        this.arrow_ = Blockly.utils.createSvgElement('image', {
+        this.arrow_ = Blockly.utils.dom.createSvgElement('image', {
            'height': (this as any).arrowSize_ + 'px',
            'width': (this as any).arrowSize_ + 'px'
-        });
+        }, null);
        this.arrow_.setAttributeNS('http://www.w3.org/1999/xlink',
            'xlink:href', (Blockly.FieldDropdown as any).DROPDOWN_SVG_DATAURI);

-        this.arrow2_ = Blockly.utils.createSvgElement('image', {
+        this.arrow2_ = <SVGImageElement>Blockly.utils.dom.createSvgElement('image', {
            'height': (this as any).arrowSize_ + 'px',
            'width': (this as any).arrowSize_ + 'px'
-        });
+        }, null);
        this.arrow2_.setAttributeNS('http://www.w3.org/1999/xlink',
            'xlink:href', (Blockly.FieldDropdown as any).DROPDOWN_SVG_DATAURI);
        (this as any).className_ += ' blocklyDropdownText';

        // Build the DOM.
-        this.fieldGroup_ = Blockly.utils.createSvgElement('g', {}, null);
+        this.fieldGroup_ = Blockly.utils.dom.createSvgElement('g', {}, null);
        if (!this.visible_) {
            (this.fieldGroup_ as any).style.display = 'none';
        }
        // Adjust X to be flipped for RTL. Position is relative to horizontal start of source block.
-        var size = this.getSize();
-        var fieldX = (this.sourceBlock_.RTL) ? -size.width / 2 : size.width / 2;
+        let size = this.getSize();
+        let fieldX = (this.sourceBlock_.RTL) ? -size.width / 2 : size.width / 2;
        /** @type {!Element} */
-        this.textElement_ = Blockly.utils.createSvgElement('text',
+        this.textElement_ = Blockly.utils.dom.createSvgElement('text',
            {
                'class': (this as any).className_,
                'x': fieldX,
@ -79,7 +79,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            },
            this.fieldGroup_);
        fieldX += 10; // size of first group.
-        this.textElement2_ = Blockly.utils.createSvgElement('text',
+        this.textElement2_ = <SVGTextElement>Blockly.utils.dom.createSvgElement('text',
            {
                'class': (this as any).className_,
                'x': fieldX,
@ -89,17 +89,17 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            this.fieldGroup_);

        this.updateEditable();
-        this.sourceBlock_.getSvgRoot().appendChild(this.fieldGroup_);
+        (this.sourceBlock_ as Blockly.BlockSvg).getSvgRoot().appendChild(this.fieldGroup_);
        // Force a render.
        this.render_();
-        this.size_.width = 0;
+        this.isDirty_ = true;
        (this as any).mouseDownWrapper_ =
            Blockly.bindEventWithChecks_((this as any).getClickTarget_(), 'mousedown', this,
                (this as any).onMouseDown_);

        // Add second dropdown 
        if (this.shouldShowRect_()) {
-            this.box_ = Blockly.utils.createSvgElement('rect', {
+            this.box_ = <SVGRectElement>Blockly.utils.dom.createSvgElement('rect', {
                'rx': (Blockly.BlockSvg as any).CORNER_RADIUS,
                'ry': (Blockly.BlockSvg as any).CORNER_RADIUS,
                'x': 0,
@ -112,7 +112,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
                'fill-opacity': 1
            }, null);
            this.fieldGroup_.insertBefore(this.box_, this.textElement_);
-            this.box2_ = Blockly.utils.createSvgElement('rect', {
+            this.box2_ = <SVGRectElement>Blockly.utils.dom.createSvgElement('rect', {
                'rx': (Blockly.BlockSvg as any).CORNER_RADIUS,
                'ry': (Blockly.BlockSvg as any).CORNER_RADIUS,
                'x': 0,
@ -128,7 +128,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        }

        // Force a reset of the text to add the arrow.
-        var text = this.text_;
+        let text = this.text_;
        this.text_ = null;
        this.setText(text);
    }
@ -149,9 +149,9 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
    getFirstValueI11n(value: string) {
        const firstValue = this.getFirstValue(value);
        const motorOptions = {
-            'medium motor': lf('medium motor'),
-            'large motor': lf('large motor'),
-            'large motors': lf('large motors')
+            'medium motor': lf("medium motor"),
+            'large motor': lf("large motor"),
+            'large motors': lf("large motors")
        }
        return motorOptions[firstValue];
    }
@ -179,7 +179,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            // Not rendered yet.
            return;
        }
-        var text = this.text_;
+        let text = this.text_;
        if (text.length > this.maxDisplayLength) {
            // Truncate displayed string and add an ellipsis ('...').
            text = text.substring(0, this.maxDisplayLength - 2) + '\u2026';
@ -200,11 +200,11 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            // Prevent the field from disappearing if empty.
            text = Blockly.Field.NBSP;
        }
-        var textNode = document.createTextNode(text);
+        let textNode = document.createTextNode(text);
        this.textElement2_.appendChild(textNode);

        // Cached width is obsolete.  Clear it.
-        this.size_.width = 0;
+        this.isDirty_ = true;
    };

    patchDualMotorText(text: string) {
@ -233,8 +233,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        if (this.textElement2_) {
            this.textElement2_.parentNode.appendChild(this.arrow2_);
        }
-        if (this.sourceBlock_ && this.sourceBlock_.rendered) {
-            this.sourceBlock_.render();
+        if (this.sourceBlock_ && (<Blockly.BlockSvg>this.sourceBlock_).rendered) {
+            (<Blockly.BlockSvg>this.sourceBlock_).render();
            this.sourceBlock_.bumpNeighbours_();
        }
    }
@ -244,7 +244,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            return 0;
        }

-        var addedWidth = 0;
+        let addedWidth = 0;
        if (this.sourceBlock_.RTL) {
            (this as any).arrow2X_ = (this as any).arrowSize_ - (Blockly.BlockSvg as any).DROPDOWN_ARROW_PADDING;
            addedWidth = (this as any).arrowSize_ + (Blockly.BlockSvg as any).DROPDOWN_ARROW_PADDING;
@ -263,10 +263,10 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        return addedWidth;
    };

-    updateWidth() {
+    updateSize_() {
        // Calculate width of field
-        var width = Blockly.Field.getCachedWidth(this.textElement_);
-        var width2 = Blockly.Field.getCachedWidth(this.textElement2_);
+        let width = Blockly.Field.getCachedWidth(this.textElement_);
+        let width2 = Blockly.Field.getCachedWidth(this.textElement2_);

        // Add padding to left and right of text.
        if (this.EDITABLE) {
@ -311,15 +311,15 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC

            // First dropdown
            // Use one of the following options, medium motor, large motor or large motors (translated)
-            const textNode1 = document.createTextNode(this.getFirstValueI11n(this.value_));
+            const textNode1 = document.createTextNode(this.getFirstValueI11n(<string>this.value_));
            this.textElement_.appendChild(textNode1);

            // Second dropdown, no need to translate. Only port numbers
            if (this.textElement2_) {
-                const textNode2 = document.createTextNode(this.getSecondValue(this.value_));
+                const textNode2 = document.createTextNode(this.getSecondValue(<string>this.value_));
                this.textElement2_.appendChild(textNode2);
            }
-            this.updateWidth();
+            this.updateSize_();

            // Update text centering, based on newly calculated width.
            let centerTextX = ((this as any).width1 - this.arrowWidth_) / 2;
@ -347,8 +347,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            }

            // Apply new text element x position.
-            var width = Blockly.Field.getCachedWidth(this.textElement_);
-            var newX = centerTextX - width / 2;
+            let width = Blockly.Field.getCachedWidth(this.textElement_);
+            let newX = centerTextX - width / 2;
            this.textElement_.setAttribute('x', `${newX}`);

            // Update text centering, based on newly calculated width.
@ -377,8 +377,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            }

            // Apply new text element x position.
-            var width2 = Blockly.Field.getCachedWidth(this.textElement2_);
-            var newX2 = centerTextX2 - width2 / 2;
+            let width2 = Blockly.Field.getCachedWidth(this.textElement2_);
+            let newX2 = centerTextX2 - width2 / 2;
            this.textElement2_.setAttribute('x', `${newX2 + (this as any).width1 + Blockly.BlockSvg.BOX_FIELD_PADDING}`);
        }

@ -401,7 +401,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        if (Blockly.DropDownDiv.hideIfOwner(this)) {
            return;
        }
-        this.isFirst_ = e.clientX - this.getScaledBBox_().left < ((this as any).width1 * this.sourceBlock_.workspace.scale);
+        this.isFirst_ = e.clientX - this.getScaledBBox_().left < ((this as any).width1 * (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale);
        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
        Blockly.DropDownDiv.hideWithoutAnimation();
        Blockly.DropDownDiv.clearContent();
@ -411,14 +411,14 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        // Accessibility properties
        contentDiv.setAttribute('role', 'menu');
        contentDiv.setAttribute('aria-haspopup', 'true');
-        let options = this.getOptions();
+        const foptions = this.getOptions(); // [img info, text]

        let opts = {};
        let conts = {};
        let vals = {};
        // Go through all option values and split them into groups
-        for (let opt = 0; opt < options.length; opt++) {
-            const value = options[opt][1];
+        for (let opt = 0; opt < foptions.length; opt++) {
+            const value = foptions[opt][1];
            const motorValue = value.substring(value.indexOf('.') + 1);
            const typeValue = motorValue.indexOf('large') == 0 ? 'large' : 'medium';
            const portValue = motorValue.indexOf('large') == 0 ? motorValue.substring(5) : motorValue.substring(6);
@ -429,13 +429,14 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            if (!opts[key]) opts[key] = [];
            opts[key].push(portValue);

-            conts[text] = options[opt][0];
+            conts[text] = foptions[opt][0];
            vals[text] = value;
        }

-        const currentFirst = this.getFirstValue(this.value_);
-        const currentSecond = this.getSecondValue(this.value_);
+        const currentFirst = this.getFirstValue(<string>this.value_);
+        //const currentSecond = this.getSecondValue(<string>this.value_);

+        let options: string[];
        if (!this.isFirst_) {
            options = opts[currentFirst];
        } else {
@ -526,7 +527,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        Blockly.DropDownDiv.setColour(this.backgroundColour_, this.borderColour_);

        // Calculate positioning based on the field position.
-        let scale = this.sourceBlock_.workspace.scale;
+        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
        let width = this.isFirst_ ? (this as any).width1 : (this as any).width2;
        let bBox = { width: this.size_.width, height: this.size_.height };
        width *= scale;
@ -538,7 +539,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        let secondaryX = primaryX;
        let secondaryY = position.top;
        // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
            this.onHide_.bind(this));

@ -561,10 +562,11 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
     * Callback for when the drop-down is hidden.
     */
    protected onHide_() {
-        Blockly.DropDownDiv.content_.removeAttribute('role');
-        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
-        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
-        Blockly.DropDownDiv.getContentDiv().style.width = '';
+        const content = Blockly.DropDownDiv.getContentDiv();
+        content.removeAttribute('role');
+        content.removeAttribute('aria-haspopup');
+        content.removeAttribute('aria-activedescendant');
+        (content as HTMLElement).style.width = '';
        if (this.isFirst_ && this.box_) {
            this.box_.setAttribute('fill', this.sourceBlock_.getColour());
        } else if (!this.isFirst_ && this.box2_) {
--- a/fieldeditors/field_music.ts
+++ b/fieldeditors/field_music.ts
@ -26,7 +26,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
        this.width_ = parseInt(options.width) || 380;

        this.setText = Blockly.FieldDropdown.prototype.setText;
-        this.updateWidth = (Blockly.Field as any).prototype.updateWidth;
+        this.updateSize_ = (Blockly.Field as any).prototype.updateSize_;
        this.updateTextNode_ = Blockly.Field.prototype.updateTextNode_;

        if (!pxt.BrowserUtils.isIE() && !soundCache) {
@ -78,14 +78,14 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
        contentDiv.style.width = (this as any).width_ + 'px';
        contentDiv.style.cssFloat = 'left';

-        dropdownDiv.style.maxHeight = `410px`;
+        (dropdownDiv as HTMLElement).style.maxHeight = `410px`;
        dropdownDiv.appendChild(categoriesDiv);
        dropdownDiv.appendChild(contentDiv);

        Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());

        // Calculate positioning based on the field position.
-        let scale = this.sourceBlock_.workspace.scale;
+        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
        let bBox = { width: this.size_.width, height: this.size_.height };
        bBox.width *= scale;
        bBox.height *= scale;
@ -95,7 +95,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
        let secondaryX = primaryX;
        let secondaryY = position.top;
        // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
            this.onHide_.bind(this));

@ -236,7 +236,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC

    protected onHide_() {
        super.onHide_();
-        Blockly.DropDownDiv.getContentDiv().style.maxHeight = '';
+        (Blockly.DropDownDiv.getContentDiv() as HTMLElement).style.maxHeight = '';
        this.stopSounds();
    }

