0.0.108

* Sensor names are now part of the block text

* Use ports field editor

docs/SUMMARY.md

@@ -13,7 +13,7 @@
         
 * [Design Engineering](/design-engineering)
     * [Make It Move Without Wheels](/design-engineering/make-it-move)
-    * [Make It Smarter and Faster](/design-engineering/make-it-faster)
+    * [Make It Smarter and Faster](/design-engineering/make-it-smarter)
     * [Make a System that Communicates](/design-engineering/make-it-communicate)
 
 * [Maker](/maker)
@@ -67,7 +67,7 @@
         * [set light](/reference/brick/set-status-light)
         * [battery level](/reference/brick/battery-level)
     * [Motors](/reference/motors)
-        * [set speed](/reference/motors/motor/set-speed)
+        * [run](/reference/motors/motor/run)
         * [stop](/reference/motors/motor/stop)
         * [reset](/reference/motors/motor/reset)
         * [set brake](/reference/motors/motor/set-brake)
@@ -91,6 +91,45 @@
             * [rate](/reference/sensors/gyro/rate)
             * [reset](/reference/sensors/gyro/reset)
         * [Ultrasonic](/reference/sensors/ultrasonic)
-            * [on event](/reference/sensors/ultrasonic/on-event),
-            * [distance](reference/sensors/ultrasonic/distance),
-            * [pause until](reference/sensors/ultrasonic/pause-until)
+            * [on event](/reference/sensors/ultrasonic/on-event)
+            * [distance](reference/sensors/ultrasonic/distance)
+            * [pause until](reference/sensors/ultrasonic/pause-until)
+        * [Infrared](/reference/sensors/infrared)
+            * [on event](/reference/sensors/infrared/on-event)
+            * [distance](reference/sensors/infrared/proximity)
+            * [pause until](reference/sensors/infrared/pause-until)
+        * [Infrared beacon](/reference/sensors/beacon)
+            * [on event](/reference/sensors/beacon/on-event)
+            * [pause until](/reference/sensors/beacon/pause-until)
+            * [is pressed](/reference/sensors/beacon/is-pressed)
+            * [was pressed](/reference/sensors/beacon/was-pressed)
+            * [set remote channel](/reference/sensors/beacon/set-remote-channel)
+        * [Color](/reference/sensors/color-sensor)
+            * [on color detected](/reference/sensors/color-sensor/on-color-detected)
+            * [pause for color](/reference/sensors/color-sensor/pause-for-color)
+            * [on light changed](/reference/sensors/color-sensor/on-light-changed)
+            * [pause for light](/reference/sensors/color-sensor/pause-for-light)
+            * [color](/reference/sensors/color-sensor/color)
+            * [light](/reference/sensors/color-sensor/ambient-light)
+    * [Music](/reference/music)
+        * [play sound effect](/reference/music/play-sound-effect)
+        * [play sound effect until done](/reference/music/play-sound-effect-until-done)
+        * [play tone](/reference/music/play-tone)
+        * [ring tone](/reference/music/ring-tone)
+        * [stop all sounds](/reference/music/stop-all-sounds)
+        * [rest](/reference/music/rest)
+        * [change tempo by](/reference/music/change-tempo-by)
+        * [set tempo](/reference/music/set-tempo)
+        * [note frequency](/reference/music/note-frequency)
+        * [beat](/reference/music/beat)
+        * [set volume](/reference/music/set-volume)
+    * [Control](/reference/control)
+        * [Timer](/reference/control/timer)
+            * [seconds](/reference/control/timer/seconds)
+            * [millis](/reference/control/timer/millis)
+            * [reset](/reference/control/timer/reset)
+            * [pause until](/reference/control/timer/pause-until)
+    * [Console](/reference/console)
+        * [log](/reference/console/log)
+        * [log value](/reference/console/log-value)
+        * [send to screen](/reference/console/send-to-screen)

docs/about.md

@@ -8,12 +8,12 @@ You can program the @boardname@ using [Blocks](/blocks) or [JavaScript](/javascr
 
 ```blocks
 brick.buttonEnter.onEvent(ButtonEvent.Bumped, () => {
-    motors.largeA.setSpeed(50)
+    motors.largeA.run(50)
 })
 ```
 ```typescript
 brick.buttonEnter.onEvent(ButtonEvent.Bumped, () => {
-    motors.largeA.setSpeed(50)
+    motors.largeA.run(50)
 })
 ```
 
@@ -34,6 +34,6 @@ The simulator has support for the LED screen, buttons, as well as compass, accel
 
 ```sim
 brick.buttonEnter.onEvent(ButtonEvent.Bumped, () => {
-    motors.largeA.setSpeed(50)
+    motors.largeA.run(50)
 })
 ```

docs/coding.md

@@ -9,6 +9,7 @@
   "name": "Autonomous Parking",
   "description": "TBD",
   "url":"/coding/autonomous-parking",
+  "imageUrl": "/static/lessons/parking.png",
   "cardType": "side"
 }, {
   "name": "Object Detection",

docs/coding/cruise-control-1.md

@@ -5,6 +5,6 @@ let speed = 0;
 sensors.touch1.onEvent(ButtonEvent.Pressed, function () {
     if (speed < 100)
         speed = speed + 10;
-    motors.largeBC.setSpeed(speed);
+    motors.largeBC.run(speed);
 }) 
 ```

docs/coding/cruise-control-2.md

@@ -5,11 +5,11 @@ let speed = 0;
 sensors.touch1.onEvent(ButtonEvent.Pressed, function () {
     if (speed < 100)
         speed = speed + 10;
-    motors.largeBC.setSpeed(speed);
+    motors.largeBC.run(speed);
 }) 
 sensors.touch2.onEvent(ButtonEvent.Pressed, function () {
     if (speed > -100)
         speed = speed - 10;
-    motors.largeBC.setSpeed(speed);
+    motors.largeBC.run(speed);
 }) 
 ```

docs/coding/cruise-control-3.md

@@ -15,7 +15,7 @@ function accelerate() {
 function update() {
     brick.clearScreen()
     brick.showString("speed: " + speed, 1)
-    motors.largeBC.setSpeed(speed)
+    motors.largeBC.run(speed)
 }
 sensors.touch2.onEvent(ButtonEvent.Pressed, function () {
     accelerate()

docs/coding/reverse-beeper-1.md

@@ -5,7 +5,7 @@ forever(function () {
     music.playTone(440, sensors.ultrasonic4.distance());
     pause(50)
 })
-motors.largeBC.setSpeed(-20);
+motors.largeBC.run(-20);
 sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
 motors.largeBC.stop();
 ```

docs/coding/reverse-beeper-2.md

@@ -7,7 +7,7 @@ forever(function () {
         pause(50)
     }
 })
-motors.largeBC.setSpeed(-20);
+motors.largeBC.run(-20);
 sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
 motors.largeBC.stop();
 ```

docs/coding/reverse-beeper-3.md

@@ -4,7 +4,7 @@
 let beep = false
 beep = true
 control.runInParallel(function () {
-    motors.largeBC.setSpeed(-20)
+    motors.largeBC.run(-20)
     sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear)
     motors.largeBC.stop()
     beep = false

docs/coding/reversing-the-robot-1.md

@@ -2,13 +2,13 @@
 
 ```blocks
 brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
-    motors.largeBC.setSpeed(50)
+    motors.largeBC.run(50)
     sensors.touch1.pauseUntil(ButtonEvent.Pressed)
-    motors.largeBC.setSpeed(0)
+    motors.largeBC.run(0)
     pause(1000)
     brick.setStatusLight(StatusLight.OrangeFlash)
-    motors.largeBC.setSpeed(-50)
+    motors.largeBC.run(-50)
     pause(2000)
-    motors.largeBC.setSpeed(0)
+    motors.largeBC.run(0)
 })
 ```

docs/coding/reversing-the-robot-2.md

@@ -3,13 +3,13 @@
 ```blocks
 brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
     sensors.touch1.pauseUntil(ButtonEvent.Pressed)
-    motors.largeBC.setSpeed(50)
+    motors.largeBC.run(50)
     sensors.touch2.pauseUntil(ButtonEvent.Pressed)
-    motors.largeBC.setSpeed(0)
+    motors.largeBC.run(0)
     pause(1000)
     brick.setStatusLight(StatusLight.OrangeFlash)
-    motors.largeBC.setSpeed(-50)
+    motors.largeBC.run(-50)
     pause(2000)
-    motors.largeBC.setSpeed(0)
+    motors.largeBC.run(0)
 })
 ```