--- a/fieldeditors/field_ports.ts
+++ b/fieldeditors/field_ports.ts
@ -17,7 +17,7 @@ export class FieldPorts extends pxtblockly.FieldImages implements Blockly.FieldC
        this.width_ = parseInt(options.width) || 300;

        this.setText = Blockly.FieldDropdown.prototype.setText;
-        this.updateWidth = (Blockly.Field as any).prototype.updateWidth;
+        this.updateSize_ = (Blockly.Field as any).prototype.updateSize_;
        this.updateTextNode_ = Blockly.Field.prototype.updateTextNode_;
    }

--- a/fieldeditors/field_speed.ts
+++ b/fieldeditors/field_speed.ts
@ -1,98 +0,0 @@
-/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
-/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
-
-export interface FieldSpeedOptions extends Blockly.FieldCustomOptions {
-    min?: string;
-    max?: string;
-    label?: string;
-}
-
-export class FieldSpeed extends Blockly.FieldSlider implements Blockly.FieldCustom {
-    public isFieldCustom_ = true;
-
-    private params: any;
-
-    private speedSVG: SVGElement;
-    private circleBar: SVGCircleElement;
-    private reporter: SVGTextElement;
-
-    /**
-     * Class for a color wheel field.
-     * @param {number|string} value The initial content of the field.
-     * @param {Function=} opt_validator An optional function that is called
-     *     to validate any constraints on what the user entered.  Takes the new
-     *     text as an argument and returns either the accepted text, a replacement
-     *     text, or null to abort the change.
-     * @extends {Blockly.FieldNumber}
-     * @constructor
-     */
-    constructor(value_: any, params: FieldSpeedOptions, opt_validator?: Function) {
-        super(String(value_), '-100', '100', null, '10', 'Speed', opt_validator);
-        this.params = params;
-        if (this.params['min']) this.min_ = parseFloat(this.params.min);
-        if (this.params['max']) this.max_ = parseFloat(this.params.max);
-        if (this.params['label']) this.labelText_ = this.params.label;
-
-        (this as any).sliderColor_ = '#a8aaa8';
-    }
-
-    createLabelDom_(labelText: string) {
-        var labelContainer = document.createElement('div');
-        this.speedSVG = document.createElementNS("http://www.w3.org/2000/svg", "svg") as SVGGElement;
-        pxsim.svg.hydrate(this.speedSVG, {
-            viewBox: "0 0 200 100",
-            width: "170"
-        });
-
-        labelContainer.appendChild(this.speedSVG);
-
-        const outerCircle = pxsim.svg.child(this.speedSVG, "circle", {
-            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
-            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
-            'stroke': '#a8aaa8', 'stroke-width': '1rem'
-        }) as SVGCircleElement;
-        this.circleBar = pxsim.svg.child(this.speedSVG, "circle", {
-            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
-            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
-            'stroke': '#f12a21', 'stroke-width': '1rem'
-        }) as SVGCircleElement;
-
-        this.reporter = pxsim.svg.child(this.speedSVG, "text", {
-            'x': 100, 'y': 80,
-            'text-anchor': 'middle', 'dominant-baseline': 'middle',
-            'style': 'font-size: 50px',
-            'class': 'sim-text inverted number'
-        }) as SVGTextElement;
-
-        // labelContainer.setAttribute('class', 'blocklyFieldSliderLabel');
-        var readout = document.createElement('span');
-        readout.setAttribute('class', 'blocklyFieldSliderReadout');
-        // var label = document.createElement('span');
-        // label.setAttribute('class', 'blocklyFieldSliderLabelText');
-        // label.innerHTML = labelText;
-        // labelContainer.appendChild(label);
-        // labelContainer.appendChild(readout);
-        return [labelContainer, readout];
-    };
-
-    setReadout_(readout: Element, value: string) {
-        let x = parseFloat(value) || 0;
-        this.updateSpeed(x);
-        // Update reporter
-        this.reporter.textContent = `${x}%`;
-    }
-
-    private updateSpeed(speed: number) {
-        let sign = this.sign(speed);
-        speed = (Math.abs(speed) / 100 * 50) + 50;
-        if (sign == -1) speed = 50 - speed;
-        let c = Math.PI * (90 * 2);
-        let pct = ((100 - speed) / 100) * c;
-        this.circleBar.setAttribute('stroke-dashoffset', `${pct}`);
-    }
-
-    // A re-implementation of Math.sign (since IE11 doesn't support it)
-    private sign(num: number) {
-        return num ? num < 0 ? -1 : 1 : 0;
-    }
-}
--- a/fieldeditors/field_turnratio.ts
+++ b/fieldeditors/field_turnratio.ts
@ -1,108 +0,0 @@
-/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
-/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
-
-export interface FieldTurnRatioOptions extends Blockly.FieldCustomOptions {
-}
-
-export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.FieldCustom {
-    public isFieldCustom_ = true;
-
-    private params: any;
-
-    private path_: SVGPathElement;
-    private reporter_: SVGTextElement;
-
-    /**
-     * Class for a color wheel field.
-     * @param {number|string} value The initial content of the field.
-     * @param {Function=} opt_validator An optional function that is called
-     *     to validate any constraints on what the user entered.  Takes the new
-     *     text as an argument and returns either the accepted text, a replacement
-     *     text, or null to abort the change.
-     * @extends {Blockly.FieldNumber}
-     * @constructor
-     */
-    constructor(value_: any, params: FieldTurnRatioOptions, opt_validator?: Function) {
-        super(String(value_), '-200', '200', null, '10', 'TurnRatio', opt_validator);
-        this.params = params;
-        (this as any).sliderColor_ = '#a8aaa8';
-    }
-
-    static HALF = 80;
-    static HANDLE_RADIUS = 30;
-    static RADIUS = FieldTurnRatio.HALF - FieldTurnRatio.HANDLE_RADIUS - 1;
-
-    createLabelDom_(labelText: string) {
-        let labelContainer = document.createElement('div');
-        let svg = Blockly.utils.createSvgElement('svg', {
-            'xmlns': 'http://www.w3.org/2000/svg',
-            'xmlns:html': 'http://www.w3.org/1999/xhtml',
-            'xmlns:xlink': 'http://www.w3.org/1999/xlink',
-            'version': '1.1',
-            'height': (FieldTurnRatio.HALF + FieldTurnRatio.HANDLE_RADIUS + 10) + 'px',
-            'width': (FieldTurnRatio.HALF * 2) + 'px'
-        }, labelContainer);
-        let defs = Blockly.utils.createSvgElement('defs', {}, svg);
-        let marker = Blockly.utils.createSvgElement('marker', {
-            'id': 'head',
-            'orient': "auto",
-            'markerWidth': '2',
-            'markerHeight': '4',
-            'refX': '0.1', 'refY': '1.5'
-        }, defs);
-        let markerPath = Blockly.utils.createSvgElement('path', {
-            'd': 'M0,0 V3 L1.5,1.5 Z',
-            'fill': '#f12a21'
-        }, marker);
-        this.reporter_ = pxsim.svg.child(svg, "text", {
-            'x': FieldTurnRatio.HALF, 'y': 96,
-            'text-anchor': 'middle', 'dominant-baseline': 'middle',
-            'style': 'font-size: 50px',
-            'class': 'sim-text inverted number'
-        }) as SVGTextElement;
-        this.path_ = Blockly.utils.createSvgElement('path', {
-            'x1': FieldTurnRatio.HALF,
-            'y1': FieldTurnRatio.HALF,
-            'marker-end': 'url(#head)',
-            'style': 'fill: none; stroke: #f12a21; stroke-width: 10'
-        }, svg);
-        this.updateGraph_();
-        let readout = document.createElement('span');
-        readout.setAttribute('class', 'blocklyFieldSliderReadout');
-        return [labelContainer, readout];
-    };
-
-    updateGraph_() {
-        if (!this.path_) {
-            return;
-        }
-        let v = goog.math.clamp(parseFloat(this.getText()), -200, 200);
-        if (isNaN(v)) {
-            v = 0;
-        }
-        const x = v / 100;
-        const nx = Math.max(-1, Math.min(1, x));
-        const theta = Math.max(nx) * Math.PI / 2;
-        const r = FieldTurnRatio.RADIUS - 6;
-        let cx = FieldTurnRatio.HALF;
-        const cy = FieldTurnRatio.HALF - 22;
-        if (Math.abs(x) > 1) {
-            cx -= (x - (x > 0 ? 1 : -1)) * r / 2; // move center of circle
-        }
-        const alpha = 0.2 + Math.abs(nx) * 0.5;
-        const y1 = r * alpha;
-        const y2 = r * Math.sin(Math.PI / 2 - theta);
-        const x2 = r * Math.cos(Math.PI / 2 - theta);
-        const y3 = y2 - r * alpha * Math.cos(2 * theta);
-        const x3 = x2 - r * alpha * Math.sin(2 * theta);
-
-        const d = `M ${cx} ${cy} C ${cx} ${cy - y1} ${cx + x3} ${cy - y3} ${cx + x2} ${cy - y2}`;
-        this.path_.setAttribute('d', d);
-
-        this.reporter_.textContent = `${v}`;
-    }
-
-    setReadout_(readout: Element, value: string) {
-        this.updateGraph_();
-    }
-}
--- a/libs/base/enums.d.ts
+++ b/libs/base/enums.d.ts
@ -22,13 +22,8 @@
    }


-    declare const enum ValType {
-    Undefined = 0,
-    Boolean = 1,
-    Number = 2,
-    String = 3,
-    Object = 4,
-    Function = 5,
+    declare const enum PerfCounters {
+    GC = 0,
    }

 // Auto-generated. Do not edit. Really.
--- a/libs/base/shims.d.ts
+++ b/libs/base/shims.d.ts
@ -4,6 +4,18 @@

    //% indexerGet=BufferMethods::getByte indexerSet=BufferMethods::setByte
 declare interface Buffer {
+    /**
+     * Reads an unsigned byte at a particular location
+     */
+    //% shim=BufferMethods::getUint8
+    getUint8(off: int32): int32;
+
+    /**
+     * Writes an unsigned byte at a particular location
+     */
+    //% shim=BufferMethods::setUint8
+    setUint8(off: int32, v: int32): void;
+
    /**
     * Write a number in specified format in the buffer.
     */
@ -42,6 +54,12 @@ declare interface Buffer {
    //% start.defl=0 length.defl=-1 shim=BufferMethods::shift
    shift(offset: int32, start?: int32, length?: int32): void;

+    /**
+     * Convert a buffer to string assuming UTF8 encoding
+     */
+    //% shim=BufferMethods::toString
+    toString(): string;
+
    /**
     * Convert a buffer to its hexadecimal representation.
     */
@ -72,6 +90,13 @@ declare namespace control {
     */
    //% shim=control::createBuffer
    function createBuffer(size: int32): Buffer;
+
+    /**
+     * Create a new buffer with UTF8-encoded string
+     * @param str the string to put in the buffer
+     */
+    //% shim=control::createBufferFromUTF8
+    function createBufferFromUTF8(str: string): Buffer;
 }
 declare namespace loops {

@ -101,6 +126,12 @@ declare namespace control {
    //% blockId=control_running_time block="millis (ms)" shim=control::millis
    function millis(): int32;

+    /**
+     * Gets current time in microseconds. Overflows every ~18 minutes.
+     */
+    //% shim=control::micros
+    function micros(): int32;
+
    /**
     * Used internally
     */
@ -143,11 +174,54 @@ declare namespace control {
    //% help=control/device-serial-number shim=control::deviceSerialNumber
    function deviceSerialNumber(): int32;

+    /**
+     * Derive a unique, consistent 64-bit serial number of this device from internal data.
+     */
+    //% blockId="control_device_long_serial_number" block="device long serial number" weight=9
+    //% help=control/device-long-serial-number shim=control::deviceLongSerialNumber
+    function deviceLongSerialNumber(): Buffer;
+
    /**
     *
     */
    //% shim=control::__log
-    function __log(text: string): void;
+    function __log(prority: int32, text: string): void;
+
+    /**
+     * Dump internal information about a value.
+     */
+    //% shim=control::dmesgValue
+    function dmesgValue(v: any): void;
+
+    /**
+     * Force GC and dump basic information about heap.
+     */
+    //% shim=control::gc
+    function gc(): void;
+
+    /**
+     * Force GC and halt waiting for debugger to do a full heap dump.
+     */
+    //% shim=control::heapDump
+    function heapDump(): void;
+
+    /**
+     * Set flags used when connecting an external debugger.
+     */
+    //% shim=control::setDebugFlags
+    function setDebugFlags(flags: int32): void;
+
+    /**
+     * Record a heap snapshot to debug memory leaks.
+     */
+    //% shim=control::heapSnapshot
+    function heapSnapshot(): void;
+
+    /**
+     * Return true if profiling is enabled in the current build.
+     */
+    //% shim=control::profilingEnabled
+    function profilingEnabled(): boolean;
 }

 // Auto-generated. Do not edit. Really.
--- a/libs/color-sensor/color.ts
+++ b/libs/color-sensor/color.ts
@ -1,5 +1,4 @@
 const enum ColorSensorMode {
-    None = 0,
    //% block="reflected light intensity"
    ReflectedLightIntensity = 0,
    //% block="ambient light intensity"
@ -59,7 +58,6 @@ namespace sensors {

        constructor(port: number) {
            super(port)
-            this._setMode(ColorSensorMode.None);
            this.thresholdDetector = new sensors.ThresholdDetector(this.id());
            this.calibrating = false;
        }
@ -181,6 +179,22 @@ 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
--- a/libs/color-sensor/docs/reference/sensors/color-sensor/is-color-detected.md
+++ b/libs/color-sensor/docs/reference/sensors/color-sensor/is-color-detected.md
@ -0,0 +1,30 @@
+# 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)
--- a/libs/core/battery.ts
+++ b/libs/core/battery.ts
@ -26,6 +26,7 @@ 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();
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@ -85,7 +85,7 @@ namespace brick {
        //% blockId=buttonIsPressed
        //% parts="brick"
        //% blockNamespace=brick
-        //% weight=81 blockGap=8
+        //% weight=81
        //% group="Buttons"
        //% button.fieldEditor="brickbuttons"
        isPressed() {
--- a/libs/core/control.cpp
+++ b/libs/core/control.cpp
@ -1,40 +0,0 @@
-#include "pxt.h"
-
-namespace control {
-
-/**
- * Announce that an event happened to registered handlers.
- * @param src ID of the Component that generated the event
- * @param value Component specific code indicating the cause of the event.
- * @param mode optional definition of how the event should be processed after construction.
- */
-//% weight=21 blockGap=12 blockId="control_raise_event"
-//% block="raise event|from %src|with value %value" blockExternalInputs=1
-//% help=control/raise-event
-void raiseEvent(int src, int value) {
-    pxt::raiseEvent(src, value);
-}
-
-/**
-* Allocates the next user notification event
-*/
-//% help=control/allocate-notify-event
-int allocateNotifyEvent() {
-    return pxt::allocateNotifyEvent();
-}
-
-/** Write data to DMESG debugging buffer. */
-//%
-void dmesg(String s) {
-    DMESG("# %s", s->data);
-}
-
-}
-
-namespace serial {
-    /** Send DMESG debug buffer over serial. */
-    //%
-    void writeDmesg() {
-        pxt::dumpDmesg();
-    }
-}
--- a/libs/core/dal.d.ts
+++ b/libs/core/dal.d.ts
@ -1,6 +1,305 @@
 // Auto-generated. Do not edit.
 declare const enum DAL {
-    // built/dockermake/pxtapp/ev3const.h
+    // /pxtapp/configkeys.h
+    CFG_PIN_NAME_MSK = 65535,
+    CFG_PIN_CONFIG_MSK = 4294901760,
+    CFG_PIN_CONFIG_ACTIVE_LO = 65536,
+    CFG_MAGIC0 = 513675505,
+    CFG_MAGIC1 = 539130489,
+    CFG_PIN_ACCELEROMETER_INT = 1,
+    CFG_PIN_ACCELEROMETER_SCL = 2,
+    CFG_PIN_ACCELEROMETER_SDA = 3,
+    CFG_PIN_BTN_A = 4,
+    CFG_PIN_BTN_B = 5,
+    CFG_PIN_BTN_SLIDE = 6,
+    CFG_PIN_DOTSTAR_CLOCK = 7,
+    CFG_PIN_DOTSTAR_DATA = 8,
+    CFG_PIN_FLASH_CS = 9,
+    CFG_PIN_FLASH_MISO = 10,
+    CFG_PIN_FLASH_MOSI = 11,
+    CFG_PIN_FLASH_SCK = 12,
+    CFG_PIN_LED = 13,
+    CFG_PIN_LIGHT = 14,
+    CFG_PIN_MICROPHONE = 15,
+    CFG_PIN_MIC_CLOCK = 16,
+    CFG_PIN_MIC_DATA = 17,
+    CFG_PIN_MISO = 18,
+    CFG_PIN_MOSI = 19,
+    CFG_PIN_NEOPIXEL = 20,
+    CFG_PIN_RX = 21,
+    CFG_PIN_RXLED = 22,
+    CFG_PIN_SCK = 23,
+    CFG_PIN_SCL = 24,
+    CFG_PIN_SDA = 25,
+    CFG_PIN_SPEAKER_AMP = 26,
+    CFG_PIN_TEMPERATURE = 27,
+    CFG_PIN_TX = 28,
+    CFG_PIN_TXLED = 29,
+    CFG_PIN_IR_OUT = 30,
+    CFG_PIN_IR_IN = 31,
+    CFG_PIN_DISPLAY_SCK = 32,
+    CFG_PIN_DISPLAY_MISO = 33,
+    CFG_PIN_DISPLAY_MOSI = 34,
+    CFG_PIN_DISPLAY_CS = 35,
+    CFG_PIN_DISPLAY_DC = 36,
+    CFG_DISPLAY_WIDTH = 37,
+    CFG_DISPLAY_HEIGHT = 38,
+    CFG_DISPLAY_CFG0 = 39,
+    CFG_DISPLAY_CFG1 = 40,
+    CFG_DISPLAY_CFG2 = 41,
+    CFG_DISPLAY_CFG3 = 42,
+    CFG_PIN_DISPLAY_RST = 43,
+    CFG_PIN_DISPLAY_BL = 44,
+    CFG_PIN_SERVO_1 = 45,
+    CFG_PIN_SERVO_2 = 46,
+    CFG_PIN_BTN_LEFT = 47,
+    CFG_PIN_BTN_RIGHT = 48,
+    CFG_PIN_BTN_UP = 49,
+    CFG_PIN_BTN_DOWN = 50,
+    CFG_PIN_BTN_MENU = 51,
+    CFG_PIN_LED_R = 52,
+    CFG_PIN_LED_G = 53,
+    CFG_PIN_LED_B = 54,
+    CFG_PIN_LED1 = 55,
+    CFG_PIN_LED2 = 56,
+    CFG_PIN_LED3 = 57,
+    CFG_PIN_LED4 = 58,
+    CFG_SPEAKER_VOLUME = 59,
+    CFG_PIN_JACK_TX = 60,
+    CFG_PIN_JACK_SENSE = 61,
+    CFG_PIN_JACK_HPEN = 62,
+    CFG_PIN_JACK_BZEN = 63,
+    CFG_PIN_JACK_PWREN = 64,
+    CFG_PIN_JACK_SND = 65,
+    CFG_PIN_JACK_BUSLED = 66,
+    CFG_PIN_JACK_COMMLED = 67,
+    CFG_PIN_BTN_SOFT_RESET = 69,
+    CFG_ACCELEROMETER_TYPE = 70,
+    CFG_PIN_BTNMX_LATCH = 71,
+    CFG_PIN_BTNMX_CLOCK = 72,
+    CFG_PIN_BTNMX_DATA = 73,
+    CFG_PIN_BTN_MENU2 = 74,
+    CFG_PIN_BATTSENSE = 75,
+    CFG_PIN_VIBRATION = 76,
+    CFG_PIN_PWREN = 77,
+    CFG_DISPLAY_TYPE = 78,
+    CFG_PIN_ROTARY_ENCODER_A = 79,
+    CFG_PIN_ROTARY_ENCODER_B = 80,
+    CFG_ACCELEROMETER_SPACE = 81,
+    CFG_PIN_WIFI_MOSI = 82,
+    CFG_PIN_WIFI_MISO = 83,
+    CFG_PIN_WIFI_SCK = 84,
+    CFG_PIN_WIFI_TX = 85,
+    CFG_PIN_WIFI_RX = 86,
+    CFG_PIN_WIFI_CS = 87,
+    CFG_PIN_WIFI_BUSY = 88,
+    CFG_PIN_WIFI_RESET = 89,
+    CFG_PIN_WIFI_GPIO0 = 90,
+    CFG_PIN_WIFI_AT_TX = 91,
+    CFG_PIN_WIFI_AT_RX = 92,
+    CFG_PIN_USB_POWER = 93,
+    ACCELEROMETER_TYPE_LIS3DH = 50,
+    ACCELEROMETER_TYPE_LIS3DH_ALT = 48,
+    ACCELEROMETER_TYPE_MMA8453 = 56,
+    ACCELEROMETER_TYPE_FXOS8700 = 60,
+    ACCELEROMETER_TYPE_MMA8653 = 58,
+    ACCELEROMETER_TYPE_MSA300 = 76,
+    ACCELEROMETER_TYPE_MPU6050 = 104,
+    DISPLAY_TYPE_ST7735 = 7735,
+    DISPLAY_TYPE_ILI9341 = 9341,
+    CFG_PIN_A0 = 100,
+    CFG_PIN_A1 = 101,
+    CFG_PIN_A2 = 102,
+    CFG_PIN_A3 = 103,
+    CFG_PIN_A4 = 104,
+    CFG_PIN_A5 = 105,
+    CFG_PIN_A6 = 106,
+    CFG_PIN_A7 = 107,
+    CFG_PIN_A8 = 108,
+    CFG_PIN_A9 = 109,
+    CFG_PIN_A10 = 110,
+    CFG_PIN_A11 = 111,
+    CFG_PIN_A12 = 112,
+    CFG_PIN_A13 = 113,
+    CFG_PIN_A14 = 114,
+    CFG_PIN_A15 = 115,
+    CFG_PIN_A16 = 116,
+    CFG_PIN_A17 = 117,
+    CFG_PIN_A18 = 118,
+    CFG_PIN_A19 = 119,
+    CFG_PIN_A20 = 120,
+    CFG_PIN_A21 = 121,
+    CFG_PIN_A22 = 122,
+    CFG_PIN_A23 = 123,
+    CFG_PIN_A24 = 124,
+    CFG_PIN_A25 = 125,
+    CFG_PIN_A26 = 126,
+    CFG_PIN_A27 = 127,
+    CFG_PIN_A28 = 128,
+    CFG_PIN_A29 = 129,
+    CFG_PIN_A30 = 130,
+    CFG_PIN_A31 = 131,
+    CFG_PIN_D0 = 150,
+    CFG_PIN_D1 = 151,
+    CFG_PIN_D2 = 152,
+    CFG_PIN_D3 = 153,
+    CFG_PIN_D4 = 154,
+    CFG_PIN_D5 = 155,
+    CFG_PIN_D6 = 156,
+    CFG_PIN_D7 = 157,
+    CFG_PIN_D8 = 158,
+    CFG_PIN_D9 = 159,
+    CFG_PIN_D10 = 160,
+    CFG_PIN_D11 = 161,
+    CFG_PIN_D12 = 162,
+    CFG_PIN_D13 = 163,
+    CFG_PIN_D14 = 164,
+    CFG_PIN_D15 = 165,
+    CFG_PIN_D16 = 166,
+    CFG_PIN_D17 = 167,
+    CFG_PIN_D18 = 168,
+    CFG_PIN_D19 = 169,
+    CFG_PIN_D20 = 170,
+    CFG_PIN_D21 = 171,
+    CFG_PIN_D22 = 172,
+    CFG_PIN_D23 = 173,
+    CFG_PIN_D24 = 174,
+    CFG_PIN_D25 = 175,
+    CFG_PIN_D26 = 176,
+    CFG_PIN_D27 = 177,
+    CFG_PIN_D28 = 178,
+    CFG_PIN_D29 = 179,
+    CFG_PIN_D30 = 180,
+    CFG_PIN_D31 = 181,
+    CFG_NUM_NEOPIXELS = 200,
+    CFG_NUM_DOTSTARS = 201,
+    CFG_DEFAULT_BUTTON_MODE = 202,
+    CFG_SWD_ENABLED = 203,
+    CFG_FLASH_BYTES = 204,
+    CFG_RAM_BYTES = 205,
+    CFG_SYSTEM_HEAP_BYTES = 206,
+    CFG_LOW_MEM_SIMULATION_KB = 207,
+    CFG_BOOTLOADER_BOARD_ID = 208,
+    CFG_UF2_FAMILY = 209,
+    CFG_PINS_PORT_SIZE = 210,
+    CFG_BOOTLOADER_PROTECTION = 211,
+    CFG_POWER_DEEPSLEEP_TIMEOUT = 212,
+    CFG_ANALOG_BUTTON_THRESHOLD = 213,
+    CFG_CPU_MHZ = 214,
+    CFG_CONTROLLER_LIGHT_MAX_BRIGHTNESS = 215,
+    CFG_PIN_B0 = 300,
+    CFG_PIN_B1 = 301,
+    CFG_PIN_B2 = 302,
+    CFG_PIN_B3 = 303,
+    CFG_PIN_B4 = 304,
+    CFG_PIN_B5 = 305,
+    CFG_PIN_B6 = 306,
+    CFG_PIN_B7 = 307,
+    CFG_PIN_B8 = 308,
+    CFG_PIN_B9 = 309,
+    CFG_PIN_B10 = 310,
+    CFG_PIN_B11 = 311,
+    CFG_PIN_B12 = 312,
+    CFG_PIN_B13 = 313,
+    CFG_PIN_B14 = 314,
+    CFG_PIN_B15 = 315,
+    CFG_PIN_B16 = 316,
+    CFG_PIN_B17 = 317,
+    CFG_PIN_B18 = 318,
+    CFG_PIN_B19 = 319,
+    CFG_PIN_B20 = 320,
+    CFG_PIN_B21 = 321,
+    CFG_PIN_B22 = 322,
+    CFG_PIN_B23 = 323,
+    CFG_PIN_B24 = 324,
+    CFG_PIN_B25 = 325,
+    CFG_PIN_B26 = 326,
+    CFG_PIN_B27 = 327,
+    CFG_PIN_B28 = 328,
+    CFG_PIN_B29 = 329,
+    CFG_PIN_B30 = 330,
+    CFG_PIN_B31 = 331,
+    CFG_PIN_C0 = 350,
+    CFG_PIN_C1 = 351,
+    CFG_PIN_C2 = 352,
+    CFG_PIN_C3 = 353,
+    CFG_PIN_C4 = 354,
+    CFG_PIN_C5 = 355,
+    CFG_PIN_C6 = 356,
+    CFG_PIN_C7 = 357,
+    CFG_PIN_C8 = 358,
+    CFG_PIN_C9 = 359,
+    CFG_PIN_C10 = 360,
+    CFG_PIN_C11 = 361,
+    CFG_PIN_C12 = 362,
+    CFG_PIN_C13 = 363,
+    CFG_PIN_C14 = 364,
+    CFG_PIN_C15 = 365,
+    CFG_PIN_C16 = 366,
+    CFG_PIN_C17 = 367,
+    CFG_PIN_C18 = 368,
+    CFG_PIN_C19 = 369,
+    CFG_PIN_C20 = 370,
+    CFG_PIN_C21 = 371,
+    CFG_PIN_C22 = 372,
+    CFG_PIN_C23 = 373,
+    CFG_PIN_C24 = 374,
+    CFG_PIN_C25 = 375,
+    CFG_PIN_C26 = 376,
+    CFG_PIN_C27 = 377,
+    CFG_PIN_C28 = 378,
+    CFG_PIN_C29 = 379,
+    CFG_PIN_C30 = 380,
+    CFG_PIN_C31 = 381,
+    CFG_PIN_P0 = 400,
+    CFG_PIN_P1 = 401,
+    CFG_PIN_P2 = 402,
+    CFG_PIN_P3 = 403,
+    CFG_PIN_P4 = 404,
+    CFG_PIN_P5 = 405,
+    CFG_PIN_P6 = 406,
+    CFG_PIN_P7 = 407,
+    CFG_PIN_P8 = 408,
+    CFG_PIN_P9 = 409,
+    CFG_PIN_P10 = 410,
+    CFG_PIN_P11 = 411,
+    CFG_PIN_P12 = 412,
+    CFG_PIN_P13 = 413,
+    CFG_PIN_P14 = 414,
+    CFG_PIN_P15 = 415,
+    CFG_PIN_P16 = 416,
+    CFG_PIN_P17 = 417,
+    CFG_PIN_P18 = 418,
+    CFG_PIN_P19 = 419,
+    CFG_PIN_P20 = 420,
+    CFG_PIN_P21 = 421,
+    CFG_PIN_P22 = 422,
+    CFG_PIN_P23 = 423,
+    CFG_PIN_P24 = 424,
+    CFG_PIN_P25 = 425,
+    CFG_PIN_P26 = 426,
+    CFG_PIN_P27 = 427,
+    CFG_PIN_P28 = 428,
+    CFG_PIN_P29 = 429,
+    CFG_PIN_P30 = 430,
+    CFG_PIN_P31 = 431,
+    CFG_PIN_LORA_MISO = 1001,
+    CFG_PIN_LORA_MOSI = 1002,
+    CFG_PIN_LORA_SCK = 1003,
+    CFG_PIN_LORA_CS = 1004,
+    CFG_PIN_LORA_BOOT = 1005,
+    CFG_PIN_LORA_RESET = 1006,
+    CFG_PIN_IRRXLED = 1007,
+    CFG_PIN_IRTXLED = 1008,
+    CFG_PIN_LCD_RESET = 1009,
+    CFG_PIN_LCD_ENABLE = 1010,
+    CFG_PIN_LCD_DATALINE4 = 1011,
+    CFG_PIN_LCD_DATALINE5 = 1012,
+    CFG_PIN_LCD_DATALINE6 = 1013,
+    CFG_PIN_LCD_DATALINE7 = 1014,
+    CFG_NUM_LCD_COLUMNS = 1015,
+    CFG_NUM_LCD_ROWS = 1016,
+    // /pxtapp/ev3const.h
    NUM_INPUTS = 4,
    NUM_OUTPUTS = 4,
    LCD_WIDTH = 178,
@ -46,44 +345,66 @@ declare const enum DAL {
    CONN_OUTPUT_TACHO = 125,
    CONN_NONE = 126,
    CONN_ERROR = 127,
-    opProgramStart = 0x03,
-    opOutputGetType = 0xA0,
-    opOutputSetType = 0xA1,
-    opOutputReset = 0xA2,
-    opOutputStop = 0xA3,
-    opOutputPower = 0xA4,
-    opOutputSpeed = 0xA5,
-    opOutputStart = 0xA6,
-    opOutputPolarity = 0xA7,
-    opOutputRead = 0xA8,
-    opOutputTest = 0xA9,
-    opOutputReady = 0xAA,
-    opOutputPosition = 0xAB,
-    opOutputStepPower = 0xAC,
-    opOutputTimePower = 0xAD,
-    opOutputStepSpeed = 0xAE,
-    opOutputTimeSpeed = 0xAF,
-    opOutputStepSync = 0xB0,
-    opOutputTimeSync = 0xB1,
-    opOutputClearCount = 0xB2,
-    opOutputGetCount = 0xB3,
-    opOutputProgramStop = 0xB4,
-    BUTTON_ID_UP = 0x01,
-    BUTTON_ID_ENTER = 0x02,
-    BUTTON_ID_DOWN = 0x04,
-    BUTTON_ID_RIGHT = 0x08,
-    BUTTON_ID_LEFT = 0x10,
-    BUTTON_ID_ESCAPE = 0x20,
-    // built/dockermake/pxtapp/pxt.h
+    opProgramStart = 3,
+    opOutputGetType = 160,
+    opOutputSetType = 161,
+    opOutputReset = 162,
+    opOutputStop = 163,
+    opOutputPower = 164,
+    opOutputSpeed = 165,
+    opOutputStart = 166,
+    opOutputPolarity = 167,
+    opOutputRead = 168,
+    opOutputTest = 169,
+    opOutputReady = 170,
+    opOutputPosition = 171,
+    opOutputStepPower = 172,
+    opOutputTimePower = 173,
+    opOutputStepSpeed = 174,
+    opOutputTimeSpeed = 175,
+    opOutputStepSync = 176,
+    opOutputTimeSync = 177,
+    opOutputClearCount = 178,
+    opOutputGetCount = 179,
+    opOutputProgramStop = 180,
+    BUTTON_ID_UP = 1,
+    BUTTON_ID_ENTER = 2,
+    BUTTON_ID_DOWN = 4,
+    BUTTON_ID_RIGHT = 8,
+    BUTTON_ID_LEFT = 16,
+    BUTTON_ID_ESCAPE = 32,
+    // /pxtapp/platform.h
+    PXT_GC_THREAD_LIST = 1,
+    // /pxtapp/pxt.h
    DEVICE_EVT_ANY = 0,
    DEVICE_ID_NOTIFY = 10000,
    DEVICE_ID_NOTIFY_ONE = 10001,
-    // built/dockermake/pxtapp/pxtbase.h
-    PXT_REF_TAG_STRING = 1,
-    PXT_REF_TAG_BUFFER = 2,
-    PXT_REF_TAG_IMAGE = 3,
-    PXT_REF_TAG_NUMBER = 32,
-    PXT_REF_TAG_ACTION = 33,
+    IMAGE_BITS = 1,
+    // /pxtapp/pxtbase.h
+    PXT32 = 1,
+    PXT64 = 1,
+    PXT_VTABLE_SHIFT = 2,
+    PXT_REFCNT_FLASH = 65534,
+    VTABLE_MAGIC = 249,
+    Undefined = 0,
+    Boolean = 1,
+    Number = 2,
+    String = 3,
+    Object = 4,
+    Function = 5,
+    BoxedString = 1,
+    BoxedNumber = 2,
+    BoxedBuffer = 3,
+    RefAction = 4,
+    RefImage = 5,
+    RefCollection = 6,
+    RefRefLocal = 7,
+    RefMap = 8,
+    RefMImage = 9,
+    MMap = 10,
+    User0 = 16,
+    PXT_IOS_HEAP_ALLOC_BITS = 20,
+    IMAGE_HEADER_MAGIC = 135,
    Int8LE = 1,
    UInt8LE = 2,
    Int16LE = 3,
@ -100,12 +421,10 @@ declare const enum DAL {
    Float64LE = 14,
    Float32BE = 15,
    Float64BE = 16,
-    Undefined = 0,
-    Boolean = 1,
-    Number = 2,
-    String = 3,
-    Object = 4,
-    Function = 5,
-    // built/dockermake/pxtapp/pxtconfig.h
-    // built/dockermake/pxtapp/pxtcore.h
+    NUM_TRY_FRAME_REGS = 3,
+    GC = 0,
+    // /pxtapp/pxtconfig.h
+    PXT_GC = 1,
+    // /pxtapp/pxtcore.h
+    PXT_HARD_FLOAT = 1,
 }
--- a/libs/core/input.ts
+++ b/libs/core/input.ts
@ -208,12 +208,14 @@ namespace sensors.internal {
        }
    }