docs/coding/reversing-the-robot-3.md

@@ -5,15 +5,15 @@ brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
     brick.showImage(images.eyesSleeping)
     sensors.touch1.pauseUntil(ButtonEvent.Pressed)
     brick.showImage(images.eyesNeutral)
-    motors.largeBC.setSpeed(50)
+    motors.largeBC.run(50)
     sensors.touch2.pauseUntil(ButtonEvent.Pressed)
     brick.showImage(images.eyesTiredMiddle)
-    motors.largeBC.setSpeed(0)
+    motors.largeBC.run(0)
     pause(1000)
     brick.setStatusLight(StatusLight.OrangeFlash)
     brick.showImage(images.eyesDizzy)
-    motors.largeBC.setSpeed(-50)
+    motors.largeBC.run(-50)
     pause(2000)
-    motors.largeBC.setSpeed(0)
+    motors.largeBC.run(0)
 })
 ```

docs/coding/roaming-1.md

@@ -19,13 +19,13 @@ pause(1000)
 music.playSoundEffectUntilDone(sounds.communicationGo)
 for (let d of drive) {
     if (d == 1) {
-        motors.largeC.setSpeed(50, 360, MoveUnit.Degrees)
+        motors.largeC.run(50, 360, MoveUnit.Degrees)
     } else if (d == 3) {
-        motors.largeB.setSpeed(50, 360, MoveUnit.Degrees)
+        motors.largeB.run(50, 360, MoveUnit.Degrees)
     } else if (d == 4) {
-        motors.largeBC.setSpeed(50, 360, MoveUnit.Degrees)
+        motors.largeBC.run(50, 360, MoveUnit.Degrees)
     } else {
-        motors.largeBC.setSpeed(-50, 360, MoveUnit.Degrees)
+        motors.largeBC.run(-50, 360, MoveUnit.Degrees)
     }
 }
 music.playSoundEffectUntilDone(sounds.communicationGameOver)

docs/coding/roaming-2.md

@@ -23,13 +23,13 @@ pause(1000)
 music.playSoundEffectUntilDone(sounds.communicationGo)
 for (let d of drive) {
     if (d == 1) {
-        motors.largeC.setSpeed(50, 360, MoveUnit.Degrees)
+        motors.largeC.run(50, 360, MoveUnit.Degrees)
     } else if (d == 3) {
-        motors.largeB.setSpeed(50, 360, MoveUnit.Degrees)
+        motors.largeB.run(50, 360, MoveUnit.Degrees)
     } else if (d == 4) {
-        motors.largeBC.setSpeed(50, 360, MoveUnit.Degrees)
+        motors.largeBC.run(50, 360, MoveUnit.Degrees)
     } else {
-        motors.largeBC.setSpeed(-50, 360, MoveUnit.Degrees)
+        motors.largeBC.run(-50, 360, MoveUnit.Degrees)
     }
 }
 music.playSoundEffectUntilDone(sounds.communicationGameOver)

docs/design-engineering.md

@@ -7,22 +7,22 @@
     {
         "name": "Make It Move Without Wheels",
         "description": "TBD",
-        "imageUrl": "/static/lessons/make-it-move.png",
+        "imageUrl": "/static/lessons/make-it-move-1.png",
         "url": "/design-engineering/make-it-move",
         "cardType": "side"
     },
     {
         "name": "Make It Smarter and Faster",
         "description": "TBD",
-        "imageUrl": "/static/lessons/make-it-smarter.png",
-        "url": "/design-engineering/make-it-move",
+        "imageUrl": "/static/lessons/make-it-smarter-1.png",
+        "url": "/design-engineering/make-it-smarter",
         "cardType": "side"
     },
     {
         "name": "Make a System that Communicates",
-        "description": "TBD",
-        "imageUrl": "/static/lessons/make-a-system.png",
-        "url": "/design-engineering/make-it-move",
+        "description": "A robot that tells you what it is doing.",
+        "imageUrl": "/static/lessons/make-it-communicate.png",
+        "url": "/design-engineering/make-it-communicate",
         "cardType": "side"
     }
 ]

docs/design-engineering/make-it-communicate.md

@@ -0,0 +1,164 @@
+# Make A System That Communicates
+
+## Connect 
+
+### Design Brief
+
+Design, build and program a robotic system that follows a path and communicates its position at least twice along the way.
+
+https://www.youtube.com/watch?v=6piMI1JPDQc
+
+*	Robotic systems are built from smaller, related subsystems. Look at the automobile system shown in the video. What subsystems can you see?
+*	What kinds of robots follow a path?
+*	What kind of system do you want to make?
+
+### Brainstorm
+
+Discuss different solutions to the design brief.
+
+Think about:
+* What kind of motorized mechanism can be used to control the movements of a robot?
+* How can the robot sense where it is along the path?
+* How can the robot communicate its position?
+ 
+ ![EV3 + LEGO Bricks](/static/lessons/make-it-communicate/hero.png)
+
+## Construct 
+
+### Build
+
+You can start by tinkering with the LEGO elements in the picture and then build on.
+
+More building ideas: 
+* [EV3 Frames](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/ev3%20frames-5054ee378e624fb4cb31158d2fc8e5cf.pdf)
+
+* [Tracks](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/tracks-32d7554813af3f25cf5012d54a4bad2b.pdf)
+
+* [Color Sensor 2](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/color%20sensor_v2-e7fd54b6fa3cdfe36f414c1d2510f9cb.pdf)
+
+
+Build a path for your robot to follow. You can use electrical tape on a floor, or marker on paper. You can use objects as milestones to indicate a path that can be detected by either the Touch Sensor, Color Sensor, or Ultrasonic Sensor. 
+
+## Program 
+
+Before you program, think about: 
+ 
+*	How will you program the robot to follow a path?
+*	How will you program the robot to communicate its position?
+*	Which programming blocks will you use?
+
+### ~ hint
+
+Explore the different Motor and Sensor blocks in the programming menu.
+
+### ~
+
+### Sample Solution 
+
+[Video: EV3 Track Rover](/static/lessons/make-it-communicate/trackrover.mp4)
+
+The Track Rover follows a path using the color sensor. It identifies two locations by color.
+
+[Building Instructions](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/ev3-dep/building%20instructions/track-rover-bi-6aadb1b053df0c58a0dea108b5ce0eea.pdf)
+
+### Sample Program Solution 
+
+This program works with the Track Rover. If you create a different robot, adjust the program to fit your solution. 
+
+#### Program summary: 
+
+* If the Color Sensor sees black, Motor B runs at -50 power and Motor C turns off.
+* If the Color Sensor sees white, Motor B turns off and Motor C runs at -50 power.
+* If the Color Sensor sees green, all motors stop and the green sound plays. 
+* The robot waits one second, then motors move forward.
+* If the Color Sensor sees red, all motors stop, and the red sound plays.
+* The robot waits one second, then motors move forward.
+* Loops unlimited.
+
+```blocks
+forever(function () {
+    if (sensors.color3.color() == ColorSensorColor.Black) {
+        motors.largeB.run(-50)
+        motors.largeC.run(0)
+    } else if (sensors.color3.color() == ColorSensorColor.White) {
+        motors.largeC.run(-50)
+        motors.largeB.run(0)
+    } else if (sensors.color3.color() == ColorSensorColor.Green) {
+        motors.stopAll()
+        music.playSoundEffectUntilDone(sounds.colorsGreen)
+        motors.largeBC.run(-50)
+    } else if (sensors.color3.color() == ColorSensorColor.Red) {
+        motors.stopAll()
+        music.playSoundEffectUntilDone(sounds.colorsRed)
+        motors.largeBC.run(-50)
+    } else {
+
+    }
+})
+```
+
+```blocks
+sensors.color3.onColorDetected(ColorSensorColor.Black, function () {
+    motors.largeB.run(-50)
+    motors.largeC.run(0)    
+})
+sensors.color3.onColorDetected(ColorSensorColor.White, function () {
+    motors.largeB.run(0)    
+    motors.largeC.run(-50)
+})
+sensors.color3.onColorDetected(ColorSensorColor.Green, function () {
+    motors.stopAll()
+    music.playSoundEffect(sounds.colorsGreen)
+    pause(1000)  
+    motors.largeBC.run(-50)
+})
+sensors.color3.onColorDetected(ColorSensorColor.Red, function () {
+    motors.stopAll()
+    music.playSoundEffect(sounds.colorsRed)
+    pause(1000)
+    motors.largeBC.run(-50)
+})
+```
+
+### Download and test
+
+Click Download and follow the instructions to get your code onto your EV3 Brick. Press the center button on the EV3 Brick to run the program.
+
+## Contemplate 
+
+### Test and Analyze 
+
+As you work on your solution: 
+1. Describe one part of your design that worked especially well. 
+2. Describe one design change that you had to make. 
+3. What will you try next? 
+
+
+### Review and Revise 
+Take a moment to reflect on your robot solution. 
+
+### Think about: 
+*	Can the robot’s movement be more accurate? 
+*	What are some ways that others have solved the problem?
+
+Describe two ways you could improve your robot.
+
+## Continue 
+
+### Personalize your project
+*	Add/remove LEGO elements to improve the way your robot moves. 
+*	Click on the JavaScript tab and experiment with changing the values in the code.
+*	Add a custom image or sounds by adding blocks from the Brick or Music menus.
+
+## Communicate 
+
+Here are some ideas: 
+*	Create a video of your project, especially your final presentation and your robot’s performance. 
+*	Explain some important features of your software program. 
+*	Produce a building guide for your model by taking a series of photographs as you deconstruct it. 
+*	Include an image of your program with comments. 
+*	Add a team photograph! 
+
+Congratulations! What will you design next?
+
+

docs/design-engineering/make-it-smarter.md

@@ -0,0 +1,192 @@
+# Make It Smarter and Faster 
+
+
+## Connect 
+
+### Design Brief
+
+Design, build and program a robotic creature that can sense its environment and respond by moving.
+
+https://www.youtube.com/watch?v=y9-A_C_08KY
+
+* What do the robots in the video need to be able to sense, plan, and act?
+* What senses do humans have and why are they important to us?
+* How many human-like senses do you see the robots demonstrating? 
+
+### Brainstorm 
+
+Discuss different solutions to the design brief.
+
+Think about: 
+
+* What kind of creature can it be? 
+* How can it move? 
+* What does it need to be aware so that it stays safe, well fed and warm (or cool)? 
+* Is it looking for food, a safe place to hide or a warm place to soak up the sun? 
+* Will the creature need to move fast or slow? 
+* Will it need to turn? 
+* Will it need to go backward?
+
+![EV3 and bricks](/static/lessons/make-it-smarter/bricks.png)
+
+## Construct
+ 
+### Build
+
+Think about a creature’s movement for inspiration. Your mechanism can be attached or unattached to the EV3 brick. You can start by tinkering with the LEGO elements in the picture add then build on.
+More building ideas: 
+
+* [EV3 Frames](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/ev3%20frames-5054ee378e624fb4cb31158d2fc8e5cf.pdf)
+* [Color Sensor 1](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/color%20sensor_v1-16a7231bdc187cd88a8da120c68f58d5.pdf)
+* [Gyro Sensor](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/gyro%20sensor-6f0fdbd82ae45fe0effa0ebf3f460f3d.pdf)
+* [Ultrasonic Sensor](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/ultrasonic%20sensor-a56156c72e8946ed4c58c5e69f3520d3.pdf)
+* [Touch Sensor](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/touch%20sensor-868fda1b9d6070a0a034fb22456a7fc9.pdf)
+* [Jaw](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/jaw-ee93e8f3243e4d30cd34b0c337c33653.pdf)
+* [Leg 1](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/leg%201-c14624046ea3a95148820ed404f5ac65.pdf)
+* [Leg 2](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/leg%202-8855c35b990205f6b9d7130687a3d4db.pdf)
+* [Leg 3](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/leg%203-575d52ef15fb79f1e4d3350d36607160.pdf)
+
+
+### Program 
+
+Before you program, think about:  
+
+* How will you program the robot to sense?
+* How will you program the robot to respond?
+* Which programming blocks will you use?
+
+### ~ hint
+
+**Hint:** Explore the different Sensor blocks in the Sensors Menu
+
+### ~
+
+## SCREEN 5
+
+Sample Solution 
+
+[Video: EV3 Insect]
+
+This Insect uses its Ultrasonic Sensor to sense danger and move away from threat.
+
+The Insect solution combines these building ideas:
+
+* EV3 Frames
+* Leg 2
+* Leg 3
+* Ultrasonic Sensor 
+
+Four copies of Leg 3 were built: one for the front left, one for the back right, and two mirror copies for the front right and back left.
+
+* [Building Instructions](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/insect-94b8a46f0dc5082c9d78ddb734626dc9.pdf)
+
+### Sample Solution 
+
+This program checks if the Ultrasonic Sensor senses something near. 
+
+This program:
+
+* Turns on the green EV3 brick Status Light
+
+```block
+brick.setStatusLight(StatusLight.Green)
+```
+
+* Waits for Ultrasonic Sensor to detect an object
+
+```block
+sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectDetected)
+```
+
+* Turns on Motors A and D in opposite directions
+
+```block
+motors.largeAD.tank(50, -50)
+```
+
+* Waits for one half of a second (1500 milli seconds)
+
+```block
+pause(1500)
+```
+
+* Reverses the direction of Motors A and D
+
+```block
+motors.largeAD.tank(-50, 50)
+```
+
+* Waits for one half of a second
+* Stops all motors
+
+```block
+motors.stopAll()
+```
+
+* Makes an insect chirping sound
+
+```block
+music.playSoundEffectUntilDone(sounds.animalsInsectChirp)
+```
+
+* Loops so the insect wanders around when the Ultrasonic Sensor is triggered
+
+```blocks
+forever(function () {
+    brick.setStatusLight(StatusLight.Green)
+    sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectDetected)
+    motors.largeAD.tank(50, -50)
+    pause(1500)
+    motors.largeAD.tank(-50, 50)
+    pause(1500)
+    motors.stopAll()
+    music.playSoundEffectUntilDone(sounds.animalsInsectChirp)
+})
+```
+
+### Download and test
+
+Click Download and follow the instructions to get your code onto your EV3 Brick. Press the center button on the EV3 Brick to run the program.
+
+## Contemplate 
+
+### Test and Analyze 
+
+As you work on your solution: 
+1. Describe one part of your design that worked especially well. 
+2. Describe one design change that you had to make. 
+3. What will you try next? 
+
+
+### Review and Revise 
+
+Take a moment to reflect on your robot solution. 
+
+Think about: 
+
+* Does your robot move when the sensor is activated? 
+* If not, what will you change to make the robot’s ability to sense and respond more obvious? 
+* What other behaviors can you add to the robot to make it more realistic? 
+
+Describe two ways you could improve your robot.
+
+
+## Continue 
+
+Personalize your project
+
+* Add/remove LEGO elements to improve the way your robot moves. 
+* Click on the JavaScript tab and experiment with changing the values in the code.
+* Add a custom image or sounds by adding blocks from the Brick or Music menus.
+* Does your robot resemble a creature? Add arts and crafts materials to you project.
+
+## Communicate 
+
+Here are some ideas: 
+
+* Create a video of your project, especially your final presentation and your robot’s performance. Explain some important features of your software program. 
+* Produce a building guide for your model by taking a series of photographs as you deconstruct it. 
+* Include an image of your program with comments. 
+* Add a team photograph! 
+
+Congratulations! What will you design next?

docs/examples.md

@@ -212,5 +212,10 @@ Here are some fun programs for your @boardname@!
   "description": "Keep your brick entertained and happy",
   "url":"/examples/happy-unhappy",
   "cardType": "example"
+}, {
+  "name": "Distance Measurer",
+  "description": "Use a motor to measure angle and distance",
+  "url": "/examples/distance-measurer",
+  "cardType": "example"
 }]
 ```

docs/examples/core-set/gyroboy-blocks.md

@@ -119,9 +119,9 @@ sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectNear, function () {
     controlSteering = 0
     oldControlDrive = controlDrive
     controlDrive = -10
-    motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
-    motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
-    motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+    motors.mediumC.run(30, 30, MoveUnit.Degrees);
+    motors.mediumC.run(-30, 60, MoveUnit.Degrees);
+    motors.mediumC.run(30, 30, MoveUnit.Degrees);
     if (Math.randomRange(-1, 1) >= 1) {
         controlSteering = 70
     } else {
@@ -149,8 +149,8 @@ sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {
 })
 // apply power to motors
 function controlMotors() {
-    motors.largeA.setSpeed(power + controlSteering * 0.1)
-    motors.largeD.setSpeed(power - controlSteering * 0.1)
+    motors.largeA.run(power + controlSteering * 0.1)
+    motors.largeD.run(power - controlSteering * 0.1)
 }
 sensors.color1.onColorDetected(ColorSensorColor.Yellow, function () {
     moods.middleLeft.show()

docs/examples/core-set/gyroboy-labview.md

@@ -137,8 +137,8 @@ forever(function () {
         GM();
         EQ();
         cntrl();
-        motors.largeA.setSpeed(lpwr)
-        motors.largeD.setSpeed(rpwr)
+        motors.largeA.run(lpwr)
+        motors.largeD.run(rpwr)
         CHK()
         let t2 = control.timer1.millis();
         let p = 5 - (t2 - t1);
@@ -196,9 +196,9 @@ forever(function () {
                 Cstr = 0;
                 oldDr = Cdrv;
                 Cdrv = -10;
-                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
-                motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
-                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                motors.mediumC.run(30, 30, MoveUnit.Degrees);
+                motors.mediumC.run(-30, 60, MoveUnit.Degrees);
+                motors.mediumC.run(30, 30, MoveUnit.Degrees);
                 if (Math.randomRange(-1, 1) >= 1)
                     Cstr = 70;
                 else

docs/examples/core-set/puppy-labview.md

@@ -32,9 +32,9 @@ function MNRH() {
     brick.setStatusLight(StatusLight.OrangePulse)
     while (!brick.buttonEnter.wasPressed()) {
         if (brick.buttonUp.wasPressed()) {
-            motors.mediumC.setSpeed(-100);
+            motors.mediumC.run(-100);
         } else if (brick.buttonDown.wasPressed()) {
-            motors.mediumC.setSpeed(100);
+            motors.mediumC.run(100);
         } else {
             motors.mediumC.stop();
         }
@@ -83,20 +83,20 @@ function UP() {
     if (motors.largeA.angle() > -50) {
         control.runInParallel(function () {
             motors.largeD.clearCounts()
-            motors.largeD.setSpeed(-35);
+            motors.largeD.run(-35);
             pauseUntil(() => motors.largeD.angle() < -25);
             motors.largeD.stop();
             motors.largeD.setRegulated(false)
-            motors.largeD.setSpeed(-15)
+            motors.largeD.run(-15)
             pauseUntil(() => motors.largeD.angle() < -65);
             motors.largeD.stop();
         })
         motors.largeA.clearCounts()
-        motors.largeA.setSpeed(-35);
+        motors.largeA.run(-35);
         pauseUntil(() => motors.largeA.angle() < -25);
         motors.largeA.stop();
         motors.largeA.setRegulated(false)
-        motors.largeA.setSpeed(-15)
+        motors.largeA.run(-15)
         pauseUntil(() => motors.largeA.angle() < -65);
         motors.largeA.stop();
 
@@ -231,9 +231,9 @@ function IDL() {
 function MHT(Pos: number) {
     let _R = Pos - motors.mediumC.angle();
     if (_R >= 0) {
-        motors.mediumC.setSpeed(100, _R, MoveUnit.Degrees);
+        motors.mediumC.run(100, _R, MoveUnit.Degrees);
     } else {
-        motors.mediumC.setSpeed(-100, Math.abs(_R), MoveUnit.Degrees);
+        motors.mediumC.run(-100, Math.abs(_R), MoveUnit.Degrees);
     }
 }
 
@@ -304,15 +304,15 @@ function PPP() {
     IS(2);
     UP();
     pause(100)
-    motors.largeA.setSpeed(-30, 70, MoveUnit.Degrees);
+    motors.largeA.run(-30, 70, MoveUnit.Degrees);
     pause(800);
     music.playSoundEffect(sounds.mechanicalHorn1);
     pause(1000);
     for(let i = 0; i < 3; ++i) {
-        motors.largeA.setSpeed(-30, 20, MoveUnit.Degrees);
-        motors.largeA.setSpeed(30, 20, MoveUnit.Degrees);
+        motors.largeA.run(-30, 20, MoveUnit.Degrees);
+        motors.largeA.run(30, 20, MoveUnit.Degrees);
     }
-    motors.largeA.setSpeed(30, 70, MoveUnit.Degrees);
+    motors.largeA.run(30, 70, MoveUnit.Degrees);
     F_C = 1;
     CS(0);
 }
@@ -320,12 +320,12 @@ function PPP() {
 function HPY() {
     IS(8)
     MHT(0);
-    motors.largeAD.setSpeed(10, 0.8, MoveUnit.Seconds);
+    motors.largeAD.run(10, 0.8, MoveUnit.Seconds);
     for(let i = 0; i < 3; ++i) {
         music.playSoundEffect(sounds.animalsDogBark1);
-        motors.largeAD.setSpeed(-100, 0.2, MoveUnit.Seconds);
+        motors.largeAD.run(-100, 0.2, MoveUnit.Seconds);
         pause(300)
-        motors.largeAD.setSpeed(10, 0.3, MoveUnit.Seconds)
+        motors.largeAD.run(10, 0.3, MoveUnit.Seconds)
     }
     pause(500);
     music.stopAllSounds();
@@ -335,9 +335,9 @@ function HPY() {
 
 function STL() {
     UP();
-    motors.largeAD.setSpeed(-20, 60, MoveUnit.Degrees);
+    motors.largeAD.run(-20, 60, MoveUnit.Degrees);
     music.playSoundEffect(sounds.animalsDogWhine);
-    motors.largeAD.setSpeed(20, 60, MoveUnit.Degrees);
+    motors.largeAD.run(20, 60, MoveUnit.Degrees);
 }
 
 function WKU() {

docs/examples/core-set/robotarm-labview.md

@@ -5,14 +5,14 @@ function INI() {
     motors.largeB.setBrake(true)
     motors.largeC.setBrake(true)
     motors.mediumA.setBrake(true)
-    motors.largeB.setSpeed(-50)
+    motors.largeB.run(-50)
     pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
     motors.largeB.stop();
-    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds);
-    motors.mediumA.setSpeed(-50, 90, MoveUnit.Degrees);
-    motors.largeC.setSpeed(50)
+    motors.mediumA.run(30, 1, MoveUnit.Seconds);
+    motors.mediumA.run(-50, 90, MoveUnit.Degrees);
+    motors.largeC.run(50)
     sensors.touch1.pauseUntil(ButtonEvent.Pressed);
-    motors.largeC.setSpeed(-50, 0.86, MoveUnit.Rotations);
+    motors.largeC.run(-50, 0.86, MoveUnit.Rotations);
 }
 
 INI()
@@ -27,24 +27,24 @@ forever(function () {
     brick.showImage(images.informationAccept)
     if (down) {
         brick.showImage(images.informationForward)
-        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+        motors.largeC.run(65, 0.85, MoveUnit.Rotations);
     } else {
         brick.showImage(images.informationBackward)
-        motors.largeC.setSpeed(-65, 0.85, MoveUnit.Rotations);
+        motors.largeC.run(-65, 0.85, MoveUnit.Rotations);
     }
-    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees)
-    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds)
-    motors.largeB.setSpeed(-55)
+    motors.largeB.run(20, 275, MoveUnit.Degrees)
+    motors.mediumA.run(30, 1, MoveUnit.Seconds)
+    motors.largeB.run(-55)
     pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
     motors.largeB.stop();
     if (down) {
-        motors.largeC.setSpeed(-65, 0.86, MoveUnit.Rotations);
+        motors.largeC.run(-65, 0.86, MoveUnit.Rotations);
     } else {
-        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+        motors.largeC.run(65, 0.85, MoveUnit.Rotations);
     }
-    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees);
-    motors.mediumA.setSpeed(-30, 90, MoveUnit.Degrees);
-    motors.largeB.setSpeed(-55)
+    motors.largeB.run(20, 275, MoveUnit.Degrees);
+    motors.mediumA.run(-30, 90, MoveUnit.Degrees);
+    motors.largeB.run(-55)
     pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
     motors.largeB.stop()
 })

docs/examples/crane-labview.md

@@ -5,14 +5,14 @@ function INI() {
     motors.largeB.setBrake(true)
     motors.largeC.setBrake(true)
     motors.mediumA.setBrake(true)
-    motors.largeB.setSpeed(-50)
+    motors.largeB.run(-50)
     pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
     motors.largeB.stop();
-    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds);
-    motors.mediumA.setSpeed(-50, 90, MoveUnit.Degrees);
-    motors.largeC.setSpeed(50)
+    motors.mediumA.run(30, 1, MoveUnit.Seconds);
+    motors.mediumA.run(-50, 90, MoveUnit.Degrees);
+    motors.largeC.run(50)
     sensors.touch1.pauseUntil(ButtonEvent.Pressed);
-    motors.largeC.setSpeed(-50, 0.86, MoveUnit.Rotations);
+    motors.largeC.run(-50, 0.86, MoveUnit.Rotations);
 }
 
 INI()
@@ -27,24 +27,24 @@ forever(function () {
     brick.showImage(images.informationAccept)
     if (down) {
         brick.showImage(images.informationForward)
-        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+        motors.largeC.run(65, 0.85, MoveUnit.Rotations);
     } else {
         brick.showImage(images.informationBackward)
-        motors.largeC.setSpeed(-65, 0.85, MoveUnit.Rotations);
+        motors.largeC.run(-65, 0.85, MoveUnit.Rotations);
     }
-    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees)
-    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds)
-    motors.largeB.setSpeed(-55)
+    motors.largeB.run(20, 275, MoveUnit.Degrees)
+    motors.mediumA.run(30, 1, MoveUnit.Seconds)
+    motors.largeB.run(-55)
     pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
     motors.largeB.stop();
     if (down) {
-        motors.largeC.setSpeed(-65, 0.86, MoveUnit.Rotations);
+        motors.largeC.run(-65, 0.86, MoveUnit.Rotations);
     } else {
-        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+        motors.largeC.run(65, 0.85, MoveUnit.Rotations);
     }
-    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees);
-    motors.mediumA.setSpeed(-30, 90, MoveUnit.Degrees);
-    motors.largeB.setSpeed(-55)
+    motors.largeB.run(20, 275, MoveUnit.Degrees);
+    motors.mediumA.run(-30, 90, MoveUnit.Degrees);
+    motors.largeB.run(-55)
     pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
     motors.largeB.stop()
 })

docs/examples/distance-measurer.md

@@ -0,0 +1,34 @@
+# Distance Measurer
+
+```blocks
+let distance = 0
+let angle = 0
+let measuring = false
+let radius = 0
+// Start and stop measuring with the enter button
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    if (measuring) {
+        // turn off the measuring
+        measuring = false
+        brick.setStatusLight(StatusLight.Off)
+    } else {
+        // turn on the measuring clear the counters so that
+        // the motor tracks the angle
+        measuring = true
+        motors.largeB.clearCounts()
+        brick.setStatusLight(StatusLight.GreenPulse)
+    }
+})
+radius = 2.5
+brick.showString("Press ENTER to measure", 4)
+forever(function () {
+    if (measuring) {
+        angle = motors.largeB.angle()
+        distance = angle / 180 * Math.PI * radius
+        brick.clearScreen()
+        brick.showValue("angle", angle, 2)
+        brick.showValue("distance", distance, 3)
+    }
+    pause(100)
+})
+```

docs/examples/gyro-boy-labview.md

@@ -137,8 +137,8 @@ forever(function () {
         GM();
         EQ();
         cntrl();
-        motors.largeA.setSpeed(lpwr)
-        motors.largeD.setSpeed(rpwr)
+        motors.largeA.run(lpwr)
+        motors.largeD.run(rpwr)
         CHK()
         let t2 = control.timer1.millis();
         let p = 5 - (t2 - t1);
@@ -196,9 +196,9 @@ forever(function () {
                 Cstr = 0;
                 oldDr = Cdrv;
                 Cdrv = -10;
-                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
-                motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
-                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                motors.mediumC.run(30, 30, MoveUnit.Degrees);
+                motors.mediumC.run(-30, 60, MoveUnit.Degrees);
+                motors.mediumC.run(30, 30, MoveUnit.Degrees);
                 if (Math.randomRange(-1, 1) >= 1)
                     Cstr = 70;
                 else

docs/examples/line-follower-pid.md

@@ -43,7 +43,7 @@ forever(function () {
     motors.largeBC.steer(P + (I + D), 100)
     lasterror = error
     if (brick.buttonEnter.wasPressed()) {
-        motors.largeBC.setSpeed(0)
+        motors.largeBC.run(0)
         brick.buttonDown.pauseUntil(ButtonEvent.Bumped)
     }
 })

docs/index-ref.json

@@ -1,3 +1,3 @@
 {
-    "appref": "v"
+    "appref": "v0.0.104"
 }

docs/labview.md

@@ -14,7 +14,7 @@ Take a look a the LabView program below: it **starts**, turns on motor A, waits
 The blocks in MakeCode have similar functions and go together in the same way: they snap into the ``||loops:on start||`` block and then connect to each other vertically.
 
 ```blocks
-motors.largeA.setSpeed(50)
+motors.largeA.run(50)
 pause(1000)
 motors.largeA.stop()
 ```
@@ -22,7 +22,7 @@ motors.largeA.stop()
 Any block program can be converted to JavaScript and you can edit it as lines of code too.
 
 ```typescript
-motors.largeA.setSpeed(50)
+motors.largeA.run(50)
 pause(1000)
 motors.largeA.stop()
 ```
@@ -40,10 +40,10 @@ This program controls a large motor on port A in several different ways. It sets
 ![Single motor blocks](/static/labview/motors.png)       
 
 ```blocks
-motors.largeA.setSpeed(50);
-motors.largeA.setSpeed(50, 1000, MoveUnit.MilliSeconds);
-motors.largeA.setSpeed(50, 360, MoveUnit.Degrees);
-motors.largeA.setSpeed(50, 1, MoveUnit.Rotations);
+motors.largeA.run(50);
+motors.largeA.run(50, 1000, MoveUnit.MilliSeconds);
+motors.largeA.run(50, 360, MoveUnit.Degrees);
+motors.largeA.run(50, 1, MoveUnit.Rotations);
 motors.largeA.stop();
 ```
 