-    export function getBatteryInfo(): {
+    export interface BatteryInfo {
        level: number;
        Ibatt: number,
        Vbatt: number,
        Imotor: number
-    } {
+    }
+
+    export function getBatteryInfo(): BatteryInfo {
        init();
        if (!batteryInfo) updateBatteryInfo();
        const CinCnt = batteryInfo.CinCnt;
@ -275,22 +277,25 @@ void      cUiUpdatePower(void)
        const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
        let r = 0;
        for (let i = 0; i < conns.length; ++i) {
-            r = (r << 8 | conns[i]);
+            r = conns[i] + (r << 6) + (r << 16) - r;
        }
        return r;
    }

    let nonActivated = 0;
    function detectDevices() {
-        //control.dmesg(`detect devices (${nonActivated} na)`)
+        control.dmesg(`detect devices (hash ${hashDevices()})`)
        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) {
-                // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
+            if (newConn == sensorInfo.connType
+                && sensorInfo.sensor
+                && sensorInfo.sensor.isActive()) {
+                if (newConn == DAL.CONN_INPUT_UART)
+                    uartSensors.push(sensorInfo);
                continue;
            }
            numChanged++
@ -321,7 +326,8 @@ void      cUiUpdatePower(void)
            for (const sensorInfo of uartSensors) {
                let uinfo = readUartInfo(sensorInfo.port, 0)
                sensorInfo.devType = uinfo[TypesOff.Type]
-                control.dmesg(`UART type ${sensorInfo.devType}`)
+                const mode = uinfo[TypesOff.Mode];
+                control.dmesg(`UART type ${sensorInfo.devType} mode ${mode}`)
            }
        }

@ -456,7 +462,7 @@ void      cUiUpdatePower(void)

        reset() {
            if (this.isActive()) uartReset(this._port);
-            this.realmode = 0;
+            this.realmode = -1;
        }
    }