@@ -83,7 +83,7 @@ By default, all motors coast when any command used to move finishes. You can kee
 
 ```blocks
 motors.largeD.setBrake(true);
-motors.largeD.setSpeed(50, 1, MoveUnit.Rotations)
+motors.largeD.run(50, 1, MoveUnit.Rotations)
 ```
 
 ## Inverting and regulating motors
@@ -132,7 +132,7 @@ It is quite common to have to wait for a task to finish or for a sensor state to
 ![pause for time](/static/labview/pausefortime.png)      
 
 ```blocks
-motors.largeD.setSpeed(50)
+motors.largeD.run(50)
 pause(1000)
 motors.largeD.stop();
 ```
@@ -140,7 +140,7 @@ motors.largeD.stop();
 ![pause for touch](/static/labview/pausefortouch.png)
 
 ```blocks
-motors.largeD.setSpeed(50)
+motors.largeD.run(50)
 sensors.touch1.pauseUntil(ButtonEvent.Pressed)
 motors.largeD.stop();
 ```
@@ -148,7 +148,7 @@ motors.largeD.stop();
 ![pause for distance](/static/labview/pausefordistance.png)
 
 ```blocks
-motors.largeD.setSpeed(50)
+motors.largeD.run(50)
 sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear)
 motors.largeD.stop();
 ```
@@ -156,7 +156,7 @@ motors.largeD.stop();
 You can also use the ``||loops:pause until||`` block to wait on any [boolean](/types/boolean) expression. As your program runs, it waits until the condition (expression) inside becomes true.
 
 ```blocks
-motors.largeD.setSpeed(50)
+motors.largeD.run(50)
 pauseUntil(() => sensors.touch1.isPressed())
 motors.largeD.stop()
 ```
@@ -167,8 +167,8 @@ motors.largeD.stop()
 
 ```blocks
 forever(() => {
-    motors.largeD.setSpeed(50, 1, MoveUnit.Rotations);
-    motors.largeD.setSpeed(-50, 1, MoveUnit.Rotations);
+    motors.largeD.run(50, 1, MoveUnit.Rotations);
+    motors.largeD.run(-50, 1, MoveUnit.Rotations);
 })
 ```
 
@@ -176,13 +176,13 @@ forever(() => {
 
 ```blocks
 for(let i = 0; i < 10; i++) {
-    motors.largeD.setSpeed(50, 1, MoveUnit.Rotations);
-    motors.largeD.setSpeed(-50, 1, MoveUnit.Rotations);
+    motors.largeD.run(50, 1, MoveUnit.Rotations);
+    motors.largeD.run(-50, 1, MoveUnit.Rotations);
 }
 let k = 0;
 while(k < 10) {
-    motors.largeD.setSpeed(50, 1, MoveUnit.Rotations);
-    motors.largeD.setSpeed(-50, 1, MoveUnit.Rotations);    
+    motors.largeD.run(50, 1, MoveUnit.Rotations);
+    motors.largeD.run(-50, 1, MoveUnit.Rotations);    
     k++;
 }
 ```
@@ -195,7 +195,7 @@ while(k < 10) {
 let light = 0;
 forever(function () {
     light = sensors.color3.light(LightIntensityMode.Reflected);
-    motors.largeD.setSpeed(light)
+    motors.largeD.run(light)
 })
 ```
 
@@ -207,8 +207,8 @@ You can start up multiple ``||loops:forever||`` loops that will run at the same
 
 ```blocks
 forever(() => {
-    motors.largeD.setSpeed(50, 1, MoveUnit.Rotations);
-    motors.largeD.setSpeed(-50, 1, MoveUnit.Rotations);
+    motors.largeD.run(50, 1, MoveUnit.Rotations);
+    motors.largeD.run(-50, 1, MoveUnit.Rotations);
 })
 forever(() => {
     brick.showImage(images.eyesMiddleRight)
@@ -227,7 +227,7 @@ The ``||logic:if||`` block allows you to run different code depending on whether
 ```blocks
 forever(function() {
     if(sensors.touch1.isPressed()) {
-        motors.largeD.setSpeed(50)
+        motors.largeD.run(50)
     } else {
         motors.largeD.stop()
     }

docs/lessons/line-detection.md

@@ -213,13 +213,13 @@ music.playSoundEffect(sounds.systemGeneralAlert)
 }
 while (true) {
     while (true) {      sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
-        motors.largeB.setSpeed(10)
-        motors.largeC.setSpeed(-10)
+        motors.largeB.run(10)
+        motors.largeC.run(-10)
     }
     while (true) {
         sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
-        motors.largeA.setSpeed(-10)
-        motors.largeA.setSpeed(10)
+        motors.largeA.run(-10)
+        motors.largeA.run(10)
     }
 }
 ```
@@ -235,13 +235,13 @@ You will need to constantly debug your program in order to make your robot trave
 ```blocks
 while (true) {
     while (true) {   sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
-        motors.largeB.setSpeed(10)
-        motors.largeC.setSpeed(-10)
+        motors.largeB.run(10)
+        motors.largeC.run(-10)
     }
     while (true) {
         sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
-        motors.largeB.setSpeed(-10)
-        motors.largeC.setSpeed(10)
+        motors.largeB.run(-10)
+        motors.largeC.run(10)
     }
 }
 ```

docs/maker/puppet.md

@@ -4,11 +4,11 @@ Use this program with the Programmable Brick and Large Motor.
 
 ```blocks
 forever(function () {
-    motors.largeA.setSpeed(30)
+    motors.largeA.run(30)
     pause(100)
     motors.largeA.stop()
     music.playSoundEffectUntilDone(sounds.animalsCatPurr)
-    motors.largeA.setSpeed(-30)
+    motors.largeA.run(-30)
     pause(100)
     motors.largeA.stop()
 })

docs/maker/sound-machine.md

@@ -4,9 +4,9 @@ This example program combined with the small model will make a beat and rhythm o
 
 ```blocks
 forever(function () {
-    motors.largeA.setSpeed(50)
+    motors.largeA.run(50)
     pause(200)
-    motors.largeA.setSpeed(100)
+    motors.largeA.run(100)
     pause(200)
 })
 ``` 

docs/reference.md

@@ -1,9 +1,16 @@
 # Reference
 
 ```namespaces
-brick.showMood(moods.sleeping);
 sensors.color(null);
 motors.stopAll();
+brick.showMood(moods.sleeping);
+```
+
+## Advanced
+
+```namespaces
+console.log("");
+control.runInParallel(function(){});
 ```
 
 ## See Also
@@ -11,5 +18,5 @@ motors.stopAll();
 [brick](/reference/brick),
 [sensors](/reference/sensors),
 [motors](/reference/motors),
-[touch sensor](/reference/sensors/touch-sensor),
-[color sensor](/reference/sensors/color-sensor)
+[control](/reference/control),
+[console](/reference/console)

docs/reference/console.md

@@ -0,0 +1,15 @@
+# Console
+
+Output text and data values to the console.
+
+```cards
+console.log("");
+console.logValue("x", 0);
+console.sendToScreen();
+```
+
+## See also
+
+[log](/reference/console/log),
+[log value](/reference/console/log-value),
+[send to screen](/reference/console/send-to-screen)

docs/reference/console/send-to-screen.md

@@ -0,0 +1,26 @@
+# send To Screen
+
+Direct the console output to go to the @boardname@ screen.
+
+```sig
+console.sendToScreen();
+```
+
+A "console" is a place for a user to see special messages from a device. It could be  something connected to a serial port, a display that shows text, or even a text file. A console is typically used as a place to send information that is added to a message _log_ (a record of messages that are sent from a device). Your program can send log messages using the [console](/reference/console) functions. The MakeCode editor has a console view that lets you see the console output when your program runs in the simulator.
+
+On the @boardname@, the screen can serve as a console too and you can make your console output go there. Before using the console log functions, set the screen as the console output location.
+
+## Example
+
+Direct the console output to go to the screen. Show 20 values on the screen. Use the up and down buttons to scroll through the values.
+
+```blocks
+console.sendToScreen()
+for (let index = 0; index <= 20; index++) {
+    console.logValue("index", index)
+}
+```
+
+## See also
+
+[log](reference/console/log), [log value](/reference/console/log-value)

docs/reference/control.md

@@ -0,0 +1,33 @@
+# Control
+
+Program controls and events.
+
+```cards
+control.millis();
+control.runInParallel(() => {
+    
+});
+control.reset();
+control.waitMicros(4);
+control.deviceSerialNumber();
+```
+
+## Timer
+
+```cards
+control.timer1.reset()
+control.timer1.pauseUntil(5)
+control.timer1.millis()
+control.timer1.seconds()
+```
+
+## Advanced #advanced
+
+```cards
+control.raiseEvent(0, 0);
+control.onEvent(0, 0, () => {
+    
+});
+control.assert(false, 0);
+control.panic(0);
+```

docs/reference/control/timer.md

@@ -0,0 +1,8 @@
+# Timer
+
+```cards
+control.timer1.reset()
+control.timer1.pauseUntil(5)
+control.timer1.millis()
+control.timer1.seconds()
+```

docs/reference/control/timer/millis.md

@@ -0,0 +1,25 @@
+# millis
+
+Get the amount of time counted by the timer in milliseconds.
+
+The timer count begins from `0` when you program starts or is [reset](/reference/control/timer/reset). 
+
+## Returns
+
+* a [number](/types/number) that is the amount of time elapsed, in milliseconds, since the timer was started or reset.
+
+## Example
+
+Find out how many milliseconds go by between presses of the `down` button on the brick.
+
+```blocks
+brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
+    brick.showValue("DownButtonTime", control.timer1.millis(), 1)
+    control.timer1.reset()
+})
+```
+
+## See also
+
+[seconds](/reference/control/timer/seconds), [reset](/reference/control/timer/reset)
+

docs/reference/control/timer/pause-until.md

@@ -0,0 +1,32 @@
+# pauseUntil
+
+Pause until the timer counts up to a number of milliseconds.
+
+```sig
+control.timer1.pauseUntil(0)
+```
+
+When code in a block comes to a **pauseUntil**, it will wait until the timer count reaches the number of milliseconds you say. Code in blocks like **forever** and **runInParallel** will keep running while the current code is paused.
+
+The time number you give is the number of milliseconds past the running timer count. If the timer is currently at `25000` milliseconds and you want to pause for `10` seconds, then use a pause time of `35000`. If you want your pause time number to match the actual wait time, then [reset](/reference/control/timer/reset) the timer first.
+
+## Parameters
+
+* **ms**: the [number](/types/number) of milliseconds that you want the timer to count up to. For seconds, convert to milliseconds: 100 milliseconds = 1/10 second and 1000 milliseconds = 1 second.
+
+## Example
+
+Pause between messages on the screen by `5` seconds.
+
+```blocks
+brick.clearScreen()
+brick.showString("Testing my pause...", 1)
+let startTime = control.timer1.millis()
+brick.showValue("StartTime", startTime, 3)
+control.timer1.pauseUntil(startTime + 5000)
+brick.showValue("EndTime", control.timer1.millis() - startTime, 4)
+```
+
+## See also
+
+[millis](/reference/control/timer/millis), [reset](/reference/control/timer/reset)

docs/reference/control/timer/reset.md

@@ -0,0 +1,49 @@
+# reset
+
+Reset the elapsed time of the timer back to `0`.
+
+```sig
+control.timer1.reset()
+```
+
+A timer starts counting from `0` when your program starts. It's time value always gets larger as your program runs. Maybe you want to meausure how long some task takes to finish or you want to do some action  only for a little while. A timer can keep track of the time it takes to do it.
+
+Resetting the timer sets the time value to `0` so the next time you check the time it's exactly the amount of time that has _elapsed_. Otherwise, you need to remember a start time value and then subtract it from the current time. 
+
+## Examples
+
+### Press time
+
+Find out how much time goes by between presses of the `enter` button on the brick.
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    brick.showValue("PressTime", control.timer1.seconds(), 1)
+    control.timer1.reset()
+})
+```
+
+### Difference timer
+
+Use a difference timer and compare it to a timer that resets. Use the ``left`` button to start timing and the ``right`` button to stop.
+
+```blocks
+let startTime = 0
+let timing = false
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    brick.clearScreen()
+    brick.showString("Starting timers...", 1)
+    startTime = control.timer1.seconds()
+    control.timer2.reset()
+    timing = true
+})
+brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
+    if (timing) {
+        brick.clearScreen()
+        brick.showString("Timer results...", 1)
+        brick.showValue("timer 1", control.timer1.seconds() - startTime, 3)
+        brick.showValue("timer 2", control.timer2.seconds(), 4)
+        timing = false;
+    }
+})
+```

docs/reference/control/timer/seconds.md

@@ -0,0 +1,25 @@
+# seconds
+
+Get the amount of time counted by the timer in seconds.
+
+The timer count begins from `0` when you program starts or is [reset](/reference/control/timer/reset). The number of seconds returned also includes milliseconds if there is a fractional part of a second too.
+
+## Returns
+
+* a [number](/types/number) that is the amount of time elapsed, in seconds, since the timer was started or reset.
+
+## Example
+
+Find out how many seconds go by between presses of the `down` button on the brick.
+
+```blocks
+brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
+    brick.showValue("DownButtonTime", control.timer1.seconds(), 1)
+    control.timer1.reset()
+})
+```
+
+## See also
+
+[millis](/reference/control/timer/millis), [reset](/reference/control/timer/reset)
+

docs/reference/motors.md

@@ -3,7 +3,7 @@
 ## Motion
 
 ```cards
-motors.largeA.setSpeed(50)
+motors.largeA.run(50)
 motors.largeAB.tank(50, 50)
 motors.largeAB.steer(0, 50)
 motors.largeA.pauseUntilReady()

docs/reference/motors/motor/angle.md

@@ -19,7 +19,7 @@ Reset the motor connected to port **A** and run it for for 2 seconds at a speed
 ```blocks
 let motorAngle = 0;
 motors.largeA.reset()
-motors.largeA.setSpeed(45)
+motors.largeA.run(45)
 pause(2000)
 motors.largeA.stop()
 motorAngle = motors.largeA.angle()

docs/reference/motors/motor/clear-counts.md

@@ -15,11 +15,11 @@ See if the motor turns the same number of times for each of two count periods. R
 ```blocks
 let tachoCount = 0;
 motors.largeA.reset()
-motors.largeA.setSpeed(50)
+motors.largeA.run(50)
 pause(10000)
 tachoCount = motors.largeA.tacho()
 motors.largeA.clearCounts()
-motors.largeA.setSpeed(50)
+motors.largeA.run(50)
 pause(10000)
 if (tachoCount == motors.largeA.tacho()) {
     brick.showString("Motor turns equal.", 1)

docs/reference/motors/motor/reset.md

@@ -13,12 +13,12 @@ The motor's speed is set back to `0` and the **tacho**, **angle**, and **speed**
 See what the angle count is when a motor is stopped. Then, try it again after a reset.
 
 ```blocks
-motors.largeA.setSpeed(30)
+motors.largeA.run(30)
 pause(2000)
 motors.largeA.stop()
 brick.showString("Angle count:", 1)
 brick.showNumber(motors.largeA.angle(), 2)
-motors.largeA.setSpeed(30)
+motors.largeA.run(30)
 pause(2000)
 motors.largeA.reset()
 brick.showString("Angle count:", 4)

docs/reference/motors/motor/run.md

@@ -1,9 +1,9 @@
-# set Speed
+# run
 
 Set the rotation speed of the motor as a percentage of maximum speed.
 
 ```sig
-motors.largeA.setSpeed(50)
+motors.largeA.run(50)
 ```
 
 The speed setting is a pecentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
@@ -19,28 +19,28 @@ If you use a number of milliseconds as movement units, then you don't need to in
 To run the motor for 500 milliseconds:
 
 ```block
-motors.largeA.setSpeed(50, 500)
+motors.largeA.run(50, 500)
 ```
 
 ## ~
 
 Here is how you use each different movement unit to run the motor for a fixed rotation distance.
 
-```typescript
+```blocks
 // Run motor for 700 Milliseconds. 
-motors.largeA.setSpeed(25, 700, MoveUnit.MilliSeconds);
+motors.largeA.run(25, 700, MoveUnit.MilliSeconds);
 
 // Run motor for 700 Milliseconds again but no units specified. 
-motors.largeA.setSpeed(25, 700);
+motors.largeA.run(25, 700);
 
 // Run the motor for 45 seconds
-motors.largeA.setSpeed(50, 45, MoveUnit.Seconds);
+motors.largeA.run(50, 45, MoveUnit.Seconds);
 
 // Turn the motor for 270 degrees
-motors.largeA.setSpeed(50, 270, MoveUnit.Degrees)
+motors.largeA.run(50, 270, MoveUnit.Degrees)
 
 // Turn the motor at full speed for 9 full rotations
-motors.largeA.setSpeed(100, 9, MoveUnit.Rotations);
+motors.largeA.run(100, 9, MoveUnit.Rotations);
 ```
 
 ## Parameters
@@ -56,7 +56,7 @@ motors.largeA.setSpeed(100, 9, MoveUnit.Rotations);
 Turning the motor in the opposite direction (reverse) is simple. Reverse is just a negative speed setting. To drive the motor in reverse at 25% speed:
 
 ```block
-motors.largeB.setSpeed(-25)
+motors.largeB.run(-25)
 ```
 
 ## ~
@@ -68,7 +68,7 @@ motors.largeB.setSpeed(-25)
 Run the motor connected to port **A** continuously. Pause 20 seconds and then stop the motor.
 
 ```blocks
-motors.largeA.setSpeed(75)
+motors.largeA.run(75)
 pause(20000)
 motors.largeA.stop()
 ```
@@ -78,7 +78,7 @@ motors.largeA.stop()
 Run the motor connected to port **A** in reverse. Pause 5 seconds and then stop the motor.
 
 ```blocks
-motors.largeA.setSpeed(-60)
+motors.largeA.run(-60)
 pause(5000)
 motors.largeA.stop()
 ```
@@ -88,7 +88,7 @@ motors.largeA.stop()
 Run the motor connected to port **B** for 35 full rotations and then stop.
 
 ```blocks
-motors.largeB.setSpeed(50, 35, MoveUnit.Rotations)
+motors.largeB.run(50, 35, MoveUnit.Rotations)
 ```
 
 ## See also

docs/reference/motors/motor/set-brake.md

@@ -19,7 +19,7 @@ Also, you can use the brake to do simple skid steering for your brick.
 Run the motor connected to port **A** for 2 seconds at a speed of `30`. Stop and set the brake.
 
 ```blocks
-motors.largeA.setSpeed(30)
+motors.largeA.run(30)
 pause(2000)
 motors.largeA.stop()
 motors.largeA.setBrake(true)

docs/reference/motors/motor/set-inverted.md

@@ -17,12 +17,12 @@ You use a positive value (some number greater than `0`) to drive you motor in th
 Run the motor connected to port **A** for 2 seconds at a speed of `30`. Stop and switch the direciton of rotation. Run the motor at a speed of `-30`. Watch and see if the motor turns in the same direction as before.
 
 ```blocks
-motors.largeA.setSpeed(30)
+motors.largeA.run(30)
 pause(2000)
 motors.largeA.stop()
 pause(2000)
 motors.largeA.setInverted(true)
-motors.largeA.setSpeed(-30)
+motors.largeA.run(-30)
 pause(2000)
 motors.largeA.stop()
 ```

docs/reference/motors/motor/set-regulated.md

@@ -22,11 +22,11 @@ Turn off the speed regulation for the motor connected to port **A**.
 
 ```blocks
 motors.largeA.setRegulated(false)
-motors.largeA.setSpeed(75)
+motors.largeA.run(75)
 pause(20000)
 motors.largeA.stop()
 ```
 
 ## See also
 
-[set speed](/reference/motors/motor/set-speed), [stop](/reference/motors/motor/stop)
+[run](/reference/motors/motor/run), [stop](/reference/motors/motor/stop)

docs/reference/motors/motor/speed.md

@@ -6,7 +6,7 @@ Get the current speed of motor rotation as a percentage of maximum speed.
 motors.largeA.speed()
 ```
 
-The actual speed of the motor is the same or very close to it's current speed setting when the motor is regulated. If not regulated, the actual speed can change from the set speed when a force, or load, is applied to it.
+The actual speed of the motor is the same or very close to it's current speed setting when the motor is regulated. If not regulated, the actual speed can change from the speed you told it to run at (your desired or _set point_ speed) when a force, or load, is applied to it.
 
 ## Returns
 
@@ -18,7 +18,7 @@ Turn speed regulation off and report the actual speed of the large motor in the
 
 ```blocks
 motors.largeA.setRegulated(false)
-motors.largeA.setSpeed(55)
+motors.largeA.run(55)
 brick.showString("Actual speed:", 1)
 for (let i = 0; i < 30; i++) {
     pause(500)

docs/reference/motors/motor/stop.md

@@ -13,11 +13,11 @@ The motor stops but any motion caused from previously running the motor continue
 Run the motor connected to port **A** for 2 seconds at a speed of `30`. Stop and wait for 2 seconds, then continue at a speed of `50`.
 
 ```blocks
-motors.largeA.setSpeed(30)
+motors.largeA.run(30)
 pause(2000)
 motors.largeA.stop()
 pause(2000)
-motors.largeA.setSpeed(50)
+motors.largeA.run(50)
 ```
 
 ## See also

docs/reference/motors/motor/tacho.md

@@ -33,12 +33,12 @@ A standard way to know how fast a motor is turning is by measuring its _revoluti
 Run the motor connected to port **A** at half speed for 5 seconds. Display the number of full rotations on the screen.
 