@ -534,8 +540,6 @@ 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
@ -556,7 +560,7 @@ void      cUiUpdatePower(void)
    }

    function setUartModes() {
-        control.dmesg(`UART set modes`)
+        control.dmesg(`UART set modes 0x${devcon.toHex()}`)
        uartMM.ioctl(IO.UART_SET_CONN, devcon)
        const ports: number[] = [];
        for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@ -568,22 +572,26 @@ void      cUiUpdatePower(void)
        while (ports.length) {
            const port = ports.pop();
            const status = waitNonZeroUartStatus(port)
-            control.dmesg(`UART set mode ${status} at ${port}`);
+            control.dmesg(`UART status ${status} at ${port}`);
+            if (!(status & UART_DATA_READY))
+                setUartMode(port, devcon[DevConOff.Mode + port]);
        }
    }

    function updateUartMode(port: number, mode: number) {
-        control.dmesg(`UART set mode to ${mode} at ${port}`)
+        control.dmesg(`UART update 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) {
@ -591,7 +599,8 @@ void      cUiUpdatePower(void)
                uartClearChange(port)
            } else {
                control.dmesg(`UART status ${status}`);
-                break;
+                if (status & UART_DATA_READY)
+                    break;
            }
            pause(10)
        }
--- a/libs/core/linux.cpp
+++ b/libs/core/linux.cpp
@ -1,588 +0,0 @@
-#include "pxt.h"
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <sys/time.h>
-#include <time.h>
-#include <cstdarg>
-#include <pthread.h>
-#include <unistd.h>
-#include <dirent.h>
-#include <signal.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <errno.h>
-#include <fcntl.h>
-#include <malloc.h>
-#include <sys/mman.h>
-#include <sys/ioctl.h>
-#include "ev3const.h"
-
-#define THREAD_DBG(...)
-
-#define MALLOC_LIMIT (8 * 1024 * 1024)
-#define MALLOC_CHECK_PERIOD (1024 * 1024)
-
-void *xmalloc(size_t sz) {
-    static size_t allocBytes = 0;
-    allocBytes += sz;
-    if (allocBytes >= MALLOC_CHECK_PERIOD) {
-        allocBytes = 0;
-        auto info = mallinfo();
-        DMESG("malloc used: %d kb", info.uordblks / 1024);
-        if (info.uordblks > MALLOC_LIMIT) {
-            target_panic(904);
-        }
-    }
-    auto r = malloc(sz);
-    if (r == NULL)
-        target_panic(905); // shouldn't happen
-    return r;
-}
-
-void *operator new(size_t size) {
-    return xmalloc(size);
-}
-void *operator new[](size_t size) {
-    return xmalloc(size);
-}
-
-void operator delete(void *p) {
-    free(p);
-}
-void operator delete[](void *p) {
-    free(p);
-}
-
-namespace pxt {
-
-static int startTime;
-static pthread_mutex_t execMutex;
-static pthread_mutex_t eventMutex;
-static pthread_cond_t newEventBroadcast;
-
-struct Thread {
-    struct Thread *next;
-    Action act;
-    TValue arg0;
-    pthread_t pid;
-    pthread_cond_t waitCond;
-    int waitSource;
-    int waitValue;
-    TValue data0;
-    TValue data1;
-};
-
-static struct Thread *allThreads;
-static struct Event *eventHead, *eventTail;
-static int usbFD;
-static int dmesgPtr;
-static int dmesgSerialPtr;
-static char dmesgBuf[4096];
-
-struct Event {
-    struct Event *next;
-    int source;
-    int value;
-};
-
-Event lastEvent;
-
-Event *mkEvent(int source, int value) {
-    auto res = new Event();
-    memset(res, 0, sizeof(Event));
-    res->source = source;
-    res->value = value;
-    return res;
-}
-
-#define USB_MAGIC 0x3d3f
-#define USB_SERIAL 1
-#define USB_RESTART 2
-#define USB_DMESG 3
-
-struct UsbPacket {
-    uint16_t size;
-    uint16_t msgcount;
-    uint16_t magic;
-    uint16_t code;
-    char buf[1024 - 8];
-};
-
-void *usbThread(void *) {
-    UsbPacket pkt;
-    UsbPacket resp;
-    while (true) {
-        int len = read(usbFD, &pkt, sizeof(pkt));
-        if (len <= 4) {
-            sleep_core_us(20000);
-            continue;
-        }
-        resp.msgcount = pkt.msgcount;
-        if (pkt.magic == USB_MAGIC) {
-            if (pkt.code == USB_RESTART) {
-                target_reset();
-            } else if (pkt.code == USB_DMESG) {
-                dumpDmesg();
-            }
-            /*
-            resp.magic = pkt.magic;
-            resp.code = pkt.code;
-            resp.size = 8;
-            write(usbFD, &resp, sizeof(resp));
-            */
-        } else {
-            resp.magic = 0xffff;
-            resp.size = 4;
-            write(usbFD, &resp, sizeof(resp));
-        }
-        sleep_core_us(1000);
-    }
-}
-
-static void startUsb() {
-    usbFD = open("/dev/lms_usbdev", O_RDWR, 0666);
-    pthread_t pid;
-    pthread_create(&pid, NULL, usbThread, NULL);
-    pthread_detach(pid);
-}
-
-static void *exitThread(void *) {
-    int fd = open("/dev/lms_ui", O_RDWR, 0666);
-    if (fd < 0)
-        return 0;
-    uint8_t *data =
-        (uint8_t *)mmap(NULL, NUM_BUTTONS, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
-    if (data == MAP_FAILED) {
-        close(fd);
-        return 0;
-    }
-    for (;;) {
-        if (data[5])
-            target_reset();
-        sleep_core_us(50000);
-    }
-}
-
-static void startExitThread() {
-    pthread_t pid;
-    pthread_create(&pid, NULL, exitThread, NULL);
-    pthread_detach(pid);
-}
-
-void sendUsb(uint16_t code, const char *data, int len) {
-    while (len > 0) {
-        int sz = len;
-        if (sz > 1000)
-            sz = 1000;
-        UsbPacket pkt = {(uint16_t)(6 + sz), 0, USB_MAGIC, code, {}};
-        memcpy(pkt.buf, data, sz);
-        write(usbFD, &pkt, sizeof(pkt));
-        len -= sz;
-        data += sz;
-    }
-}
-
-void sendSerial(const char *data, int len) {
-    sendUsb(USB_SERIAL, data, len);
-}
-
-volatile bool paniced;
-extern "C" void drawPanic(int code);
-
-extern "C" void target_panic(int error_code) {
-    char buf[50];
-    paniced = true;
-    pthread_mutex_trylock(&execMutex);
-
-    snprintf(buf, sizeof(buf), "\nPANIC %d\n", error_code);
-
-    drawPanic(error_code);
-    DMESG("PANIC %d", error_code);
-
-    for (int i = 0; i < 10; ++i) {
-        sendSerial(buf, strlen(buf));
-        sleep_core_us(500 * 1000);
-    }
-
-    target_reset();
-}
-
-void startUser() {
-    pthread_mutex_lock(&execMutex);
-}
-
-void stopUser() {
-    pthread_mutex_unlock(&execMutex);
-}
-
-void sleep_core_us(uint64_t us) {
-    struct timespec ts;
-    ts.tv_sec = us / 1000000;
-    ts.tv_nsec = (us % 1000000) * 1000;
-    while (nanosleep(&ts, &ts))
-        ;
-}
-
-void sleep_ms(uint32_t ms) {
-    stopUser();
-    sleep_core_us(ms * 1000);
-    startUser();
-}
-
-void sleep_us(uint64_t us) {
-    if (us > 50000) {
-        sleep_ms(us / 1000);
-    }
-    sleep_core_us(us);
-}
-
-uint64_t currTime() {
-    struct timeval tv;
-    gettimeofday(&tv, NULL);
-    return tv.tv_sec * 1000 + tv.tv_usec / 1000;
-}
-
-int current_time_ms() {
-    return currTime() - startTime;
-}
-
-void disposeThread(Thread *t) {
-    if (allThreads == t) {
-        allThreads = t->next;
-    } else {
-        for (auto tt = allThreads; tt; tt = tt->next) {
-            if (tt->next == t) {
-                tt->next = t->next;
-                break;
-            }
-        }
-    }
-    decr(t->act);
-    decr(t->arg0);
-    decr(t->data0);
-    decr(t->data1);
-    pthread_cond_destroy(&t->waitCond);
-    delete t;
-}
-
-static void runAct(Thread *thr) {
-    startUser();
-    pxt::runAction1(thr->act, thr->arg0);
-    stopUser();
-    disposeThread(thr);
-}
-
-static void mainThread(Thread *) {}
-
-void setupThread(Action a, TValue arg = 0, void (*runner)(Thread *) = NULL, TValue d0 = 0,
-                 TValue d1 = 0) {
-    if (runner == NULL)
-        runner = runAct;
-    auto thr = new Thread();
-    memset(thr, 0, sizeof(Thread));
-    thr->next = allThreads;
-    allThreads = thr;
-    thr->act = incr(a);
-    thr->arg0 = incr(arg);
-    thr->data0 = incr(d0);
-    thr->data1 = incr(d1);
-    pthread_cond_init(&thr->waitCond, NULL);
-    if (runner == mainThread) {
-        thr->pid = pthread_self();
-    } else {
-        pthread_create(&thr->pid, NULL, (void *(*)(void *))runner, thr);
-        THREAD_DBG("setup thread: %p (pid %p)", thr, thr->pid);
-        pthread_detach(thr->pid);
-    }
-}
-
-void releaseFiber() {
-    stopUser();
-    pthread_exit(NULL);
-}
-
-void runInParallel(Action a) {
-    setupThread(a);
-}
-
-static void runFor(Thread *t) {
-    startUser();
-    while (true) {
-        pxt::runAction0(t->act);
-        sleep_ms(20);
-    }
-}
-
-void runForever(Action a) {
-    setupThread(a, 0, runFor);
-}
-
-void waitForEvent(int source, int value) {
-    THREAD_DBG("waitForEv: %d %d", source, value);
-    auto self = pthread_self();
-    for (auto t = allThreads; t; t = t->next) {
-        THREAD_DBG("t: %p", t);
-        if (t->pid == self) {
-            pthread_mutex_lock(&eventMutex);
-            t->waitSource = source;
-            t->waitValue = value;
-            stopUser();
-            // spourious wake ups may occur they say
-            while (t->waitSource) {
-                pthread_cond_wait(&t->waitCond, &eventMutex);
-            }
-            pthread_mutex_unlock(&eventMutex);
-            startUser();
-            return;
-        }
-    }
-    DMESG("current thread not registered!");
-    target_panic(901);
-}
-
-static void dispatchEvent(Event &e) {
-    lastEvent = e;
-
-    auto curr = findBinding(e.source, e.value);
-    if (curr)
-        setupThread(curr->action, fromInt(e.value));
-
-    curr = findBinding(e.source, DEVICE_EVT_ANY);
-    if (curr)
-        setupThread(curr->action, fromInt(e.value));
-}
-
-static void *evtDispatcher(void *dummy) {
-    pthread_mutex_lock(&eventMutex);
-    while (true) {
-        pthread_cond_wait(&newEventBroadcast, &eventMutex);
-        while (eventHead != NULL) {
-            if (paniced)
-                return 0;
-            Event *ev = eventHead;
-            eventHead = ev->next;
-            if (eventHead == NULL)
-                eventTail = NULL;
-
-            for (auto thr = allThreads; thr; thr = thr->next) {
-                if (paniced)
-                    return 0;
-                if (thr->waitSource == 0)
-                    continue;
-                if (thr->waitValue != ev->value && thr->waitValue != DEVICE_EVT_ANY)
-                    continue;
-                if (thr->waitSource == ev->source) {
-                    thr->waitSource = 0; // once!
-                    pthread_cond_broadcast(&thr->waitCond);
-                } else if (thr->waitSource == DEVICE_ID_NOTIFY &&
-                           ev->source == DEVICE_ID_NOTIFY_ONE) {
-                    thr->waitSource = 0; // once!
-                    pthread_cond_broadcast(&thr->waitCond);
-                    break; // do not wake up any other threads
-                }
-            }
-
-            dispatchEvent(*ev);
-            delete ev;
-        }
-    }
-}
-
-int allocateNotifyEvent() {
-    static volatile int notifyId;
-    pthread_mutex_lock(&eventMutex);
-    int res = ++notifyId;
-    pthread_mutex_unlock(&eventMutex);
-    return res;
-}
-
-void raiseEvent(int id, int event) {
-    auto e = mkEvent(id, event);
-    pthread_mutex_lock(&eventMutex);
-    if (eventTail == NULL) {
-        if (eventHead != NULL)
-            target_panic(902);
-        eventHead = eventTail = e;
-    } else {
-        eventTail->next = e;
-        eventTail = e;
-    }
-    pthread_cond_broadcast(&newEventBroadcast);
-    pthread_mutex_unlock(&eventMutex);
-}
-
-void registerWithDal(int id, int event, Action a, int flags) {
-    // TODO support flags
-    setBinding(id, event, a);
-}
-
-static void runPoller(Thread *thr) {
-    Action query = thr->data0;
-    auto us = (uint64_t)toInt(thr->data1) * 1000;
-
-    // note that this is run without the user mutex held - it should not modify any state!
-    TValue prev = pxt::runAction0(query);
-
-    startUser();
-    pxt::runAction2(thr->act, prev, prev);
-    stopUser();
-
-    while (true) {
-        sleep_core_us(us);
-        if (paniced)
-            break;
-        TValue curr = pxt::runAction0(query);
-        if (curr != prev) {
-            startUser();
-            pxt::runAction2(thr->act, prev, curr);
-            stopUser();
-            if (paniced)
-                break;
-            decr(prev);
-            prev = curr;
-        }
-    }
-    //    disposeThread(thr);
-}
-
-uint32_t afterProgramPage() {
-    return 0;
-}
-void dumpDmesg() {
-    auto len = dmesgPtr - dmesgSerialPtr;
-    if (len == 0)
-        return;
-    sendSerial(dmesgBuf + dmesgSerialPtr, len);
-    dmesgSerialPtr = dmesgPtr;
-}
-
-int lmsPid;
-void stopLMS() {
-    struct dirent *ent;
-    DIR *dir;
-
-    dir = opendir("/proc");
-    if (dir == NULL)
-        return;
-
-    while ((ent = readdir(dir)) != NULL) {
-        int pid = atoi(ent->d_name);
-        if (!pid)
-            continue;
-        char namebuf[100];
-        snprintf(namebuf, 1000, "/proc/%d/cmdline", pid);
-        FILE *f = fopen(namebuf, "r");
-        if (f) {
-            fread(namebuf, 1, 99, f);
-            if (strcmp(namebuf, "./lms2012") == 0) {
-                lmsPid = pid;
-            }
-            fclose(f);
-            if (lmsPid)
-                break;
-        }
-    }
-
-    closedir(dir);
-
-    lmsPid = 0; // disable SIGSTOP for now - rethink if problems with I2C (runs on a thread)
-
-    if (lmsPid) {
-        DMESG("SIGSTOP to lmsPID=%d", lmsPid);
-        if (kill(lmsPid, SIGSTOP))
-            DMESG("SIGSTOP failed");
-    }
-}
-
-void runLMS() {
-    DMESG("re-starting LMS2012");
-    kill(lmsPid, SIGCONT);
-    sleep_core_us(200000);
-    exit(0);
-    /*
-    chdir("/home/root/lms2012/sys");
-    for (int fd = 3; fd < 9999; ++fd)
-        close(fd);
-    execl("lms2012", "./lms2012");
-    exit(100); // should not be reached
-    */
-}
-
-void stopMotors() {
-    uint8_t cmd[3] = {opOutputStop, 0x0F, 0};
-    int fd = open("/dev/lms_pwm", O_RDWR);
-    write(fd, cmd, 3);
-    close(fd);
-}
-
-void stopProgram() {
-    uint8_t cmd[1] = {opOutputProgramStop};
-    int fd = open("/dev/lms_pwm", O_RDWR);
-    write(fd, cmd, 1);
-    close(fd);
-}
-
-extern "C" void target_reset() {
-    stopMotors();
-    stopProgram();
-    if (lmsPid)
-        runLMS();
-    else
-        exit(0);
-}
-
-void screen_init();
-void initRuntime() {
-    // daemon(1, 1);
-    startTime = currTime();
-    DMESG("runtime starting...");
-    stopLMS();
-    startUsb();
-    startExitThread();
-    pthread_t disp;
-    pthread_create(&disp, NULL, evtDispatcher, NULL);
-    pthread_detach(disp);
-    setupThread(0, 0, mainThread);
-    target_init();
-    screen_init();
-    startUser();
-}
-
-static FILE *dmesgFile;
-
-void dmesgRaw(const char *buf, uint32_t len) {
-    if (!dmesgFile) {
-        dmesgFile = fopen("/tmp/dmesg.txt", "w");
-        if (!dmesgFile)
-            dmesgFile = stderr;
-    }
-
-    if (len > sizeof(dmesgBuf) / 2)
-        return;
-    if (dmesgPtr + len > sizeof(dmesgBuf)) {
-        dmesgPtr = 0;
-        dmesgSerialPtr = 0;
-    }
-    memcpy(dmesgBuf + dmesgPtr, buf, len);
-    dmesgPtr += len;
-    fwrite(buf, 1, len, dmesgFile);
-}
-
-void dmesg(const char *format, ...) {
-    char buf[500];
-
-    snprintf(buf, sizeof(buf), "[%8d] ", current_time_ms());
-    dmesgRaw(buf, strlen(buf));
-
-    va_list arg;
-    va_start(arg, format);
-    vsnprintf(buf, sizeof(buf), format, arg);
-    va_end(arg);
-    dmesgRaw(buf, strlen(buf));
-    dmesgRaw("\n", 1);
-
-    fflush(dmesgFile);
-    fdatasync(fileno(dmesgFile));
-}
-} // namespace pxt
--- a/libs/core/mmap.cpp
+++ b/libs/core/mmap.cpp
@ -25,13 +25,20 @@ PXT_VTABLE_CTOR(MMap) {
 }