 ```blocks
-motors.largeA.setSpeed(50)
+motors.largeA.run(50)
 pause(5000)
 motors.largeA.stop()
 brick.showString("Motor rotations:", 1)
 brick.showNumber(motors.largeA.tacho() / 360, 3)
-motors.largeA.setSpeed(50)
+motors.largeA.run(50)
 ```
 
 ## See also

docs/reference/motors/synced/steer.md

@@ -18,7 +18,7 @@ The speed setting is a pecentage of the motor's full speed. Full speed is the sp
 
 If you use just the **speed** number, the motors run continously and won't stop unless you tell them to. You can also give a value for a certain amount of distance you want the motors to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
 
-If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**. Also, if you use a number of milliseconds as movement units, then you don't need to include the unit type. The description in [set speed](/reference/motors/motor/set-speed) shows how to use different movement units.
+If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**. Also, if you use a number of milliseconds as movement units, then you don't need to include the unit type. The description in [run](/reference/motors/motor/run) shows how to use different movement units.
 
 ## Parameters
 
@@ -81,4 +81,4 @@ motors.stopAll()
 
 ## See also
 
-[tank](/reference/motors/synced/tank), [set speed](/reference/motors/motor/set-speed)
+[tank](/reference/motors/synced/tank), [run](/reference/motors/motor/run)

docs/reference/motors/synced/tank.md

@@ -14,7 +14,7 @@ The speed setting is a pecentage of the motor's full speed. Full speed is the sp
 
 If you use just the **speed** number, the motors run continously and won't stop unless you tell them to. You can also give a value for a certain amount of distance you want the motors to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
 
-If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**. Also, if you use a number of milliseconds as movement units, then you don't need to include the unit type. The description in [set speed](/reference/motors/motor/set-speed) shows how to use different movement units.
+If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**. Also, if you use a number of milliseconds as movement units, then you don't need to include the unit type. The description in [run](/reference/motors/motor/run) shows how to use different movement units.
 
 ## Parameters
 
@@ -78,4 +78,4 @@ motors.stopAll()
 
 ## See also
 
-[steer](/reference/motors/synced/steer), [set speed](/reference/motors/motor/set-speed)
+[steer](/reference/motors/synced/steer), [run](/reference/motors/motor/run)

docs/reference/sensors.md

@@ -1,5 +1,17 @@
 # Sensors
 
+# Color
+
+```cards
+sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {})
+sensors.color1.onLightChanged(LightIntensityMode.Reflected, LightCondition.Dark, function () {})
+sensors.color1.pauseForLight(LightIntensityMode.Reflected, LightCondition.Dark)
+sensors.color1.pauseForColor(ColorSensorColor.Blue)
+sensors.color1.color();
+sensors.color1.light(LightIntensityMode.Ambient)
+sensors.color(ColorSensorColor.Blue)
+```
+
 ## Touch
 
 ```cards
@@ -24,3 +36,22 @@ sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectDetected, function () {}
 sensors.ultrasonic1.distance();
 sensors.ultrasonic1.pauseUntil(UltrasonicSensorEvent.ObjectDetected);
 ```
+
+## Infrared
+
+```cards
+sensors.infrared1.onEvent(null, function () {});
+sensors.infrared1.pauseUntil(null);
+sensors.infrared1.proximity();
+
+```
+
+## Infrared beacon button
+
+```cards
+sensors.remoteButtonCenter.onEvent(ButtonEvent.Pressed, function () {})
+sensors.remoteButtonCenter.pauseUntil(ButtonEvent.Pressed);
+sensors.remoteButtonCenter.isPressed()
+sensors.remoteButtonCenter.wasPressed()
+sensors.infrared1.setRemoteChannel(null)
+```

docs/static/avatar.svg

@@ -5,105 +5,53 @@
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 	 style="enable-background:new 0 0 32 32;" xml:space="preserve">
 <style type="text/css">
-	.st0{fill:#303030;}
+	.st0{fill:#DE0612;}
+	.st1{fill:#FFFFFF;stroke:#FFFFFF;stroke-width:0.4;stroke-miterlimit:10;}
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+			l0.2-0.5l-0.2-0.5L18,3.9L17,3.6L16,3.6l-1.1,0.1L14,3.9l-0.6,0.4l-0.2,0.5l0.2,0.5L14,5.7L14.9,5.9z M16,15.8
+			C16,15.8,16,15.8,16,15.8l-1.3-0.2c0,0,0,0,0,0l-1.1-0.4c0,0,0,0,0,0l-0.7-0.6c0,0,0,0,0,0l-0.2-0.7c0,0,0,0,0,0l0-2l0,0
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+			l0.7,0.6L14.7,13.5z"/>
+	</g>
 </g>
 </svg>

docs/static/fonts/icons/iconfont.css

@@ -1,8 +1,8 @@
 @font-face {
 	font-family: "iconfont";
-	src: url("iconfont.eot?8b7e57577c2d1f1ae9e810b9e010bc84?#iefix") format("embedded-opentype"),
-url("iconfont.woff2?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff2"),
-url("iconfont.woff?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff");
+	src: url("iconfont.eot?92b07c6c5392088e45983d845234d068?#iefix") format("embedded-opentype"),
+url("iconfont.woff2?92b07c6c5392088e45983d845234d068") format("woff2"),
+url("iconfont.woff?92b07c6c5392088e45983d845234d068") format("woff");
 }
 
 .icon {
@@ -91,3 +91,6 @@ url("iconfont.woff?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff");
 .icon-blocks:before {
 	content: "\f119";
 }
+.icon-search:before {
+	content: "\f11a";
+}

docs/static/fonts/icons/iconfont.svg

@@ -82,6 +82,9 @@
     <glyph glyph-name="blocks"
       unicode="&#xF119;"
       horiz-adv-x="40" d=" M10.9 23H39V16.9H10.9V23z M39.2 27.1L39.2 33L0.9 33L0.9 31.1L0.9 27.1L0.9 12.9L0.9 7L39.2 7L39.2 12.9L6.9 12.9L6.9 27.1z" />
+    <glyph glyph-name="search"
+      unicode="&#xF11A;"
+      horiz-adv-x="40" d=" M38.6 4.9L29.6 13.9C31.5 16.5 32.7 19.7 32.7 23.1C32.7 31.8 25.7 38.8 17 38.8C8.3 38.8 1.4 31.8 1.4 23.1C1.4 14.4 8.3 7.5 17 7.5C20.3 7.5 23.3 8.5 25.9 10.3L35 1.2L38.6 4.9zM17 12.7C11.3 12.7 6.6 17.4 6.6 23.1S11.3 33.6 17 33.6S27.5 28.9 27.5 23.1S22.8 12.7 17 12.7z" />
   </font>
 </defs>
 </svg>

editor/extension.ts

@@ -7,6 +7,7 @@ import { FieldImages } from "./field_images";
 import { FieldSpeed } from "./field_speed";
 import { FieldBrickButtons } from "./field_brickbuttons";
 import { FieldTurnRatio } from "./field_turnratio";
+import { FieldColorEnum } from "./field_color";
 
 pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
     pxt.debug('loading pxt-ev3 target extensions...')
@@ -27,6 +28,9 @@ pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): P
         }, {
             selector: "turnratio",
             editor: FieldTurnRatio
+        }, {
+            selector: "colorenum",
+            editor: FieldColorEnum
         }],
         deployCoreAsync,
         showUploadInstructionsAsync: (fn: string, url: string, confirmAsync: (options: any) => Promise<number>) => {

editor/field_color.ts

@@ -0,0 +1,71 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldColorEnumOptions extends pxtblockly.FieldColourNumberOptions {
+}
+
+export class FieldColorEnum extends pxtblockly.FieldColorNumber implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    constructor(text: string, params: FieldColorEnumOptions, opt_validator?: Function) {
+        super(text, params, opt_validator);
+    }
+
+    mapColour(enumString: string) {
+        switch(enumString) {
+            case '#000000': return 'ColorSensorColor.Black';
+            case '#006db3': return 'ColorSensorColor.Blue';
+            case '#00934b': return 'ColorSensorColor.Green';
+            case '#ffd01b': return 'ColorSensorColor.Yellow';
+            case '#f12a21': return 'ColorSensorColor.Red';
+            case '#ffffff': return 'ColorSensorColor.White';
+            case '#6c2d00': return 'ColorSensorColor.Brown';
+            default: return 'ColorSensorColor.None';
+        }
+    }
+
+    mapEnum(colorString: string) {
+        console.log(colorString);
+        switch(colorString) {
+            case 'ColorSensorColor.Black': return '#000000';
+            case 'ColorSensorColor.Blue': return '#006db3';
+            case 'ColorSensorColor.Green': return '#00934b';
+            case 'ColorSensorColor.Yellow': return '#ffd01b';
+            case 'ColorSensorColor.Red': return '#f12a21';
+            case 'ColorSensorColor.White': return '#ffffff';
+            case 'ColorSensorColor.Brown': return '#6c2d00';
+            case 'ColorSensorColor.None': return '#dfe6e9'; // Grey
+            default: return colorString;
+        }
+    }
+
+    /**
+     * Return the current colour.
+     * @param {boolean} opt_asHex optional field if the returned value should be a hex
+     * @return {string} Current colour in '#rrggbb' format.
+     */
+    getValue(opt_asHex?: boolean) {
+        var colour = this.mapColour(this.colour_);
+        if (!opt_asHex && colour.indexOf('#') > -1) {
+            return `0x${colour.replace(/^#/, '')}`;
+        }
+        return colour;
+    }
+
+    /**
+     * Set the colour.
+     * @param {string} colour The new colour in '#rrggbb' format.
+     */
+    setValue(colorStr: string) {
+        var colour = this.mapEnum(colorStr);
+        if (this.sourceBlock_ && Blockly.Events.isEnabled() &&
+            this.colour_ != colour) {
+            Blockly.Events.fire(new (Blockly as any).Events.BlockChange(
+                this.sourceBlock_, 'field', this.name, this.colour_, colour));
+        }
+        this.colour_ = colour;
+        if (this.sourceBlock_) {
+            this.sourceBlock_.setColour(colour, colour, colour);
+        }
+    }
+}

libs/color-sensor/color.ts

@@ -19,28 +19,28 @@ enum LightIntensityMode {
 }
 
 const enum ColorSensorColor {
-    //% block="none" jres=colors.none
+    //% block="none" blockIdentity=sensors.__colorEnumPicker
     None,
-    //% block="black" jres=colors.black
+    //% block="black" blockIdentity=sensors.__colorEnumPicker
     Black,
-    //% block="blue" jres=colors.blue
+    //% block="blue" blockIdentity=sensors.__colorEnumPicker
     Blue,
-    //% block="green" jres=colors.green
+    //% block="green" blockIdentity=sensors.__colorEnumPicker
     Green,
-    //% block="yellow" jres=colors.yellow
+    //% block="yellow" blockIdentity=sensors.__colorEnumPicker
     Yellow,
-    //% block="red" jres=colors.red
+    //% block="red" blockIdentity=sensors.__colorEnumPicker
     Red,
-    //% block="white" jres=colors.white
+    //% block="white" blockIdentity=sensors.__colorEnumPicker
     White,
-    //% block="brown" jres=colors.brown
+    //% block="brown" blockIdentity=sensors.__colorEnumPicker
     Brown
 }
 
 enum LightCondition {
     //% block="dark"
     Dark = sensors.ThresholdState.Low,
-    //$ block="bright"
+    //% block="bright"
     Bright = sensors.ThresholdState.High
 }
 
@@ -110,19 +110,14 @@ namespace sensors {
          * @param handler the code to run when detected
          */
         //% help=sensors/color-sensor/on-color-detected
-        //% block="on %sensor|detected color %color"
+        //% block="on **color** %this|detected color %color=colorEnumPicker"
         //% blockId=colorOnColorDetected
         //% parts="colorsensor"
         //% blockNamespace=sensors
-        //% sensor.fieldEditor="ports"
+        //% this.fieldEditor="ports"
         //% weight=100 blockGap=12
         //% group="Color Sensor"
-        //% color.fieldEditor="gridpicker"
-        //% color.fieldOptions.columns=4 
-        //% color.fieldOptions.tooltips=true
-        //% color.fieldOptions.hideRect=true
-        //% color.fieldOptions.width=268
-        onColorDetected(color: ColorSensorColor, handler: () => void) {
+        onColorDetected(color: number, handler: () => void) {
             this.setMode(ColorSensorMode.Color)
             const v = this._colorEventValue(<number>color);
             control.onEvent(this._id, v, handler);
@@ -135,19 +130,14 @@ namespace sensors {
          * @param color the color to detect
          */
         //% help=sensors/color-sensor/pause-for-color
-        //% block="pause %sensor|for color %color"
+        //% block="pause **color** %this|for color %color=colorEnumPicker"
         //% blockId=colorPauseForColorDetected
         //% parts="colorsensor"
         //% blockNamespace=sensors
-        //% sensor.fieldEditor="ports"
+        //% this.fieldEditor="ports"
         //% weight=99 blockGap=8
         //% group="Color Sensor"
-        //% color.fieldEditor="gridpicker"
-        //% color.fieldOptions.columns=4 
-        //% color.fieldOptions.tooltips=true
-        //% color.fieldOptions.hideRect=true
-        //% color.fieldOptions.width=268
-        pauseForColor(color: ColorSensorColor) {
+        pauseForColor(color: number) {
             this.setMode(ColorSensorMode.Color);
             if (this.color() != color) {
                 const v = this._colorEventValue(<number>color);
@@ -160,11 +150,11 @@ namespace sensors {
          * @param sensor the color sensor to query the request
          */
         //% help=sensors/color-sensor/color
-        //% block="%sensor| color"
+        //% block="**color** %this| color"
         //% blockId=colorGetColor
         //% parts="colorsensor"
         //% blockNamespace=sensors
-        //% sensor.fieldEditor="ports"
+        //% this.fieldEditor="ports"
         //% weight=98
         //% group="Color Sensor"
         //% blockGap=8
@@ -179,11 +169,11 @@ namespace sensors {
          * @param handler the code to run when detected
          */
         //% help=sensors/color-sensor/on-light-changed
-        //% block="on %sensor|%mode|%condition"
+        //% block="on **color** %this|%mode|%condition"
         //% blockId=colorOnLightChanged
         //% parts="colorsensor"
         //% blockNamespace=sensors
-        //% sensor.fieldEditor="ports"
+        //% this.fieldEditor="ports"
         //% weight=89 blockGap=12
         //% group="Color Sensor"
         onLightChanged(mode: LightIntensityMode, condition: LightCondition, handler: () => void) {
@@ -192,15 +182,15 @@ namespace sensors {
         }
 
         /**
-         * Waits for the given color to be detected
+         * Wait for the given color to be detected
          * @param color the color to detect
          */
         //% help=sensors/color-sensor/pause-for-light
-        //% block="pause %sensor|for %mode|%condition"
+        //% block="pause **color** %this|for %mode|%condition"
         //% blockId=colorPauseForLight
         //% parts="colorsensor"
         //% blockNamespace=sensors
-        //% sensor.fieldEditor="ports"
+        //% this.fieldEditor="ports"
         //% weight=88 blockGap=8
         //% group="Color Sensor"
         pauseForLight(mode: LightIntensityMode, condition: LightCondition) {
@@ -210,15 +200,15 @@ namespace sensors {
         }
 
         /**
-         * Measures the ambient or reflected light value from 0 (darkest) to 100 (brightest).
+         * Measure the ambient or reflected light value from 0 (darkest) to 100 (brightest).
          * @param sensor the color sensor port
          */
         //% help=sensors/color-sensor/light
-        //% block="%sensor|%mode"
+        //% block="**color** %this|%mode"
         //% blockId=colorLight
         //% parts="colorsensor"
         //% blockNamespace=sensors
-        //% sensor.fieldEditor="ports"
+        //% this.fieldEditor="ports"
         //% weight=87
         //% group="Color Sensor"
         light(mode: LightIntensityMode) {
@@ -237,14 +227,15 @@ namespace sensors {
         }
 
         /**
-         * Sets a threshold value
+         * Set a threshold value
          * @param condition the dark or bright light condition
          * @param value the value threshold
          */
-        //% blockId=colorSetThreshold block="set %sensor|%condition|to %value"
+        //% blockId=colorSetThreshold block="set **color** %this|%condition|to %value"
         //% group="Threshold" blockGap=8 weight=90
         //% value.min=0 value.max=100
-        //% sensor.fieldEditor="ports"
+        //% this.fieldEditor="ports"
+        //% help=sensors/color-sensor/set-threshold
         setThreshold(condition: LightCondition, value: number) {
             if (condition == LightCondition.Dark)
                 this.thresholdDetector.setLowThreshold(value)
@@ -253,12 +244,13 @@ namespace sensors {
         }
 
         /**
-         * Gets the threshold value
+         * Get a threshold value
          * @param condition the light condition
          */
-        //% blockId=colorGetThreshold block="%sensor|%condition"
+        //% blockId=colorGetThreshold block="**color** %this|%condition"
         //% group="Threshold" blockGap=8 weight=89
-        //% sensor.fieldEditor="ports"
+        //% this.fieldEditor="ports"
+        //% help=sensors/color-sensor/threshold
         threshold(condition: LightCondition): number {
             return this.thresholdDetector.threshold(<ThresholdState><number>LightCondition.Dark);
         }
@@ -266,9 +258,10 @@ namespace sensors {
         /**
          * Collects measurement of the light condition and adjusts the threshold to 10% / 90%.
          */
-        //% blockId=colorCalibrateLight block="calibrate|%sensor|for %mode|light"
+        //% blockId=colorCalibrateLight block="calibrate **color** %this|for %mode"
         //% group="Threshold" weight=91 blockGap=8
-        //% sensor.fieldEditor="ports"
+        //% this.fieldEditor="ports"
+        //% help=sensors/color-sensor/calibrate-light
         calibrateLight(mode: LightIntensityMode, deviation: number = 8) {
             this.calibrating = true; // prevent events
 
@@ -313,24 +306,26 @@ namespace sensors {
 
     /**
      * Returns a color that the sensor can detect
+     * @param color the color sensed by the sensor, eg: ColorSensorColor.Red
      */
     //% shim=TD_ID
-    //% blockId=colorSensorColor block="color %color"
+    //% blockId=colorSensorColor block="color %color=colorEnumPicker"
     //% group="Color Sensor"
     //% weight=97
-    export function color(color: ColorSensorColor): ColorSensorColor {
+    //% help=sensors/color
+    export function color(color: number): ColorSensorColor {
         return color;
     }
 
-    //% whenUsed block="color 3" weight=95 fixedInstance jres=icons.port3
+    //% whenUsed block="3" weight=95 fixedInstance jres=icons.port3
     export const color3: ColorSensor = new ColorSensor(3)
 
-    //% whenUsed block="color 1" weight=90 fixedInstance jres=icons.port1
+    //% whenUsed block="1" weight=90 fixedInstance jres=icons.port1
     export const color1: ColorSensor = new ColorSensor(1)
 
-    //% whenUsed block="color 2" weight=90 fixedInstance jres=icons.port2
+    //% whenUsed block="2" weight=90 fixedInstance jres=icons.port2
     export const color2: ColorSensor = new ColorSensor(2)
 
-    //% whenUsed block="color 4" weight=90 fixedInstance jres=icons.port4
+    //% whenUsed block="4" weight=90 fixedInstance jres=icons.port4
     export const color4: ColorSensor = new ColorSensor(4)
 }

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

@@ -1,16 +1,19 @@
-# Color Sensor
+# Color sensor
 
 ```cards
-sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {
-})
+sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {})
+sensors.color1.onLightChanged(LightIntensityMode.Reflected, LightCondition.Dark, function () {})
+sensors.color1.pauseForLight(LightIntensityMode.Reflected, LightCondition.Dark)
+sensors.color1.pauseForColor(ColorSensorColor.Blue)
 sensors.color1.color();
-sensors.color1.ambientLight();
-sensors.color1.reflectedLight();
+sensors.color1.light(LightIntensityMode.Ambient)
 ```
 
-## See Also
+## See slso
 
 [on color detected](/reference/sensors/color-sensor/on-color-detected),
+[pause for color](/reference/sensors/color-sensor/pause-for-color),
+[on light changed](/reference/sensors/color-sensor/on-light-changed),
+[pause for light](/reference/sensors/color-sensor/pause-for-light),
 [color](/reference/sensors/color-sensor/color),
-[ambient light](/reference/sensors/color-sensor/ambient-light),
-[reflected light](/reference/sensors/color-sensor/reflected-light),
+[light](/reference/sensors/color-sensor/ambient-light)

libs/color-sensor/docs/reference/sensors/color-sensor/ambient-light.md

@@ -1,4 +1,20 @@
-# Ambient Light
+# ambient Light
+
+Get the amount of ambient light dectected.
+
+```sig
+sensors.color1.ambientLight()
+```
+
+The amount of ambient light measured is in the range of `0` (darkest) to `100` (brightest).
+
+## Returns
+
+* a [number](/types/number) that is the amount of ambiernt light measured. No light (darkness) is `0` and the brightest light is `100`.
+
+## Example
+
+Make the status light show ``green`` if the ambient light is greater than `20`.
 
 ```blocks
 forever(function () {
@@ -8,4 +24,8 @@ forever(function () {
         brick.setStatusLight(StatusLight.Orange)
     }
 })
-```
+```
+
+## See also
+
+[reflected light](/reference/sensors/color-sensor/reflected-light)

libs/color-sensor/docs/reference/sensors/color-sensor/calibrate-light.md

@@ -0,0 +1,26 @@
+# calibrate Light
+
+Calibrate the thresholds for dark and bright in current lighting conditions.
+
+```sig
+sensors.color1.calibrateLight(LightIntensityMode.Ambient, 0)
+```
+
+Sometimes when external lighting conditions change, the light sensor measures light intensty differently than when its thresholds were set before. You can calibrate the light sensor to adjust the thresholds slightly for current conditions. This is so that both the ``dark`` and ``bright`` threshold conditions happen with a similar amount of light to what you set the thresholds before.
+
+## Parameters
+
+* **mode**: the type of light threshold to calibrate. This is either ``ambient`` or ``reflected`` light.
+* **deviation**: a [number](/types/number) that is the amount of light level change to adjust in a measurement.
+
+## Example
+
+Calibrate the ``dark`` and ``light`` thresholds for the ``color 2`` sensor using reflected light.
+
+```blocks
+sensors.color2.calibrateLight(LightIntensityMode.Reflected)
+```
+
+## See also
+
+[set threshold](/reference/sensors/color-sensor/set-threshold)

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

@@ -1,5 +1,29 @@
 # color
 
+Get the current color detected by the sensor.
+
+```sig
+sensors.color1.color()
+```
+
+The [color](/reference/sensors/color) value returned 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.
+
+## Returns
+
+* a color value for the current color detected by the color sensor. The colors detected are:
+
+>* ``none``: no color is detected.
+>* ``blue``
+>* ``green``
+>* ``yellow``
+>* ``red``
+>* ``white``
+>* ``brown``
+
+## Example
+
+Turn the status light to ``green`` if the color detected by the ``color 1`` sensor is green.
+
 ```blocks
 forever(function () {
     if (sensors.color1.color() == ColorSensorColor.Green) {
@@ -8,4 +32,8 @@ forever(function () {
         brick.setStatusLight(StatusLight.Orange)
     }
 })
-```
+```
+
+## See also
+
+[color](/reference/sensors/color-sensor/color)

libs/color-sensor/docs/reference/sensors/color-sensor/light.md

@@ -0,0 +1,35 @@
+# light
+
+Get the amount of ambient or reflected light measured by the sensor.
+
+```sig
+sensors.color1.light(LightIntensityMode.Ambient)
+```
+
+The light sensor adjusts itself to more accurately measure light depending on the source of the light. You decide if you want to measure _ambient_ light (light all around or direct light) or if you want to know how much light is reflected from a surface. The amount of light measured is in the range of `0` (darkest) to `100` (brightest).
+
+## Parameters
+
+* **mode**: the type of measurement for light. This is either ``ambient`` or ``reflected`` light.
+
+## Returns
+
+* a number that is the amount of light measured. No light (darkness) is `0` and the brightest light is `100`.
+
+## Example
+
+Make the status light show ``green`` if the ambient light is greater than `20`.
+
+```blocks
+forever(function () {
+    if (sensors.color1.light(LightIntensityMode.Ambient) > 20) {
+        brick.setStatusLight(StatusLight.Green)
+    } else {
+        brick.setStatusLight(StatusLight.Orange)
+    }
+})
+```
+
+## See also
+
+[calibrate light](/reference/sensors/color-sensor/calibrate-light)

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

@@ -1,16 +1,27 @@
-# On Color Detected
+# on Color Detected
+
+Run some code when the color you want to watch for is detected.
 
 ```sig
 sensors.color1.onColorDetected(ColorSensorColor.Blue, function () { })
 ```
 
-# Parameters
+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.
 
-## Examples
+## Parameters
 
+* **color**: the [color](/reference/sensors/color) to watch for.
+* **handler**: the code you want to run when the color is detected.
+
+## Example
+
+Show an expression on the screen when the color sensor ``color 1`` sees ``blue``.
 