 void MMap::print() {
-    DMESG("MMap %p r=%d len=%d fd=%d data=%p", this, refcnt, length, fd, data);
+    DMESG("MMap %p len=%d fd=%d data=%p", this, length, fd, data);
 }

 void MMap::destroy() {
    munmap(data, length);
    close(fd);
 }
+
+void MMap::scan(MMap *) {}
+
+unsigned MMap::gcsize(MMap *) {
+    return TOWORDS(sizeof(MMap));
+}
+
 }

 namespace control {
@ -39,8 +46,8 @@ namespace control {
 /** Create new file mapping in memory */
 //%
 MMap *mmap(String filename, int size, int offset) {
-    DMESG("mmap %s len=%d off=%d", filename->data, size, offset);
-    int fd = open(filename->data, O_RDWR, 0);
+    DMESG("mmap %s len=%d off=%d", filename->getUTF8Data(), size, offset);
+    int fd = open(filename->getUTF8Data(), O_RDWR, 0);
    if (fd < 0)
        return 0;
    
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@ -159,6 +159,7 @@ namespace motors {
        private _accelerationTime: number;
        private _decelerationSteps: number;
        private _decelerationTime: number;
+        private _inverted: boolean;

        protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];

@ -176,6 +177,7 @@ namespace motors {
            this._accelerationTime = 0;
            this._decelerationSteps = 0;
            this._decelerationTime = 0;
+            this._inverted = false;
        }

        /**
@ -225,9 +227,11 @@ namespace motors {
        //% help=motors/motor/set-inverted
        setInverted(inverted: boolean) {
            this.init();
-            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
-            b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
-            writePWM(b)
+            this._inverted = inverted;
+        }
+
+        protected invertedFactor(): number {
+            return this._inverted ? -1 : 1;
        }

        /** 
@ -294,8 +298,9 @@ 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),
+                speed: Math.clamp(-100, 100, speed | 0) * this.invertedFactor(),
                useSteps: true,
                steps: [step1 || 0, step2 || 0, step3 || 0]
            }
@ -562,6 +567,7 @@ namespace motors {

        private __init() {
            this.setOutputType(this._large);
+            this.setInverted(false);
        }

        /**
@ -741,7 +747,7 @@ 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);
+            speed = Math.clamp(-100, 100, speed >> 0) * this.invertedFactor();
            if (!speed) {
                this.stop();
                return;
@ -918,9 +924,3 @@ namespace motors {
        writePWM(b)
    }
 }
-
-
-interface Buffer {
-    [index: number]: number;
-    // rest defined in buffer.cpp
-}
--- a/libs/core/platform.cpp
+++ b/libs/core/platform.cpp
@ -0,0 +1,236 @@
+#include "pxt.h"
+
+#include <unistd.h>
+#include <sys/mman.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <pthread.h>
+#include <signal.h>
+#include <dirent.h>
+#include "ev3const.h"
+
+namespace pxt {
+
+    static int usbFD;
+
+#define USB_MAGIC 0x3d3f
+#define USB_SERIAL 1
+#define USB_RESTART 2
+#define USB_DMESG 3
+
+struct UsbPacket {
+    uint16_t size;
+    uint16_t msgcount;
+    uint16_t magic;
+    uint16_t code;
+    char buf[1024 - 8];
+};
+
+void *usbThread(void *) {
+    UsbPacket pkt;
+    UsbPacket resp;
+    while (true) {
+        int len = read(usbFD, &pkt, sizeof(pkt));
+        if (len <= 4) {
+            sleep_core_us(20000);
+            continue;
+        }
+        resp.msgcount = pkt.msgcount;
+        if (pkt.magic == USB_MAGIC) {
+            if (pkt.code == USB_RESTART) {
+                target_reset();
+            } else if (pkt.code == USB_DMESG) {
+                dumpDmesg();
+            }
+            /*
+            resp.magic = pkt.magic;
+            resp.code = pkt.code;
+            resp.size = 8;
+            write(usbFD, &resp, sizeof(resp));
+            */
+        } else {
+            resp.magic = 0xffff;
+            resp.size = 4;
+            write(usbFD, &resp, sizeof(resp));
+        }
+        sleep_core_us(1000);
+    }
+}
+
+static void startUsb() {
+    usbFD = open("/dev/lms_usbdev", O_RDWR, 0666);
+    pthread_t pid;
+    pthread_create(&pid, NULL, usbThread, NULL);
+    pthread_detach(pid);
+}
+
+static void *exitThread(void *) {
+    int fd = open("/dev/lms_ui", O_RDWR, 0666);
+    if (fd < 0)
+        return 0;
+    uint8_t *data =
+        (uint8_t *)mmap(NULL, NUM_BUTTONS, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
+    if (data == MAP_FAILED) {
+        close(fd);
+        return 0;
+    }
+    for (;;) {
+        if (data[5])
+            target_reset();
+        sleep_core_us(50000);
+    }
+}
+
+static void startExitThread() {
+    pthread_t pid;
+    pthread_create(&pid, NULL, exitThread, NULL);
+    pthread_detach(pid);
+}
+
+void sendUsb(uint16_t code, const char *data, int len) {
+    while (len > 0) {
+        int sz = len;
+        if (sz > 1000)
+            sz = 1000;
+        UsbPacket pkt = {(uint16_t)(6 + sz), 0, USB_MAGIC, code, {}};
+        memcpy(pkt.buf, data, sz);
+        write(usbFD, &pkt, sizeof(pkt));
+        len -= sz;
+        data += sz;
+    }
+}
+
+void sendSerial(const char *data, int len) {
+    sendUsb(USB_SERIAL, data, len);
+}
+
+int lmsPid;
+void stopLMS() {
+    struct dirent *ent;
+    DIR *dir;
+
+    dir = opendir("/proc");
+    if (dir == NULL)
+        return;
+
+    while ((ent = readdir(dir)) != NULL) {
+        int pid = atoi(ent->d_name);
+        if (!pid)
+            continue;
+        char namebuf[100];
+        snprintf(namebuf, 100, "/proc/%d/cmdline", pid);
+        FILE *f = fopen(namebuf, "r");
+        if (f) {
+            fread(namebuf, 1, 99, f);
+            if (strcmp(namebuf, "./lms2012") == 0) {
+                lmsPid = pid;
+            }
+            fclose(f);
+            if (lmsPid)
+                break;
+        }
+    }
+
+    closedir(dir);
+
+    lmsPid = 0; // disable SIGSTOP for now - rethink if problems with I2C (runs on a thread)
+
+    if (lmsPid) {
+        DMESG("SIGSTOP to lmsPID=%d", lmsPid);
+        if (kill(lmsPid, SIGSTOP))
+            DMESG("SIGSTOP failed");
+    }
+}
+
+void runLMS() {
+    DMESG("re-starting LMS2012");
+    kill(lmsPid, SIGCONT);
+    sleep_core_us(200000);
+    exit(0);
+    /*
+    chdir("/home/root/lms2012/sys");
+    for (int fd = 3; fd < 9999; ++fd)
+        close(fd);
+    execl("lms2012", "./lms2012");
+    exit(100); // should not be reached
+    */
+}
+
+void stopMotors() {
+    uint8_t cmd[3] = {opOutputStop, 0x0F, 0};
+    int fd = open("/dev/lms_pwm", O_RDWR);
+    write(fd, cmd, 3);
+    close(fd);
+}
+
+void stopProgram() {
+    uint8_t cmd[1] = {opOutputProgramStop};
+    int fd = open("/dev/lms_pwm", O_RDWR);
+    write(fd, cmd, 1);
+    close(fd);
+}
+
+extern "C" void target_reset() {
+    tryLockUser();
+    stopMotors();
+    stopProgram();
+    if (lmsPid)
+        runLMS();
+    else
+        exit(0);
+}
+
+void target_exit() {
+    target_reset();
+}
+
+
+void target_startup() {
+    stopLMS();
+    startUsb();
+    startExitThread();
+}
+
+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;
+}
+
+}
--- a/libs/core/platform.h
+++ b/libs/core/platform.h
@ -1 +1,3 @@
-// leave empty
+#define PXT_GC_THREAD_LIST 1
+
+#define PXT_IN_ISR() false
--- a/libs/core/pxt.h
+++ b/libs/core/pxt.h
@ -11,6 +11,7 @@ int allocateNotifyEvent();
 void sleep_core_us(uint64_t us);
 void startUser();
 void stopUser();
+int tryLockUser();

 class Button;
 typedef Button *Button_;
@ -27,9 +28,13 @@ class MMap : public RefObject {
    MMap();
    void destroy();
    void print();
+
+    static void scan(MMap *);
+    static unsigned gcsize(MMap *);
 };

 extern volatile bool paniced;
+void target_exit();

 // Buffer, Sound, and Image share representation.
 typedef Buffer Sound;
--- a/libs/core/pxt.json
+++ b/libs/core/pxt.json
@ -26,11 +26,19 @@
        "icons.jres",
        "ns.ts",
        "platform.h",
+        "platform.cpp",
+        "dmesg.cpp",
        "integrator.ts"
    ],
    "testFiles": [
        "test.ts"
    ],
+    "dalDTS": {
+        "includeDirs": [
+            "pxtapp"
+        ]
+    },
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/core---linux",
    "npmDependencies": {},
    "public": true,
    "dependencies": {
--- a/libs/core/pxtcore.h
+++ b/libs/core/pxtcore.h
@ -1,16 +0,0 @@
-#ifndef __PXTCORE_H
-#define __PXTCORE_H
-
-#include <stdio.h>
-
-namespace pxt {
-void dmesg(const char *fmt, ...);
-#define DMESG pxt::dmesg
-}
-
-static inline void itoa(int v, char *dst) {
-
-    snprintf(dst, 30, "%d", v);
-
-}
-#endif
--- a/libs/core/screen.cpp
+++ b/libs/core/screen.cpp
@ -85,10 +85,9 @@ void updateScreen(Image_ img) {
        lastImg = img;
    }

-    if (lastImg && lastImg->isDirty() && mappedFrameBuffer != MAP_FAILED) {
+    if (lastImg && mappedFrameBuffer != MAP_FAILED) {
        if (lastImg->bpp() != 1 || lastImg->width() != LCD_WIDTH || lastImg->height() != LCD_HEIGHT)
            target_panic(906);
-        lastImg->clearDirty();
        bitBufferToFrameBufferSwap(lastImg->pix(), mappedFrameBuffer);
    }
 }
--- a/libs/core/serialnumber.cpp
+++ b/libs/core/serialnumber.cpp
@ -25,8 +25,8 @@ struct hci_dev_list_req {
    hci_dev_req dev_req[2];
 };

-static uint32_t bt_addr() {
-    uint32_t res = -1;
+static uint64_t bt_addr() {
+    uint64_t res = -1;

    int fd = socket(AF_BLUETOOTH, SOCK_RAW, BTPROTO_HCI);
    if (fd < 0) {
@ -50,11 +50,8 @@ static uint32_t bt_addr() {
        goto done;
    }

-    memcpy(&res, di.bdaddr, 4);
-    res *= 0x1000193;
-    res += di.bdaddr[4];
-    res *= 0x1000193;
-    res += di.bdaddr[5];
+    res = 0;
+    memcpy(&res, di.bdaddr, 6);

 done:
    close(fd);
@ -63,14 +60,10 @@ done:

 namespace pxt {

-int getSerialNumber() {
-    static int serial;
-
-    if (serial != 0)
-        return serial;
-
-    serial = bt_addr() & 0x7fffffff;
-
+uint64_t getLongSerialNumber() {
+    static uint64_t serial;
+    if (serial == 0)
+        serial = bt_addr();
    return serial;
 }

--- a/libs/core/shims.d.ts
+++ b/libs/core/shims.d.ts
@ -68,6 +68,12 @@ declare namespace control {
    /** Write data to DMESG debugging buffer. */
    //% shim=control::dmesg
    function dmesg(s: string): void;
+
+    /**
+     * Determines if the USB has been enumerated.
+     */
+    //% shim=control::isUSBInitialized
+    function isUSBInitialized(): boolean;
 }
 declare namespace serial {

--- a/libs/ev3/brick.ts
+++ b/libs/ev3/brick.ts
@ -0,0 +1,13 @@
+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();
+    }
+}
--- a/libs/ev3/console.ts
+++ b/libs/ev3/console.ts
@ -20,7 +20,7 @@ namespace console._screen {
            lines = [];
            console.addListener(log);
            brick.buttonUp.onEvent(ButtonEvent.Bumped, () => scroll(-3))
-            brick.buttonDown.onEvent(ButtonEvent.Bumped, () => scroll(3))                
+            brick.buttonDown.onEvent(ButtonEvent.Bumped, () => scroll(3))
        }
    }

@ -44,7 +44,7 @@ namespace console._screen {
        printLog();
    }

-    function log(msg: string): void {    
+    function log(priority: ConsolePriority, msg: string): void {
        lines.push(msg);
        if (lines.length + 5 > maxLines) {
            lines.splice(0, maxLines - lines.length);
--- a/libs/ev3/ns.ts
+++ b/libs/ev3/ns.ts
@ -1,6 +1,6 @@

 //% color="#68C3E2" weight=100 icon="\uf106"
-//% groups='["Buttons", "Screen", "Battery"]'
+//% groups='["Buttons", "Screen", "Power"]'
 //% labelLineWidth=60
 namespace brick {
 }
--- a/libs/ev3/pxt.json
+++ b/libs/ev3/pxt.json
@ -2,8 +2,9 @@
    "name": "ev3",
    "description": "The EV3 library",
    "files": [
-        "README.md",
+        "README.md",        
        "ns.ts",
+        "brick.ts",
        "startup.ts",
        "images.jres",
        "images.ts",
--- a/libs/ev3/startup.ts
+++ b/libs/ev3/startup.ts
@ -1,10 +1,6 @@
 // This is the last thing executed before user code
-console.addListener(function(msg: string) {
+console.addListener(function(priority: ConsolePriority, msg: string) {
    control.dmesg(msg.substr(0, msg.length - 1))
 })
-// 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);
+// boot sequence
+brick.showBoot();
--- a/libs/screen/screenimage.ts
+++ b/libs/screen/screenimage.ts
@ -0,0 +1,10 @@
+
+namespace image {
+    /**
+    * Get the screen image
+    */
+    //%
+    export function screenImage(): Image {
+        return screen;
+    }
+}
--- a/libs/screen/shims.d.ts
+++ b/libs/screen/shims.d.ts
@ -15,7 +15,7 @@ declare interface Image {
    height: int32;

    /**
-     * True iff the image is monochromatic (black and white)
+     * True if the image is monochromatic (black and white)
     */
    //% property shim=ImageMethods::isMono
    isMono: boolean;
@ -45,6 +45,18 @@ declare interface Image {
    //% shim=ImageMethods::fill
    fill(c: int32): void;

+    /**
+     * Copy row(s) of pixel from image to buffer (8 bit per pixel).
+     */
+    //% shim=ImageMethods::getRows
+    getRows(x: int32, dst: Buffer): void;
+
+    /**
+     * Copy row(s) of pixel from buffer to image.
+     */
+    //% shim=ImageMethods::setRows
+    setRows(x: int32, src: Buffer): void;
+
    /**
     * Return a copy of the current image
     */
--- a/libs/screen/targetoverrides.ts
+++ b/libs/screen/targetoverrides.ts
@ -129,8 +129,8 @@ namespace brick {

        screenMode = ScreenMode.Ports;
        renderPorts();
-        control.runInParallel(function() {
-            while(screenMode == ScreenMode.Ports) {
+        control.runInParallel(function () {
+            while (screenMode == ScreenMode.Ports) {
                renderPorts();
                pause(50);
            }
@ -140,8 +140,18 @@ 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);
@ -155,27 +165,38 @@ 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;
-            const x = i * col;
-            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.print(`${scale(data.actualSpeed)}%`, x, 3 * lineHeight8, 1, image.font8)
+            screen.print(`${scale(data.count)}>`, x, 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;
+            const x = (si.port() - 1) * col + 2;
            const inf = si._info();
-            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);
+            if (inf)
+                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
--- a/package.json
+++ b/package.json
@ -1,12 +1,13 @@
 {
  "name": "pxt-ev3",
-  "version": "1.2.21",
+  "version": "1.4.18",
  "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
  "private": false,
  "keywords": [
    "JavaScript",
    "education",
-    "lego",
+    "LEGO",
+    "EV3",
    "pxt",
    "MakeCode",
    "Microsoft"
@ -32,15 +33,20 @@
  ],
  "devDependencies": {
    "typescript": "2.6.1",
+    "react": "16.8.3",
    "semantic-ui-less": "2.2.14",
    "@types/bluebird": "2.0.33",
    "@types/marked": "0.3.0",
    "@types/node": "8.0.53",
-    "webfonts-generator": "^0.4.0"
+    "webfonts-generator": "^0.4.0",
+    "@types/jquery": "3.2.16",
+    "@types/react": "16.0.25",
+    "@types/react-dom": "16.0.3",
+    "@types/web-bluetooth": "0.0.4"
  },
  "dependencies": {
-    "pxt-common-packages": "0.23.61",
-    "pxt-core": "4.0.11"
+    "pxt-common-packages": "6.16.37",
+    "pxt-core": "5.30.21"
  },
  "scripts": {
    "test": "node node_modules/pxt-core/built/pxt.js travis"
--- a/pxtarget.json
+++ b/pxtarget.json
@ -22,7 +22,7 @@
    ],
    "simulator": {
        "autoRun": true,
-        "streams": true,
+        "autoRunLight": false,
        "aspectRatio": 0.5,
        "parts": false,
        "enableTrace": true,
@ -37,7 +37,10 @@
        "publishing": true,
        "importing": true,
        "preferredPackages": [],
-        "githubPackages": true
+        "githubPackages": true,
+        "cloudProviders": {
+            "github": {}
+        }
    },
    "compile": {
        "isNative": true,
@ -50,15 +53,16 @@
        "flashCodeAlign": 256,
        "floatingPoint": true,
        "taggedInts": true,
-        "stackAlign": 2
+        "stackAlign": 2,
+        "gc": true
    },
    "serial": {
-      "vendorId": "0x0694",
-      "productId": "0x0005",
-      "rawHID": true,
-      "useEditor": true,
-      "log": true
-  },
+        "vendorId": "0x0694",
+        "productId": "0x0005",
+        "rawHID": true,
+        "useEditor": true,
+        "log": true
+    },
    "runtime": {
        "mathBlocks": true,
        "loopsBlocks": true,
@ -72,7 +76,9 @@
        "onStartColor": "#58AB41",
        "pauseUntilBlock": {
            "category": "loops"
-        }
+        },
+        "bannedCategories": [
+        ]
    },
    "compileService": {
        "buildEngine": "dockermake",
@ -82,7 +88,7 @@
    "appTheme": {
        "accentColor": "#0089BF",
        "logoWide": true,
-        "logoUrl": "https://education.lego.com/",        
+        "logoUrl": "https://education.lego.com/",
        "logo": "./static/lego_education_logo.png",
        "docsLogo": "./static/lego_education_logo.png",
        "portraitLogo": "./static/lego_education_logo.png",
@ -151,6 +157,12 @@
        "usbHelp": [],
        "extendEditor": true,
        "extendFieldEditors": true,
+        "scriptManager": true,
+        "importExtensionFiles": true,
+        "experiments": [
+            "python",
+            "alwaysGithubItemBlocks"
+        ],
        "disableBlockIcons": true,
        "blocklyOptions": {
            "grid": {
@ -186,7 +198,12 @@
            "editor.background": "#f9f9f9"
        },
        "fileNameExclusiveFilter": "[^a-zA-Z0-9]",
+        "qrCode": true,
+        "shareFinishedTutorials": true,
+        "nameProjectFirst": true,
+        "alwaysGithubItem": true,
        "enableTrace": true
    },
-    "ignoreDocsErrors": true
-}
+    "ignoreDocsErrors": true,
+    "uploadDocs": true
+}
--- a/scripts/file_manager.ts
+++ b/scripts/file_manager.ts
@ -0,0 +1,97 @@
+//% 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()
+
--- a/sim/dalboard.ts
+++ b/sim/dalboard.ts
@ -5,6 +5,7 @@
 namespace pxsim {

    export class EV3Board extends CoreBoard {
+        viewHost: visuals.BoardHost;
        view: SVGSVGElement;

        outputState: EV3OutputState;
@ -83,7 +84,8 @@ namespace pxsim {
                highContrast: msg.highContrast,
                light: msg.light
            };
-            const viewHost = new visuals.BoardHost(pxsim.visuals.mkBoardView({
+            this.viewHost = new visuals.BoardHost(pxsim.visuals.mkBoardView({
+                boardDef,
                visual: boardDef.visual,
                highContrast: msg.highContrast,
                light: msg.light
@ -91,7 +93,7 @@ namespace pxsim {

            document.body.innerHTML = ""; // clear children
            document.body.className = msg.light ? "light" : "";
-            document.body.appendChild(this.view = viewHost.getView() as SVGSVGElement);
+            document.body.appendChild(this.view = this.viewHost.getView() as SVGSVGElement);

            this.inputNodes = [];
            this.outputNodes = [];
@ -102,8 +104,8 @@ namespace pxsim {
            return Promise.resolve();
        }