 ```blocks
 sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {
     brick.showImage(images.expressionsSick)
 })
 ```
+## See also
+
+[pause for color](/reference/sensors/color-sensor/pause-for-color), [color](/reference/sensors/color)

libs/color-sensor/docs/reference/sensors/color-sensor/on-light-changed.md

@@ -0,0 +1,33 @@
+# on Light Changed
+
+Run some code when the amount of light dectected changes.
+
+```sig
+sensors.color1.onLightChanged(LightIntensityMode.Reflected, LightCondition.Dark, function () {
+
+})
+```
+
+You can check for a change in either _ambient_ or _reflected_ light and run some code when it happens. This event happens when the sensor detects light going to ``dark`` or to ``bright``. You choose what condition you will run your code for.
+
+## Parameters
+
+* **mode**: lighting mode to use for detection. This is for either ``ambient`` or ``reflected`` light.
+* **condition**: the condition that the light changed to: ``dark`` or ``bright``.
+* **handler**: the code you want to run when the light changes.
+
+## Example
+
+Show a message on the screen when the ambient light goes dark.
+
+```blocks
+sensors.color1.onLightChanged(LightIntensityMode.Ambient, LightCondition.Dark, function() {
+    brick.clearScreen();
+    brick.showString("It just got dark", 1)
+    brick.showString("Can you see me?", 2)
+})
+```
+
+## See also
+
+[light](/reference/sensors/color-sensor/light), [on color detected](/reference/sensors/color-sensor/on-color-detected)

libs/color-sensor/docs/reference/sensors/color-sensor/pause-for-color.md

@@ -0,0 +1,28 @@
+# pause For Color
+
+Wait for the sensor to see a certain color.
+
+```sig
+sensors.color1.pauseForColor(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)
+sensors.color1.pauseForColor(ColorSensorColor.Blue)
+brick.clearScreen()
+brick.showImage(images.expressionsSick)
+```
+
+## See also
+
+[on color detected](/reference/sensors/color-sensor/on-color-detected), [color](/reference/sensors/color)

libs/color-sensor/docs/reference/sensors/color-sensor/pause-for-light.md

@@ -0,0 +1,29 @@
+# pause For Light
+
+Wait for the light condition to change.
+
+```sig
+sensors.color1.pauseForLight(LightIntensityMode.Reflected, LightCondition.Dark)
+```
+
+You can wait for a change in either _ambient_ or _reflected_ light. This event happens when the sensor detects light going to ``dark`` or to ``bright``. You choose what condition you will wait for.
+
+## Parameters
+
+* **mode**: lighting mode to use for detection. This is for either ``ambient`` or ``reflected`` light.
+* **condition**: the condition that the light changed to: ``dark`` or ``bright``.
+
+## Example
+
+Wait for the ambient light to go dark, then show an expression on the screen.
+
+```blocks
+brick.showString("Waiting for dark", 1)
+sensors.color1.pauseForLight(LightIntensityMode.Reflected, LightCondition.Dark)
+brick.clearScreen()
+brick.showImage(images.expressionsSick)
+```
+
+## See also
+
+[on light changed](/reference/sensors/color-sensor/on-light-changed)

libs/color-sensor/docs/reference/sensors/color-sensor/reflected-light.md

@@ -1,4 +1,20 @@
-# Reflected Light
+# reflected Light
+
+Get the amount of reflected light dectected.
+
+```sig
+sensors.color1.reflectedLight()
+```
+
+The amount of reflected light measured is in the range of `0` (darkest) to `100` (brightest).
+
+## Returns
+
+* a [number](/types/number) that is the amount of ambiernt light measured. No light (darkness) is `0` and the brightest light is `100`.
+
+## Example
+
+Make the status light show ``green`` if the reflected light is greater than `20`.
 
 ```blocks
 forever(function () {
@@ -8,4 +24,8 @@ forever(function () {
         brick.setStatusLight(StatusLight.Orange)
     }
 })
-```
+```
+
+## See also
+
+[ambient light](/reference/sensors/color-sensor/ambient-light)

libs/color-sensor/docs/reference/sensors/color-sensor/set-threshold.md

@@ -0,0 +1,41 @@
+# set Threshold
+
+Set the threshold value for dark or bright light.
+
+```sig
+sensors.color1.setThreshold(LightCondition.Dark, 0)
+```
+
+Light intensity is measured from `0` (very dark) to `100` (very bright). You can decide what dark and bright mean for your purposes and set a _threshold_ for them. A threshold is a boundary or a limit. If you want a light intensity of `20` mean that it's dark, then you set the sensor threshold for ``dark`` to `20`. Also, if you think that `75` is bright, then you can set the threshold for ``bright`` to that.
+
+After setting a threshold, any event for that light condition won't happen until the amount of light reaches your threshold value:
+
+```block
+sensors.color1.setThreshold(LightCondition.Dark, 20)
+sensors.color1.onLightChanged(LightIntensityMode.Reflected, LightCondition.Dark, function () {
+    brick.showMood(moods.sleeping)
+})
+```
+
+## Parameters
+
+* **condition**: the light intensity threshold to set, ``dark`` or ``bright``.
+* **value**: the value of light intensity for the threshold: `0` for very dark to `100` for very bright.
+
+## Example
+
+Make a daylight alarm. When the ambient light reaches `70` flash the status light and play a sound.
+
+```blocks
+sensors.color3.setThreshold(LightCondition.Bright, 70)
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Bright, function () {
+    brick.setStatusLight(StatusLight.GreenFlash)
+    for (let i = 0; i < 5; i++) {
+        music.playSoundEffectUntilDone(sounds.mechanicalBackingAlert)
+    }
+})
+```
+
+## See also
+
+[threshold](/reference/sensors/color-sensor/threshold)

libs/color-sensor/docs/reference/sensors/color-sensor/threshold.md

@@ -0,0 +1,27 @@
+# threshold
+
+Get the threshold value for dark or bright light.
+
+```sig
+sensors.color1.threshold(LightCondition.Dark)
+```
+
+Light intensity is measured from `0` (very dark) to `100` (very bright). A _threshold_ sets what dark and bright mean for your purposes. A threshold is a boundary or a limit. If a light intensity of `20` means that it's dark, then the sensor threshold for ``dark`` is `20`. Also, if  `75` means bright, then the threshold value for ``bright`` is `75`.
+
+## Returns
+
+* a [number](/types/number) that is the amount of light set for the threshold. No light (darkness) is `0` and the brightest light is `100`.
+
+## Example
+
+Find out what light level is set as the ``dark`` threshold when a dark light event happens.
+
+```blocks
+sensors.color3.onLightChanged(LightIntensityMode.Reflected, LightCondition.Dark, function () {
+    brick.showValue("DarknessThresholdValue", sensors.color3.threshold(LightCondition.Dark), 1)
+})
+```
+
+## See also
+
+[set threshold](/reference/sensors/color-sensor/set-threshold)

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

@@ -0,0 +1,55 @@
+# color
+
+Get a color that the sensor can detect that is close to the color you asked for.
+
+```sig
+sensors.color(ColorSensorColor.Blue)
+```
+
+Since the color sensor can accurately detect some basic colors, you can't just tell it to look for any color. The sensor may recoginze some color component of the color you ask for. So, you can get a simple color that matches some of your color and tell the sensor to look for that.
+
+## Parameters
+
+* **color**: a color to match with a detectable color. The colors to choose from are:
+
+>* ``blue``
+>* ``green``
+>* ``yellow``
+>* ``red``
+>* ``white``
+>* ``brown``
+
+## Returns
+
+* a color value that the color sensor can detect. The detectable colors are:
+
+>* ``blue``
+>* ``green``
+>* ``yellow``
+>* ``red``
+>* ``white``
+>* ``brown``
+
+## ~hint
+
+Currently, the colors you can ask for (input colors) and the colors returned are the same.
+
+## ~
+
+## Example
+
+Turn the status light to ``green`` if the color detected by the ``color 1`` sensor is green.
+
+```blocks
+forever(function () {
+    if (sensors.color1.color() == sensors.color(ColorSensorColor.Green)) {
+        brick.setStatusLight(StatusLight.Green)
+    } else {
+        brick.setStatusLight(StatusLight.Orange)
+    }
+})
+```
+
+## See also
+
+[color](/reference/sensors/color-sensor/color)

libs/color-sensor/ns.ts

@@ -0,0 +1,17 @@
+
+
+namespace sensors {
+
+    /**
+     * A color enum picker
+     * @param color to use, eg: ColorSensorColor.Blue
+     */
+    //% blockId=colorEnumPicker block="%color" shim=TD_ID
+    //% weight=0 blockHidden=1 turnRatio.fieldOptions.decompileLiterals=1
+    //% color.fieldEditor="colorenum"
+    //% color.fieldOptions.colours='["#f12a21", "#ffd01b", "#006db3", "#00934b", "#ffffff", "#6c2d00", "#000000"]'
+    //% color.fieldOptions.columns=2 color.fieldOptions.className='legoColorPicker'
+    export function __colorEnumPicker(color: ColorSensorColor): number {
+        return color;
+    }
+}

libs/color-sensor/pxt.json

@@ -4,7 +4,8 @@
     "files": [
         "README.md",
         "colors.jres",
-        "color.ts"
+        "color.ts",
+        "ns.ts"
     ],
     "testFiles": [
         "test.ts"

libs/core/buttons.ts

@@ -248,7 +248,7 @@ namespace brick {
 
     /**
      * Set lights.
-     * @param pattern the lights pattern to use. eg: BrickLight.Orange
+     * @param pattern the lights pattern to use. eg: StatusLight.Orange
      */
     //% blockId=setLights block="set status light to %pattern"
     //% weight=100 group="Buttons"

libs/core/console.ts

@@ -51,6 +51,7 @@ namespace console {
      */
     //% blockId=logsendtostreen block="send console to screen"
     //% weight=1
+    //% help=console/send-to-screen
     export function sendToScreen(): void {
         console.screen.attach();
     }

libs/core/control.cpp

@@ -10,6 +10,7 @@ namespace control {
  */
 //% 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);
 }

libs/core/output.ts

@@ -134,17 +134,17 @@ namespace motors {
         protected _brake: boolean;
         private _initialized: boolean;
         private _init: () => void;
-        private _setSpeed: (speed: number) => void;
+        private _run: (speed: number) => void;
         private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
 
-        constructor(port: Output, init: () => void, setSpeed: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
+        constructor(port: Output, init: () => void, run: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
             super();
             this._port = port;
             this._portName = outputToName(this._port);
             this._brake = false;
             this._initialized = false;
             this._init = init;
-            this._setSpeed = setSpeed;
+            this._run = run;
             this._move = move;
         }
 
@@ -218,17 +218,17 @@ namespace motors {
         }
 
         /**
-         * Sets the motor speed for limited time or distance.
+         * Runs the motor at a given speed for limited time or distance.
          * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
          * @param value (optional) measured distance or rotation
          * @param unit (optional) unit of the value
          */
-        //% blockId=motorSetSpeed block="set %motor speed to %speed=motorSpeedPicker|\\%||for %value %unit"
+        //% blockId=motorRun block="run %motor at %speed=motorSpeedPicker|\\%||for %value %unit"
         //% weight=100 blockGap=8
         //% group="Move"
         //% expandableArgumentMode=toggle
-        //% help=motors/motor/set-speed
-        setSpeed(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
+        //% help=motors/motor/run
+        run(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
             this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
             // stop if speed is 0
@@ -238,7 +238,7 @@ namespace motors {
             }
             // special: 0 is infinity
             if (value == 0) {
-                this._setSpeed(speed);
+                this._run(speed);
                 return;
             }
             // timed motor moves
@@ -421,28 +421,28 @@ namespace motors {
         }
     }
 
-    //% whenUsed fixedInstance block="large A"
+    //% whenUsed fixedInstance block="large motor A"
     export const largeA = new Motor(Output.A, true);
 
-    //% whenUsed fixedInstance block="large B"
+    //% whenUsed fixedInstance block="large motor B"
     export const largeB = new Motor(Output.B, true);
 
-    //% whenUsed fixedInstance block="large C"
+    //% whenUsed fixedInstance block="large motor C"
     export const largeC = new Motor(Output.C, true);
 
-    //% whenUsed fixedInstance block="large D"
+    //% whenUsed fixedInstance block="large motor D"
     export const largeD = new Motor(Output.D, true);
 
-    //% whenUsed fixedInstance block="medium A"
+    //% whenUsed fixedInstance block="medium motor A"
     export const mediumA = new Motor(Output.A, false);
 
-    //% whenUsed fixedInstance block="medium B"
+    //% whenUsed fixedInstance block="medium motor B"
     export const mediumB = new Motor(Output.B, false);
 
-    //% whenUsed fixedInstance block="medium C"
+    //% whenUsed fixedInstance block="medium motor C"
     export const mediumC = new Motor(Output.C, false);
 
-    //% whenUsed fixedInstance block="medium D"
+    //% whenUsed fixedInstance block="medium motor D"
     export const mediumD = new Motor(Output.D, false);
 
     //% fixedInstances
@@ -586,16 +586,16 @@ namespace motors {
         }
     }
 
-    //% whenUsed fixedInstance block="large B+C"
+    //% whenUsed fixedInstance block="large motors B+C"
     export const largeBC = new SynchedMotorPair(Output.BC);
 
-    //% whenUsed fixedInstance block="large A+D"
+    //% whenUsed fixedInstance block="large motors A+D"
     export const largeAD = new SynchedMotorPair(Output.AD);
 
-    //% whenUsed fixedInstance block="large A+B"
+    //% whenUsed fixedInstance block="large motors A+B"
     export const largeAB = new SynchedMotorPair(Output.AB);
 
-    //% whenUsed fixedInstance block="large C+D"
+    //% whenUsed fixedInstance block="large motors C+D"
     export const largeCD = new SynchedMotorPair(Output.CD);
 
     function reset(out: Output) {

libs/core/shims.d.ts

@@ -55,7 +55,8 @@ declare namespace control {
      * @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 shim=control::raiseEvent
+    //% block="raise event|from %src|with value %value" blockExternalInputs=1
+    //% help=control/raise-event shim=control::raiseEvent
     function raiseEvent(src: int32, value: int32): void;
 
     /**