-        screenshot(): string {
-            return svg.toDataUri(new XMLSerializer().serializeToString(this.view));
+        screenshotAsync(width?: number): Promise<ImageData> {
+            return this.viewHost.screenshotAsync(width);
        }

        getBrickNode() {
--- a/sim/public/cityshapermap.jpg
+++ b/sim/public/cityshapermap.jpg
--- a/sim/state/motornode.ts
+++ b/sim/state/motornode.ts
@ -9,7 +9,6 @@ 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;
@ -31,7 +30,7 @@ namespace pxsim {
        }

        getSpeed() {
-            return Math.round(this.speed * (!this._synchedMotor && this.polarity == 0 ? -1 : 1));
+            return Math.round(this.speed);
        }

        getAngle() {
@ -82,16 +81,6 @@ 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...
        }
--- a/sim/state/output.ts
+++ b/sim/state/output.ts
@ -119,11 +119,7 @@ namespace pxsim {
                            return 2;
                        }
                        case DAL.opOutputPolarity: {
-                            // 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));
+                            console.error("opOutputPolarity not supported");
                            return 2;
                        }
                        case DAL.opOutputSetType: {
--- a/sim/state/sounds.ts
+++ b/sim/state/sounds.ts
@ -1,7 +1,7 @@

 namespace pxsim.music {
    export function fromWAV(buf: RefBuffer) {
-        return incr(buf)
+        return buf
    }

    export function stopAllSounds() {
@ -13,7 +13,7 @@ namespace pxsim.SoundMethods {
    let audio: HTMLAudioElement;

    export function buffer(buf: RefBuffer) {
-        return incr(buf)
+        return buf
    }

    export function play(buf: RefBuffer) {
--- a/sim/visuals/board.ts
+++ b/sim/visuals/board.ts
@ -176,7 +176,7 @@ namespace pxsim.visuals {
            const dalBoard = board();
            dalBoard.updateSubscribers.push(() => this.updateState());
            if (props && props.wireframe)
-                svg.addClass(this.element, "sim-wireframe");
+                U.addClass(this.element, "sim-wireframe");

            if (props && props.theme)
                this.updateTheme();
--- a/sim/visuals/nodes/brickView.ts
+++ b/sim/visuals/nodes/brickView.ts
@ -24,7 +24,7 @@ namespace pxsim.visuals {
        protected buildDomCore() {
            // Setup buttons
            this.buttons = this.btnids.map(n => this.content.getElementById(this.normalizeId(n)) as SVGElement);
-            this.buttons.forEach(b => svg.addClass(b, "sim-button"));
+            this.buttons.forEach(b => U.addClass(b, "sim-button"));

            this.light = this.content.getElementById(this.normalizeId(BrickView.EV3_LIGHT_ID)) as SVGElement;
        }
--- a/sim/visuals/robotgametable.ts
+++ b/sim/visuals/robotgametable.ts
@ -1,55 +0,0 @@
-namespace pxsim {
-    export class RobotGameTable {
-        readonly ctx: CanvasRenderingContext2D;
-        readonly data: ImageData;
-
-        cx: number; // cm
-        cy: number; // cm
-        angle: number; // radians
-        cwidth: number; // cm
-
-        constructor(public canvas: HTMLCanvasElement, public scale: number) {
-            this.ctx = this.canvas.getContext("2d");
-            this.data = this.ctx.getImageData(0, 0, this.canvas.width, this.canvas.height);
-            this.cx = this.width / 2;
-            this.cy = 0;
-        }
-
-        /**
-         * Gets the width in cm
-         */
-        get width() { 
-            return this.canvas.width * this.scale;
-        }
-
-        /**
-         * gets the height in cm
-         */
-        get height() {
-            return this.canvas.height * this.scale;
-        }
-
-        color(): number {
-            // compute color sensor position from center;
-            // todo
-            const px = Math.max(0, Math.min(this.data.width, (this.cx ) / this.scale));
-            const py = Math.max(0, Math.min(this.data.height, (this.cy ) / this.scale));
-            // get color
-            const i = px * this.data.width + py;
-            let c = 
-                (this.data.data[i] << 16) | (this.data.data[i + 1] << 8) | (this.data.data[i + 2]);
-            // map color to known color
-            return c;
-        }
-
-        intensity(): number {
-            const c = this.color();
-            return ((c >> 16 & 0xff) + (c >> 8 & 0xff) + (c & 0xff)) / 3;
-        }
-
-        ultrasonicDistance() {
-            // obstacles?
-            
-        }
-    }
-}
--- a/targetconfig.json
+++ b/targetconfig.json
@ -24,9 +24,9 @@
        "Design Engineering": "design-engineering",
        "Coding": "coding",
        "Maker": "maker",
-        "Videos": "videos"
+        "Tutorial Videos": "videos"
    },
    "electronManifest": {
-        "latest": "v1.1.20"
+        "latest": "v1.2.26"
    }
 }
--- a/theme/style.less
+++ b/theme/style.less
@ -16,6 +16,10 @@
 /*******************************
    Add your custom CSS here
 *******************************/
+.simframe.ui.embed {
+    background: transparent;
+}
+

 /* Open Sans font */
@font-face  {
Author	SHA1	Message	Date
Peli	d3e7c13c9b	1.4.18	2019-12-14 13:00:31 -08:00
Peli	77f2ae61eb	bump pxt	2019-12-14 10:50:54 -08:00
Peli	119bed0b75	1.4.17	2019-12-12 17:18:11 -08:00
Peli	3997819cda	1.4.16	2019-12-12 16:28:23 -08:00
Peli	804c569e84	bump pxt	2019-12-12 16:28:11 -08:00
Peli	8b7d93af03	added hash	2019-12-12 09:39:54 -08:00
Peli	a18fbd713c	add filemanager section	2019-12-12 09:39:35 -08:00
Peli de Halleux	1ebb55d11f	1.4.15	2019-11-26 22:04:35 -08:00
Peli de Halleux	74cb02db8d	bump pxt	2019-11-26 22:04:27 -08:00
Peli de Halleux	b88191ee54	1.4.14	2019-11-25 15:05:53 -08:00
Peli de Halleux	9c4acba7eb	bump pxt	2019-11-25 15:05:47 -08:00
Peli de Halleux	87d22db6f3	bump pxt 5.28.31 (#958 )	2019-11-26 00:04:30 +01:00
Peli de Halleux	d2cf715423	1.4.13	2019-11-16 16:50:13 -08:00
Peli de Halleux	60a74ac525	bump to pxt 5.28.24	2019-11-16 16:50:05 -08:00
Peli de Halleux	864ed608bb	1.4.12	2019-11-15 19:02:12 -08:00
Peli de Halleux	a8b9d3e0fd	bump pxt 5.28.23 (#957 ) * bump pxt * typo	2019-11-15 19:01:59 -08:00
Peli de Halleux	01d08c6d4f	1.4.11	2019-11-02 07:35:43 -07:00
Peli de Halleux	426ad005d5	bump pxt 5.28.11	2019-11-02 07:35:25 -07:00
Peli de Halleux	853625107c	1.4.10	2019-11-01 12:33:48 -07:00
Peli de Halleux	9c1b29cc80	bump pxt5.28.9 (#956 )	2019-11-01 12:33:26 -07:00
Peli de Halleux	9badaffee9	1.4.9	2019-10-31 11:44:54 -07:00
Peli de Halleux	c3f539f396	Bump pxt 5.28.7 (#954 ) * bump * bump pxt	2019-10-31 10:22:37 -07:00
Peli de Halleux	991813fff7	update elecron version to 1.2.26 (#953 )	2019-10-23 11:22:30 -07:00
Peli de Halleux	85a8f1c2c5	bump to v1.2.26	2019-10-20 16:37:57 -07:00
Peli de Halleux	ea33b81b2a	is color detectedd	2019-10-20 09:31:09 -07:00
Peli de Halleux	c8381d7626	1.2.26	2019-10-20 09:02:44 -07:00
Peli de Halleux	62b5941143	is color detected (#952 ) * added query function * reshuffle	2019-10-20 09:02:17 -07:00
Peli de Halleux	1d5d18dc88	1.2.25	2019-10-18 22:53:46 -07:00
Peli de Halleux	bc4b71e0d6	Pulling updates from master (#951 ) * show ports on start * don't run show ports automatically * polarity in synched motor (#945) * account for polarity * more comments * handle dual motor in runtime * invert steer * don't use firmware polarity * add block to stop program (#943) * add block to stop program * renaming * fix translation	2019-10-18 22:53:30 -07:00
Peli de Halleux	5c47ce2f91	add stable path	2019-10-18 22:53:17 -07:00
Peli de Halleux	6a577287c1	1.4.8	2019-10-16 21:24:06 -07:00
Peli de Halleux	8bd884e155	bump blockly	2019-10-16 21:23:14 -07:00
Peli de Halleux	20be398c2c	refactor constants	2019-10-13 09:32:43 -07:00
Peli de Halleux	ccf6164d87	logging	2019-10-13 09:22:07 -07:00
Peli de Halleux	58294883d7	blink fix (#949 )	2019-10-13 00:36:44 -07:00
Peli de Halleux	00194d4aa6	1.2.24	2019-10-13 00:36:00 -07:00
Peli de Halleux	ec900f805e	1.2.23	2019-10-13 00:35:47 -07:00
Peli de Halleux	5f5bdd7294	blink fix (#949 )	2019-10-13 00:35:20 -07:00
vincentl	38b2fc7b95	Add run it again to try tutorial to show where to find programs on brick (#947 )	2019-10-12 15:36:13 -07:00
Peli de Halleux	8cc2f1219f	1.4.7	2019-10-11 21:56:27 -07:00
Peli de Halleux	39a629cc58	bump pxt 5.25.13	2019-10-11 21:50:00 -07:00
Peli de Halleux	df65c34f15	1.4.6	2019-10-10 09:16:19 -07:00
Peli de Halleux	00fefe10d6	Boot sequence (#946 ) * refactor bootsequence * inf can be null * align elements	2019-10-10 09:15:57 -07:00
Peli de Halleux	d442f5aa41	don't ban image	2019-10-10 08:00:21 -07:00
Peli de Halleux	3311865817	1.4.5	2019-10-10 07:45:53 -07:00
Peli de Halleux	2cd2950496	polarity in synched motor (#945 ) * account for polarity * more comments * handle dual motor in runtime * invert steer * don't use firmware polarity	2019-10-10 07:44:53 -07:00
Peli de Halleux	b0de3d8c1b	1.4.4	2019-10-09 15:40:54 -07:00
Peli de Halleux	acefe3ae11	bump pxt	2019-10-09 15:40:45 -07:00
Michał Moskal	cb6c83eec7	Add sources for the file manager program (#944 )	2019-10-09 13:57:06 -07:00
Peli de Halleux	e0c8f65a65	1.4.3	2019-10-09 09:57:53 -07:00
Peli de Halleux	a4e02dcd03	add block to stop program (#943 ) * add block to stop program * renaming	2019-10-09 09:30:42 -07:00
Peli de Halleux	fb5776ec41	1.4.2	2019-10-08 22:19:50 -07:00
Peli de Halleux	d852fd961b	fix python build	2019-10-08 22:19:34 -07:00
Peli de Halleux	1ed8122804	1.4.1	2019-10-08 21:58:33 -07:00
Michał Moskal	c5cec3a6ba	update to pxt 5 and pxt-common-packages 6 (#934 ) * bump pxt * fix build issues * Auto-gen of projects/summary * removing feild editors moved to pxt * various typing fixes * more typing fixes * fixing various typing issues * Start on integration of new pxt * serial number fixes * gc-ify MMap object * Re-build generated files * fix console listeners * clear lf() warnings * More generated files * also auto-generated * Compilation fixes * fix merge * mostly fixing blocks * fix sim * fix field motors * enable a few features * moving to tsx * try to fix edtiro compilation * more defs * removing commands * removing extra $ * fix blockly warning * hiding images * enabling more pxt features * hide images * setup autorun * add lock on target_reset * update deps * return trylock result * updated pxt * rename video section * add alpha channel * upgraded pxt * bump pxt/version * removed alpha ref * var ceanup * don't do major bump	2019-10-08 21:57:55 -07:00
Peli de Halleux	ba94322d4c	1.2.23	2019-10-08 21:26:38 -07:00
Peli de Halleux	225f1da6d5	fix translation	2019-10-08 21:26:17 -07:00
Peli de Halleux	a06331eef1	added channel	2019-10-08 14:23:57 -07:00
Peli de Halleux	aa741ce8de	rename again	2019-10-08 14:21:55 -07:00
Peli de Halleux	61fe5091fe	rename	2019-10-08 14:21:45 -07:00
Peli de Halleux	3d90e13797	shrinkg image	2019-10-08 14:21:12 -07:00
vincentl	469767a40a	Add information to Try example to show where to find downloaded programs on the control brick. (#936 )	2019-10-08 14:12:43 -07:00
Peli de Halleux	604fa764e6	Create calibreapp-image-actions.yml	2019-10-08 14:03:58 -07:00
Peli de Halleux	25cf2a9cdb	move electron to 1.2.22 (#937 )	2019-10-07 14:43:34 -07:00
Peli de Halleux	7549f865d6	move master to 1.2.22	2019-10-02 13:59:58 -07:00
Peli de Halleux	a5de9d88bb	adding latest video	2019-10-02 13:53:22 -07:00
Peli de Halleux	0437df10de	1.2.22	2019-10-02 13:27:53 -07:00
Peli de Halleux	2079173dfa	lock execution thread before exiting (#935 )	2019-10-02 12:40:45 -07:00
Peli de Halleux	018a1e7528	added proportional line follower	2019-10-02 12:26:51 -07:00
Peli de Halleux	757f95d984	move master to v1.2.21	2019-10-02 10:59:50 -07:00